Chuanxiong cutting device

Abstract

The application discloses a chuanxiong cutting equipment, which comprises a conveying assembly, an image recognition mechanism and a cutting mechanism. The conveying assembly comprises a conveying mechanism and clamps arranged on the conveying mechanism. The clamps comprise clamping mechanisms one and two which are arranged at intervals to clamp two ends of chuanxiong stems respectively. The image recognition mechanism and the cutting mechanism are arranged in sequence along the conveying direction of the conveying mechanism and beside the conveying path of the conveying mechanism. The image recognition mechanism identifies the node disc position of the chuanxiong stems conveyed by the conveying assembly. The cutting mechanism comprises a plurality of cutting units which are arranged at intervals along a preset direction one. Each cutting unit is movable and adjustable along the preset direction one. The cutting mechanism adjusts the position of each cutting unit according to the node disc position of the chuanxiong stems obtained by the image recognition mechanism to cut the chuanxiong stems. The application has high automation degree, effectively improves the cutting efficiency, reduces the labor intensity, and improves the size precision and consistency of the cut chuanxiong.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery equipment, and particularly relates to a Ligusticum chuanxiong-harvesting device. BACKGROUND

[0002] Ligusticum chuanxiong is a plant of the Umbelliferae family, which is warm in nature and pungent in taste, has the effects of activating blood and qi, dispelling wind and relieving pain, and has high medicinal value. Ligusticum chuanxiong rarely flowers and bears fruit, so the asexual reproduction mode of the above-ground stem node (Ling seed) is adopted in production. The stem of Ligusticum chuanxiong is long and rod-shaped, and a plurality of node discs are unevenly distributed on the stem. Ligusticum chuanxiong stems with thick and strong nodes and internodes are selected, and the end of the stem towards the ground is cut into an oblique opening (so as to distinguish the direction and avoid reverse insertion), and a certain length of the stem is left at both ends of the node disc to form an insertion sprout (Ling seed) with a length of 3-4 cm. In the planting season, the treated Ling seed is planted according to the plant row spacing of 15 cm x 20 cm, the bud is inserted into the soil upwards, the planting depth is 1-2 cm, the node disc is half exposed, and the soil is kept moist after planting.

[0003] In the prior art, the artificial cutting method is usually used, that is, a pair of scissors is used to cut the Ligusticum chuanxiong stem along the length direction to obtain the Ling seed. The length of the stem between the adjacent node discs is relatively long, and the length of the required Ling seed is relatively short, so the stem between the adjacent node discs needs to be cut twice to obtain the Ling seed with the required size. The labor intensity is high, the cutting efficiency is low, the precision of artificial cutting is poor, the size deviation of the Ling seed is large, the consistency is poor, and it is difficult to guarantee the good seed rate and the germination rate of the Ling seed. SUMMARY

[0004] The technical problem to be solved by the present application and the technical task proposed are to improve the prior art, provide a Ligusticum chuanxiong-harvesting device, and solve the problems of high labor intensity, poor cutting precision, and difficulty in guaranteeing the size precision and consistency of the Ling seed in the prior art.

[0005] To solve the above technical problems, the technical scheme of the present application is as follows:

[0006] A Ligusticum chuanxiong-harvesting device, comprising a conveying assembly, an image recognition mechanism, and a cutting mechanism.

[0007] The conveying assembly comprises a conveying mechanism and a clamp provided on the conveying mechanism, the clamp comprises a clamping mechanism one and a clamping mechanism two, and the clamping mechanism one and the clamping mechanism two are arranged at intervals in a preset direction one to clamp two different positions of the Ligusticum chuanxiong stem respectively.

[0008] The image recognition mechanism and the cutting mechanism are sequentially arranged on the side of the conveying path of the conveying mechanism along the conveying direction of the conveying mechanism.

[0009] The image recognition mechanism is used to recognize the node disc position of the Ligusticum chuanxiong stem transported by the conveying assembly;

[0010] The seed cutting mechanism comprises a plurality of shearing units for cutting the Ligusticum chuanxiong stem, the shearing units are distributed at intervals along a preset direction, and each shearing unit is driven by the adjusting mechanism to be adjustable along the preset direction;

[0011] The seed cutting mechanism adjusts the position of each shearing unit according to the node disc position of the Ligusticum chuanxiong stem obtained by the image recognition mechanism to cut the Ligusticum chuanxiong stem.

[0012] The Ligusticum chuanxiong seed cutting device uses the first clamping mechanism and the second clamping mechanism to clamp two different positions of the Ligusticum chuanxiong stem to effectively fix each Ligusticum chuanxiong stem, so that the Ligusticum chuanxiong stem is transported by the conveying mechanism in a stable posture, which is conducive to the accurate recognition of the node disc position of the Ligusticum chuanxiong stem by the subsequent image recognition mechanism, and is also conducive to the accurate cutting of the Ligusticum chuanxiong stem by the subsequent seed cutting mechanism. The image recognition mechanism of the present application uses a photographing method to obtain the image of the Ligusticum chuanxiong stem and analyzes and processes the image to obtain the node disc position of the Ligusticum chuanxiong stem. Then, the seed cutting mechanism adjusts the position of each shearing unit according to the node disc position information of the Ligusticum chuanxiong stem, so that the shearing unit can accurately cut the Ligusticum chuanxiong stem. The degree of automation is high, the size accuracy and consistency of the seedling obtained by cutting are improved, the percentage of good seeds and the germination rate of the subsequent seedlings are guaranteed, and the seed cutting mechanism of the Ligusticum chuanxiong seed cutting device can simultaneously cut multiple segments of a single Ligusticum chuanxiong stem, thereby simultaneously cutting multiple seedlings, effectively improving the cutting efficiency, replacing the traditional manual seed cutting method, and effectively reducing the labor intensity.

[0013] Further, a sorting mechanism is arranged beside the conveying path of the conveying mechanism, the sorting mechanism comprises a plurality of clamping units for clamping the seedlings, the clamping units are distributed at intervals along a preset direction, and each clamping unit is adjustable along the preset direction;

[0014] The clamping unit clamps the part of the Ligusticum chuanxiong stem where the seedling is located before the seed cutting mechanism performs the cutting action, and the seedling is temporarily clamped on the clamping unit after the seed cutting mechanism performs the cutting action.

[0015] After the stems of Ligusticum chuanxiong are cut and processed by the seed-cutting mechanism, not only are the seeds obtained, but also the discarded sections. The discarded sections are the excess length of the stem between adjacent nodes. After the seed-cutting mechanism, the seeds and discarded sections fall out together. The seeds and discarded sections are easy to mix together, which increases the difficulty of subsequent material sorting. By using a clamping unit to clamp the part of the Ligusticum chuanxiong stem containing the seeds before cutting, the seeds will remain on the clamping unit after cutting, while the discarded sections will fall out directly, effectively separating the seeds and discarded sections.

[0016] Furthermore, the sorting mechanism also includes a moving mechanism. The clamping unit is driven by the moving mechanism to switch between a shearing position and a feeding position. When the clamping unit is in the shearing position, it is close to the conveying path of the conveying mechanism to clamp the part of the ligusticum stem containing the poria cocos for the shearing unit to cut. When the clamping unit is in the feeding position, it is away from the conveying path of the conveying mechanism to release the poria cocos for feeding. The main function of the moving mechanism is to realize material sorting. By moving the clamping unit away from the feeding position of the discard section, the poria cocos and the discard section are fed from different positions, thus facilitating material sorting.

[0017] Furthermore, the image recognition mechanism identifies and obtains the ratio of the diameter of each segment disc to the diameter of the stem of *Ligusticum striatum* conveyed by the conveying component. Based on this ratio, the sorting mechanism controls the moving mechanism to move the clamping unit to several different unloading positions to separate *Ligusticum striatum* seeds of different grades. This facilitates convenient and simple material sorting by grade, resulting in high sorting efficiency.

[0018] Furthermore, guide chutes are installed below the shearing station and each feeding station to guide the falling materials into the corresponding material containers. The guide chutes orderly guide various materials to their respective material containers, which can be easily replaced when full, ensuring the continuous operation of the entire Sichuan lovage seed cutting and processing equipment.

[0019] Furthermore, the clamping unit is equipped with an air-blowing component, which blows the seedlings out of the clamping unit when the clamping unit releases them. When the clamping unit clamps and releases the seedlings, the seedlings may adhere to the clamping unit, preventing them from falling out properly. Using the air-blowing component to blow the seedlings out ensures reliable feeding. Also, directly dropping the seedlings after the clamping unit releases them can easily result in the seedlings being blocked by components below, affecting feeding reliability. Therefore, using the air-blowing component to blow the seedlings out allows for a certain amount of lateral movement, improving feeding reliability.

[0020] Further, the sorting mechanism further comprises a baffle mechanism, the baffle mechanism comprises a baffle and a baffle driving mechanism, the baffle is driven by the baffle driving mechanism to switch between a blocking position and an avoiding position, when the baffle is in the blocking position, the baffle is located on the path blown by the air blowing assembly to block and guide the rhizome to fall. The node discs of the rhizomes are different in size, so the weight of each rhizome is different, and the adhesion degree of the rhizome on the clamping unit also exists difference, so the moving distance of the rhizome under the blowing action of the air blowing assembly exists difference, it is difficult to control the unloading position of the rhizome by controlling the blowing force of the air blowing assembly, the baffle is used to block and guide the rhizome to fall in the application, the rhizome is hit on the baffle after being blown out by the air blowing assembly, and then the rhizome falls along the baffle, so that the rhizome can be accurately unloaded to the required position.

[0021] Further, the sorting mechanism is combined with the rhizome cutting mechanism into a composite functional assembly, the cutting unit is connected with the clamping unit to form a composite functional unit, and each composite functional unit is driven by the adjusting mechanism to move along a preset direction. The integration degree is high, the occupied volume is small, the cutting unit and the chuanxiong stem also need to be relatively moved for feeding and retracting, the driving mechanism for driving the cutting unit to feed and retract is shared with the moving mechanism for driving the clamping unit to move, the integration degree is greatly improved, the overall power consumption of the chuanxiong rhizome cutting mechanism is reduced, the power source for driving the cutting unit and the clamping unit to move is beneficial to be arranged, and the overall volume is reduced.

[0022] Further, each cutting unit comprises two cutting members which are arranged at intervals along a preset direction, and the clamping unit is arranged between the two cutting members. The rhizome comprises the node disc on the chuanxiong stem and a small section of the stem reserved at both ends of the node disc, the distance between adjacent node discs on the whole chuanxiong stem is relatively long, and the stem between the adjacent node discs cannot be cut once to obtain the rhizome, but needs to be cut twice to obtain the rhizome meeting the size requirement, and a discard section of the stem between the adjacent node discs needs to be discarded. The cutting unit of the application comprises two cutting members, so that the axial ends of the node disc can be simultaneously cut, that is, the node disc is located between the two cutting members when cutting, one action of each cutting unit can obtain the rhizome, the overall rhizome cutting efficiency is improved, the clamping unit clamps the node disc or the stem near the node disc before the cutting member cuts the chuanxiong stem, and the cut rhizome is clamped by the clamping unit after the cutting member moves, so that the subsequent sorting of the rhizome appearance is facilitated.

[0023] Further, the shearing members include a cutting tool and a power mechanism for driving the cutting tool to act, and two shearing members in each shearing unit share one power mechanism.

[0024] Further, the clamping mechanism one and the clamping mechanism two are elastic clamping mechanisms.

[0025] Further, the clamping mechanism one and the clamping mechanism two are elastic clamping mechanisms.

[0026] The elastic clamping mechanism is simple in structure, can automatically clamp and fix the chuanxiong stems by the elastic force, can be conveniently opened to release the residual material after shearing, and can be kept in the clamped state due to the elastic force, so that part of the stem residual material is still clamped by the clamping mechanism one and the clamping mechanism two after the seedling planting operation is completed, the clamping mechanism one and the clamping mechanism two are opened by the opening mechanism to automatically release the residual material, the degree of automation is improved, the new chuanxiong stems can be conveniently placed in the clamp again, and the production efficiency is improved.

[0027] Further, at least one of the clamping mechanism one and the clamping mechanism two has a freedom degree of movement along the preset direction one relative to the conveying mechanism to straighten the chuanxiong stems clamped between the clamping mechanism one and the clamping mechanism two. Since at least one of the clamping mechanism one and the clamping mechanism two has the freedom degree of movement along the direction of the line connecting the two, the spacing between the clamping mechanism one and the clamping mechanism two is adjustable, so that chuanxiong stems of different lengths can be clamped and fixed, and the spacing between the clamping mechanism one and the clamping mechanism two can be increased to stretch the clamped chuanxiong stems to a straight state, so that the node disc position on the chuanxiong stems can be accurately obtained for accurate shearing, and the size accuracy and consistency of the obtained seedlings are improved.

[0028] Compared with the prior art, the present application has the following advantages:

[0029] The chuanxiong seedling shearing device can convey the chuanxiong stems in a stable posture by the conveying mechanism, accurately recognize and obtain the node disc position on the chuanxiong stems by the image recognition mechanism, and then adjust the shearing mechanism according to the obtained node disc position information on the chuanxiong stems to realize accurate shearing of the chuanxiong stems and improve the size accuracy and consistency of the obtained seedlings.

[0030] The seedling shearing mechanism can simultaneously shear multiple segments of the chuanxiong stems, can simultaneously shear multiple seedlings and continuously work, effectively improves the shearing efficiency, and replaces the traditional manual seedling shearing mode to effectively reduce the labor intensity.

[0031] The chuanxiong cutting equipment has compact structure, small occupied volume, can automatically sort materials and has high automation degree. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 A schematic view of the chuanxiong stalk after cutting;

[0033] Figure 2 A brief top view schematic view of the chuanxiong cutting equipment embodiment one of the present application;

[0034] Figure 3 A side view structural schematic view of the conveying assembly;

[0035] Figure 4 A top view structural schematic view of the conveying assembly;

[0036] Figure 5 A structural schematic view of the clamp;

[0037] Figure 6 A structural schematic view of the clamping mechanism one;

[0038] Figure 7 An exploded structural schematic view of the clamping mechanism one;

[0039] Figure 8 A structural schematic view of the clamping mechanism two;

[0040] Figure 9 An exploded structural schematic view of the clamping mechanism two;

[0041] Figure 10 A brief schematic view of the cutting mechanism;

[0042] Figure 11 A structural schematic view of the cutting unit;

[0043] Figure 12 A brief top view schematic view of the chuanxiong cutting equipment embodiment two of the present application;

[0044] Figure 13 A brief schematic view of the cutting mechanism and the sorting mechanism cooperation;

[0045] Figure 14 A brief schematic view of another embodiment of the cutting mechanism and the sorting mechanism cooperation;

[0046] Figure 15 A schematic view of the baffle of the baffle mechanism in the vertical preset direction one being in the avoiding position;

[0047] Figure 16 A schematic view of the baffle of the baffle mechanism in the vertical preset direction one being in the blocking position;

[0048] Figure 17It is a structural schematic diagram of the shearing unit;

[0049] Figure 18 It is a brief schematic diagram of the shearing mechanism and the sorting mechanism of the chuanxiong seed shearing device according to the third embodiment of the present application;

[0050] Figure 19 It is a three-dimensional structural schematic diagram of the shearing mechanism and the sorting mechanism combined together;

[0051] Figure 20 It is a structural schematic diagram of the shearing unit and the clamping unit combined together;

[0052] Figure 21 It is a whole structural schematic diagram of the chuanxiong seed shearing device according to the present application;

[0053] Figure 22 It is a structural schematic diagram of the clamping mechanism one and the clamping opening mechanism in the fourth embodiment.

[0054] In the figure:

[0055] The conveying assembly 100, the image recognition mechanism 200, the shearing mechanism 300, the sorting mechanism 400, the clamp 10, the clamping mechanism one 1, the clamping mechanism two 2, the sliding guide mechanism 3, the sliding shaft 31, the sliding cylinder 32, the clamping piece one 11, the clamping piece two 12, the elastic piece 13, the pin shaft 14, the clamping piece 15, the leading-in part 151, the clamping part 152, the control part 16, the cover body 17, the guide groove 18, the driving groove 19, the counterweight piece 41, the elastic member 42, the base member 5, the conveying mechanism 6, the clamping opening mechanism 7, the air cylinder 71, the pushing piece 72, the background plate 202, the camera 201, the shearing unit 310, the shearing member 311, the cutting tool 312, the shearing blade one 3121, the shearing blade two 3122, the power mechanism 313, the crank connecting rod mechanism 314, the base body 315, the adjusting mechanism 320, the clamping unit 410, the air blowing assembly 421, the moving mechanism 422, the baffle mechanism 430, the baffle 431, the baffle driving mechanism 432, the material guide chute 441, the material container 442, the chuanxiong stem 500, the seed 501, the discarded section 502. DETAILED DESCRIPTION

[0056] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0057] The chuanxiong seed shearing device according to the embodiments of the present application can effectively improve the shearing efficiency and precision, improve the size precision and consistency of the obtained seeds, and is beneficial to subsequent planting and growth and development of the seeds.

[0058] First, such as Figure 1 The chuanxiong stem shown has a relatively long distance between adjacent nodes on the chuanxiong stem 500, while the total length of the required lingzhong seed 501 is about 4cm. The lingzhong seed only leaves a small section of stem at both ends of the node axis, with the upper section about 1cm long and the lower section about 3cm long. Therefore, cutting the stem between adjacent nodes once is not enough to obtain the lingzhong seed with the required size. Usually, it is necessary to cut the stem between adjacent nodes twice to obtain the lingzhong seed 501 with the required size. Thus, a section of stem between adjacent nodes needs to be discarded, which is defined as the discarded section 502. The lingzhong seed 501 is used for planting. The lingzhong seed 501 and the discarded section 502 obtained after cutting and processing need to be separated. Example 1

[0059] like Figure 2 As shown, a seed-cutting device for Ligusticum striatum mainly includes a conveying component 100, an image recognition mechanism 200, and a seed-cutting mechanism 300;

[0060] The conveying assembly 100 includes a conveying mechanism 6 and a clamp 10 disposed on the conveying mechanism 6. The clamp 10 includes a clamping mechanism 1 and a clamping mechanism 2. The clamping mechanism 1 and the clamping mechanism 2 are spaced apart in a preset direction to clamp two different positions of the Ligusticum striatum stem.

[0061] The image recognition mechanism 200 and the seed-cutting mechanism 300 are sequentially arranged on the side of the conveying path of the conveying mechanism 6 along the conveying direction of the conveying mechanism 6;

[0062] The image recognition mechanism 200 is used to identify and acquire the node position of the Ligusticum striatum stem conveyed by the conveying assembly 100;

[0063] The cutting mechanism 300 includes a plurality of cutting units 310 for cutting the stems of Ligusticum chuanxiong. The cutting units 310 are distributed at intervals along a preset direction, and each cutting unit 310 is driven by an adjustment mechanism 320 to move and adjust along the preset direction.

[0064] The shearing mechanism 300 adjusts the position of each shearing unit 310 according to the node position of the Ligusticum chuanxiong stem obtained by the image recognition mechanism 200 in order to shear the Ligusticum chuanxiong stem.

[0065] Specifically, such as Figure 3 and Figure 4As shown, the conveying mechanism 6 is a circulating conveying mechanism, which has a ring-shaped conveying loop, and can be a belt conveying mechanism, a chain conveying mechanism, etc. The conveying mechanism 6 is simple in structure and easy to implement, and can realize the circulating conveying of the clamps 10 to realize continuous production. The clamps 10 are arranged on the conveying mechanism 6 along the conveying direction of the conveying mechanism 6, so that the conveying mechanism 6 can simultaneously convey a plurality of chuanxiong stems, and make the chuanxiong stems pass through the image recognition mechanism 200 and the cutting mechanism 300 one by one. In the embodiment, the connecting direction (preset direction one) of the clamping mechanism one 1 and the clamping mechanism two 2 is perpendicular to or inclined to the conveying direction of the conveying mechanism 6, and of course, the connecting direction of the clamping mechanism one 1 and the clamping mechanism two 2 can also be along the conveying direction of the conveying mechanism 6, which is not limited in particular. The clamping mechanism one 1 and the clamping mechanism two 2 are mainly used to clamp the two ends of the chuanxiong stem, so that the chuanxiong stem is conveyed forward in a stable posture, which is convenient for the image recognition mechanism 200 to accurately obtain the position of the pitch disc on the chuanxiong stem and the diameter of the pitch disc, and is also convenient for the cutting mechanism 300 to accurately cut the chuanxiong stem.

[0066] As shown in the embodiment, Figure 3 and Figure 5 The conveying mechanism 6 includes two parallel chain conveying mechanisms, the clamping mechanism one 1 and the clamping mechanism two 2 are arranged on one chain conveying mechanism respectively, and the two chain conveying mechanisms are driven by a chain wheel assembly to ensure the synchronization of the actions and ensure that the clamping mechanism one 1 and the clamping mechanism two 2 maintain a relatively stable positional relationship during conveying, so as to avoid the dislocation between the clamping mechanism one 1 and the clamping mechanism two 2 due to the asynchronization of the movements, and further cause the chuanxiong stem to be pulled and broken, thereby improving the conveying reliability. Further, the planes where the circulating paths of the two chain conveying mechanisms are located are along the horizontal direction, and the two chain conveying mechanisms are distributed in the height direction, so that the clamping mechanism one 1 and the clamping mechanism two 2 are arranged in the height direction, and further, the preset direction one is along the vertical direction, and when the chuanxiong stem is clamped on the clamp, the length direction of the chuanxiong stem is along the vertical direction, which is convenient for straightening the chuanxiong stem for subsequent image equipment and cutting.

[0067] The clamping mechanism one 1 and the clamping mechanism two 2 of the clamp 10 are elastic clamping mechanisms, which clamp and fix the chuanxiong stem by using elastic force. The structure is simple, easy to implement, and convenient to operate. Only the elastic force needs to be overcome to open the clamping mechanism one 1 and the clamping mechanism two 2, so that the chuanxiong stem can be conveniently placed in the clamping mechanism one 1 and the clamping mechanism two 2 for clamping and fixing, and the residual material remaining on the clamping mechanism one 1 and the clamping mechanism two 2 after cutting can be conveniently released and removed. Figure 4As shown, the conveying assembly 100 further comprises an opening clamp mechanism 7 arranged beside the conveying mechanism 6 to drive the first clamp mechanism 1 and the second clamp mechanism 2 to open. The image recognition mechanism 200, the cutting mechanism 300 and the opening clamp mechanism 7 are arranged in sequence along the conveying direction of the conveying mechanism 6, that is, the clamp holding the chuanmeng stem first passes through the image recognition mechanism 200 to perform image recognition to obtain the node disc position of the chuanmeng stem, then the clamp holding the chuanmeng stem moves to the position of the cutting mechanism 300, the cutting mechanism 300 performs cutting operation on the chuanmeng stem, after the cutting is completed, a small amount of residual material remains on the first clamp mechanism 1 and the second clamp mechanism 2, then the clamp continues to move and moves to the position of the opening clamp mechanism 7, the opening clamp mechanism 7 can open the first clamp mechanism 1 and the second clamp mechanism 2 respectively, and can automatically release and remove the residual material remaining on the first clamp mechanism 1 and the second clamp mechanism 2 after the cutting is completed, without manual intervention, improving the efficiency and reducing the labor intensity. Specifically, the opening clamp mechanism 7 comprises a cylinder 71 and a pushing piece 72, the pushing piece 72 is driven to move by the cylinder 71 to push the first clamp mechanism 1 and the second clamp mechanism 2 to open. Specifically, one end of the cylinder 71 is hinged to the main support where the conveying mechanism 6 is arranged, the other end of the cylinder 71 is hinged to one end of the pushing piece 72, the middle part of the pushing piece 72 is rotationally connected to the main support where the conveying mechanism 6 is arranged, the cylinder 71 drives the pushing piece 72 to rotate when performing the extension and retraction action, and then the pushing piece 72 pushes the first clamp mechanism 1 and the second clamp mechanism 2 to switch to the open state;

[0068] As Figures 5 to 9As shown, in order to improve the reliability of opening the clamping mechanism one 1 and the clamping mechanism two 2, the control part 16 is arranged on the clamping mechanism one 1 and the clamping mechanism two 2 for the pusher 72 to push, the pusher 72 directly acts on the control part 16 when rotating, and further makes the clamping mechanism one 1 and the clamping mechanism two 2 be opened, in the embodiment, the clamping mechanism one 1 and the clamping mechanism two 2 respectively include the clamping piece one 11, the clamping piece two 12 and the elastic mechanism, the elastic mechanism is arranged between the clamping piece one 11 and the clamping piece two 12 to make the clamping piece one 11 and the clamping piece two 12 elastically clamp, the structure is simple and easy to implement, and the clamping piece one 11 and the clamping piece two 12 can be separated by overcoming the elastic force of the elastic mechanism, the chuanxiong stem to be processed can be placed between the clamping piece one 11 and the clamping piece two 12 or the residual material between the clamping piece one 11 and the clamping piece two 12 can be released and removed, the operation is convenient and simple, further, the clamping piece one 11 and the clamping piece two 12 are respectively provided with the clamping piece 15 for directly clamping and contacting the chuanxiong stem, the clamping piece 15 is a flexible piece, the clamping piece one 11 and the clamping piece two 12 clamp and fix the chuanxiong stem under the elastic force of the elastic mechanism, the clamping force is too large to cause the chuanxiong stem to be damaged, and the clamping force is too small to reliably clamp the chuanxiong stem to be straightened, the flexible piece directly contacts the chuanxiong stem, can increase the contact area with the chuanxiong stem, avoid excessive force on the local chuanxiong stem to cause the chuanxiong stem to be damaged, and ensure that the chuanxiong stem is stably clamped to be straightened;

[0069] As shown in the figure, Figure 7 The clamping piece 15 is specifically a flexible spring piece, which can adopt a metal spring piece or other material spring piece, the flexible spring piece on the clamping piece one 11 is in a mirror symmetry structure with the flexible spring piece on the clamping piece two 12, the flexible spring piece is processed by bending a long strip-shaped metal sheet, the flexible spring piece includes a leading-in part 151 and a clamping part 152, the end of the flexible spring piece is bent away from the other flexible spring piece to form the leading-in part 151, the leading-in parts 151 of the two flexible spring pieces form an entrance with gradually decreasing width, which plays a guiding role for the chuanxiong stem to enter between the two flexible spring pieces, and facilitates the chuanxiong stem to be more conveniently clamped between the two flexible spring pieces, the middle part of the flexible spring piece is bent away from the other flexible spring piece to form the clamping part 152, the clamping parts 152 of the two flexible spring pieces form a positioning clamping area with a certain space, the positioning clamping area is used to accommodate the clamped chuanxiong stem, and has a positioning effect on the chuanxiong stem, so that the chuanxiong stem is accurately clamped and fixed on the clamping mechanism one 1 and the clamping mechanism two 2, which is beneficial to subsequent accurate shearing of the chuanxiong stem;

[0070] The elastic mechanism is composed of elastic members 13 and pin shafts 14, the clamping piece one 11 is fixedly connected with the pin shaft 14 through threads, the clamping piece two 12 is slidably arranged on the pin shaft 14, the elastic member 13 is arranged between the clamping piece two 12 and the pin shaft 14, the elastic member 13 is specifically a spring, the elastic force of the elastic member 13 drives the clamping piece two 12 to slide linearly along the pin shaft 14 to approach the clamping piece one 11, that is, the elastic member 13 drives the clamping piece one 11 and the clamping piece two 12 to be in an elastic clamping state, the pin shaft 14 is arranged in parallel with two, and one spring is sleeved on each pin shaft 14, the activity precision and stability of the clamping piece two 12 can be improved, so that the clamping mechanism one 1 and the clamping mechanism two 2 can be accurately opened and clamped; the cover body 17 covers the clamping piece one 11 and the clamping piece two 12, specifically, the cover body 17 is fixedly connected with the clamping piece one 11, and the cover body 17 covers the activity range of the clamping piece two 12, so that dust and the like cannot enter between the clamping piece one 11 and the clamping piece two 12 to affect normal opening and closing, and long-term stable work of the clamping mechanism one 1 and the clamping mechanism two 2 is guaranteed.

[0071] The control part 16 is a lever connected on the clamping piece two 12, the pushing piece 72 is driven to rotate under the driving of the air cylinder 71, the pushing piece 72 drives the control part 16 to rotate to drive the clamping piece two 12 to slide along the pin shaft 14 to move away from the clamping piece one 11, so that the clamping mechanism one 1 and the clamping mechanism two 2 can be opened, and the opening of the clamp is convenient.

[0072] In the embodiment, the first clamping mechanism 1 is fixedly arranged on the chain conveying mechanism on the upper side of the conveying mechanism 6, and the second clamping mechanism 2 has a freedom of movement in the direction along the line connecting the first clamping mechanism 1 and the second clamping mechanism 2 relative to the chain conveying mechanism on the lower side of the conveying mechanism 6, specifically, the second clamping mechanism 2 can move up and down relative to the conveying mechanism 6, so that when the first clamping mechanism 1 and the second clamping mechanism 2 clamp the two ends of the chuanqiong stem respectively, the distance between the first clamping mechanism 1 and the second clamping mechanism 2 can be increased by the movement of the second clamping mechanism 2, so as to straighten and fix the chuanqiong stem, which is beneficial to the subsequent accurate acquisition of the node disc position on the chuanqiong stem and the accurate cutting. Specifically, the chain conveying mechanism on the lower side is fixedly connected with a base member 5, the second clamping mechanism 2 is slidably connected to the base member 5 through a sliding guide mechanism 3, and the sliding direction of the sliding guide mechanism 3 is along the vertical direction, so that the second clamping mechanism 2 can slide up and down relative to the conveying mechanism 6. Specifically, the sliding guide mechanism 3 comprises a sliding shaft 31 and a sliding cylinder 32, the sliding shaft 31 is in sliding fit with the sliding cylinder 32, the length direction of the sliding shaft 31 and the axial direction of the sliding cylinder 32 are both along the vertical direction, the sliding cylinder 32 is fixedly arranged on the base member 5, and the second clamping mechanism 2 is connected with the sliding shaft 31 to accurately move up and down along the sliding cylinder 32. The sliding cylinder 32 can be a sliding bearing, which has high guiding accuracy and good stability. In the embodiment, the sliding shaft 31 is arranged in parallel with two sliding shafts, which further improves the guiding accuracy and the movement accuracy of the second clamping mechanism 2. In order to keep the chuanqiong stem in a straightened state, a stretching mechanism is further arranged, the stretching mechanism is used to drive the second clamping mechanism 2 to slide downward to move away from the first clamping mechanism 1, so as to straighten the chuanqiong stem clamped between the second clamping mechanism 2 and the first clamping mechanism 1. Specifically, the stretching mechanism adopts a counterweight 41, the counterweight 41 is connected to the sliding shaft 31, and the second clamping mechanism 2 is mounted on the counterweight 41. The gravity direction of the counterweight 41 is downward, and the gravity of the counterweight 41 is used to automatically straighten the chuanqiong stem clamped between the second clamping mechanism 2 and the first clamping mechanism 1, without the need to arrange an additional power component, so that the structure is simple, compact, easy to implement and convenient to use. The stretching mechanism can also adopt other types of components, for example, the stretching mechanism adopts an elastic member, which can be a spring, an elastic belt or the like. The elastic force of the elastic member is used to drive the second clamping mechanism 2 to move away from the first clamping mechanism 1, so as to automatically straighten the chuanqiong stem clamped between the first clamping mechanism 1 and the second clamping mechanism 2. The structure is simple, easy to implement and low in cost.

[0073] As Figure 1As shown, the image recognition mechanism 200 in the embodiment mainly comprises a camera 201, which is opposite to the chuanxiong stems clamped by the clamping mechanism one 1 and the clamping mechanism two 2 to take a photo to obtain an image, and then a data processing unit of the image recognition mechanism 200 performs identification processing on the image, calculates the position of the pitch disc and the diameter of the pitch disc, and then the cutting mechanism 300 adjusts the position of each cutting unit 310 according to the pitch disc position of the chuanxiong stem obtained by the image recognition mechanism 200, so as to realize accurate cutting of the chuanxiong stem, ensure that the cutting position falls on a reasonable position on the chuanxiong stem, avoid the cutting position falling on the pitch disc or a position too far away from the pitch disc, so that the cut seedling accurately meets the requirements, and the size accuracy and consistency of the seedling are improved. Preferably, the image recognition mechanism 200 further comprises a background plate 202, and the background plate 202 and the camera 201 are located on two opposite sides of the conveying path of the conveying mechanism 6, that is, the conveying path of the conveying mechanism 6 passes between the background plate 202 and the camera 201. In other words, the chuanxiong stem clamped by the clamping mechanism one 1 and the clamping mechanism two 2 passes between the background plate 202 and the camera 201. The background plate 202 reduces the interference of external factors and ensures the image acquisition quality, thereby improving the accuracy of the image recognition mechanism 200 in identifying the chuanxiong stem.

[0074] The image recognition mechanism 200 obtains the image of the chuanxiong stem, and extracts the coordinate information of each pitch disc in the chuanxiong stem based on the image, which specifically comprises:

[0075] obtaining a pre-trained neural network model;

[0076] inputting the image into the neural network model to output a plurality of target detection boxes (x, y, w, h, i) representing the pitch disc, wherein (x, y) is the center point coordinate of the target detection box, w is the width of the target detection box, h is the height of the target detection box, and i is the confidence of the target detection box;

[0077] taking the coordinate (x, y) as the coordinate of the pitch disc in the camera coordinate system, and generating the coordinate information of the pitch disc in the world coordinate system through coordinate system transformation.

[0078] The pre-trained neural network model comprises:

[0079] constructing an initial network model, wherein the network model comprises a semantic segmentation model;

[0080] obtaining a training data set and a test data set composed of image samples containing manually labeled pitch discs;

[0081] training and testing the network model based on the training data set and the test data set.

[0082] AsFigure 10 As shown, the shearing mechanism 300 includes a plurality of shearing units 310 distributed at intervals along a preset direction, that is, the shearing units 310 are distributed at intervals along the length direction of the straightened chuanxiong stems. The pitch discs on the chuanxiong stems are unevenly distributed, and the positions of the pitch discs on different chuanxiong stems are also different. Therefore, the position of each shearing unit 310 generally needs to be adjusted when shearing a new chuanxiong stem. The labor intensity is large when the position is adjusted manually. Therefore, each shearing unit 310 is driven by an adjusting mechanism 320 to move along the preset direction. The shearing mechanism 300 receives the pitch disc position of the chuanxiong stem obtained by the image recognition mechanism 200, and then the adjusting mechanism 320 adjusts the position of the shearing unit 310 according to the pitch disc position. The degree of automation is high, the labor intensity is reduced, the adjustment efficiency and accuracy are improved, and the overall shearing operation efficiency is improved. The adjusting mechanism 320 can be a cylinder, an oil cylinder, an electric push rod, a screw pair, etc. The driving direction of the adjusting mechanism 320 is along the preset direction in which the shearing units 310 are distributed. Therefore, the shearing units 310 can be accurately matched with the specific pitch disc distribution position on different chuanxiong stems, the shearing accuracy is improved, the adjustment is convenient and efficient, the shearing efficiency and the degree of automation are improved. The plurality of shearing units 310 included in the shearing mechanism 300 can simultaneously shear the chuanxiong stems, that is, the chuanxiong stems are simultaneously sheared in multiple sections, and then a plurality of lings are obtained at the same time, thereby effectively improving the shearing efficiency and accuracy.

[0083] Each shearing unit 310 includes two shearing members 311 arranged at intervals along the preset direction. The interval of the two shearing members 311 in the preset direction is fixed or adjustable. When shearing, the pitch disc on the chuanxiong stem is located between the two shearing members 311, that is, the two shearing members 311 are respectively located on both sides of the pitch disc in the axial direction. Therefore, each shearing unit can obtain a ling at a time after one action. In other words, the chuanxiong shearing assembly can simultaneously shear a plurality of lings after one action, thereby further improving the shearing efficiency and shortening the shearing processing time. The shearing member 311 refers to a device for cutting the chuanxiong stem. The shearing member 311 can be various devices with cutting function, and can be an electric saw, a cutter, a scissors, etc. Based on the material properties of the chuanxiong stem, the cutter and the scissors are preferably used. The cutter and the scissors can ensure reliable cutting, compact structure, convenient implementation, low cost, and low driving power consumption.

[0084] Specifically, as shown in FIG. 6, the shearing mechanism 300 includes a plurality of shearing units 310 distributed at intervals along a preset direction, that is, the shearing units 310 are distributed at intervals along the length direction of the straightened chuanxiong stems. The pitch discs on the chuanxiong stems are unevenly distributed, and the positions of the pitch discs on different chuanxiong stems are also different. Therefore, the position of each shearing unit 310 generally needs to be adjusted when shearing a new chuanxiong stem. The labor intensity is large when the position is adjusted manually. Therefore, each shearing unit 310 is driven by an adjusting mechanism 320 to move along the preset direction. The shearing mechanism 300 receives the pitch disc position of the chuanxiong stem obtained by the image recognition mechanism 200, and then the adjusting mechanism 320 adjusts the position of the shearing unit 310 according to the pitch disc position. The degree of automation is high, the labor intensity is reduced, the adjustment efficiency and accuracy are improved, and the overall shearing operation efficiency is improved. The adjusting mechanism 320 can be a cylinder, an oil cylinder, an electric push rod, a screw pair, etc. The driving direction of the adjusting mechanism 320 is along the preset direction in which the shearing units 310 are distributed. Therefore, the shearing units 310 can be accurately matched with the specific pitch disc distribution position on different chuanxiong stems, the shearing accuracy is improved, the adjustment is convenient and efficient, the shearing efficiency and the degree of automation are improved. The plurality of shearing units 310 included in the shearing mechanism 300 can simultaneously shear the chuanxiong stems, that is, the chuanxiong stems are simultaneously sheared in multiple sections, and then a plurality of lings are obtained at the same time, thereby effectively improving the shearing efficiency and accuracy. Figure 11As shown, the shearing member 311 comprises a cutting tool 312 and a power mechanism 313 for driving the cutting tool 312 to act, the power mechanism 313 is a power source for driving the cutting tool 312 to act, and the power mechanism 313 can be a pneumatic cylinder, a hydraulic cylinder, a motor assembly, etc., and the cutting tool 312 can specifically adopt a cutter, scissors, etc., and the cutting tool 312 is driven by the power mechanism 313 to act, replacing manual operation, improving the degree of automation, effectively reducing labor intensity, and improving the efficiency and precision of shearing operation. In this embodiment, the scissors adopted by the cutting tool 312 comprises a scissors blade one 3121 and a scissors blade two 3122, which are hinged on the base body 315 of the shearing member 311, and the scissors blade one 3121 and the scissors blade two 3122 are respectively connected with the power mechanism 313 arranged on the base body 315 through a crank connecting rod mechanism 314, and the power mechanism 313 specifically adopts a pneumatic cylinder, and the linear motion of the power mechanism 313 drives the scissors blade one 3121 and the scissors blade two 3122 to rotate to shear the chuanxiong stems, which has the advantages of simple and compact structure, small space occupation, easy implementation, low cost, high action reliability, and can guarantee reliable cutting of chuanxiong stems and the efficiency of shearing chuanxiong stems to obtain the seeds;

[0085] Preferably, two shearing members 311 in each shearing unit 310 share one power mechanism 313, which is more compact and simple in structure, reduces the occupied volume, and ensures that the two shearing members 311 in each shearing unit 310 can act synchronously, improving the shearing reliability and efficiency. Specifically, a single power mechanism 313 is respectively connected with one cutting tool 312 through a crank connecting rod mechanism 314, and the two cutting tools 312 in each shearing unit 310 share a rotation shaft, i.e., the rotation shafts of a group of scissors blade one 3121 and scissors blade two 3122 on the base body 315 are coaxial with those of another group of scissors blade one 3121 and scissors blade two 3122, which is compact in structure and ensures that the two cutting tools 312 on each shearing unit 310 act synchronously and consistently, thereby efficiently shearing chuanxiong stems to obtain the seeds. Embodiment Two

[0086] The chuanxiong seed shearing device described in Embodiment One can obtain the seeds 501 and the discarded segments 502 after shearing the chuanxiong stems by the seed shearing mechanism 300, only the seeds have the function of planting, and the seeds 501 and the discarded segments 502 need to be sorted out. After the chuanxiong stems are sheared by the seed shearing mechanism 300, the seeds 501 and the discarded segments 502 will fall out together, so the seeds and the discarded segments are easily mixed together, increasing the difficulty of subsequent material sorting. Therefore, as shown in the figure, the seed shearing mechanism 300 is provided with a seed sorting mechanism 400, which is arranged below the seed shearing mechanism 300 and is connected with the seed shearing mechanism 300 through a conveying mechanism 301, and the conveying mechanism 301 is used to convey the chuanxiong stems sheared by the seed shearing mechanism 300 to the seed sorting mechanism 400. The seed sorting mechanism 400 comprises a seed sorting device 401 and a seed sorting device 402, which are arranged in parallel and are respectively connected with the conveying mechanism 301 through a conveying mechanism 302 and a conveying mechanism 303. The seed sorting device 401 is used to sort out the seeds 501, and the seed sorting device 402 is used to sort out the discarded segments 502. The seed sorting device 401 and the seed sorting device 402 are respectively connected with a conveying mechanism 304 and a conveying mechanism 305, and the conveying mechanism 304 and the conveying mechanism 305 are respectively connected with a conveying mechanism 306 and a conveying mechanism 307, and the conveying mechanism 306 and the conveying mechanism 307 are respectively connected with a conveying mechanism 308 and a conveying mechanism 309, and the conveying mechanism 308 and the conveying mechanism 309 are respectively connected with a seed conveying device 310 and a discarded segment conveying device 311. The seed conveying device 310 is used to convey the seeds 501 to a seed storage device 312, and the discarded segment conveying device 311 is used to convey the discarded segments 502 to a discarded segment storage device 313. Figure 12As shown, the sorting mechanism 400 is arranged to sort the rhizome seeds 501 and the discarded segments 502 while the shearing mechanism 300 is shearing the chuanxiong stems, so that the rhizome seeds 501 and the discarded segments 502 can be effectively separated.

[0087] Specifically, as shown in the figure, the sorting mechanism 400 is arranged on the side of the conveying path of the conveying mechanism 6, and the sorting mechanism 400 includes a plurality of clamping units 410 for clamping the rhizome seeds, the clamping units 410 are distributed at intervals along a predetermined direction, and each clamping unit 410 is movably adjustable along the predetermined direction. Figure 13

[0088] The clamping unit 410 clamps the part of the chuanxiong stem where the rhizome seed is located before the shearing mechanism 300 performs the cutting action, and after the shearing mechanism 300 performs the cutting action, the discarded segment automatically falls out of the material because it is not clamped, while the rhizome seed is temporarily stored and clamped on the clamping unit 410, so that the rhizome seed and the discarded segment are separated.

[0089] Preferably, each clamping unit 410 is movably adjusted along the predetermined direction by the adjusting mechanism 320, the sorting mechanism 400 receives the node disc position of the chuanxiong stem obtained by the image recognition mechanism 200, and then the adjusting mechanism 320 adjusts the position of the clamping unit 410 according to the node disc position, which has high automation degree and can accurately adjust the position of the clamping unit 410 to make the clamping unit 410 accurately clamp the part of the chuanxiong stem where the rhizome seed is located.

[0090] Because the rhizome seed is temporarily clamped on the clamping unit 410, a time-sharing unloading method can be used, that is, the discarded segment falls out of the material first because it is not clamped, while the rhizome seed is temporarily clamped on the clamping unit 410, and the release time of the clamping unit 410 can be controlled to control the release time of the rhizome seed, so that the discarded segment and the rhizome seed are unloaded from the same position at different times. For example, a screening mechanism can be arranged below the clamping unit 410, which mainly includes a funnel with large upper part and small lower part, two inverted V-shaped screening channels are arranged at the discharge port of the funnel, and a screening door is arranged at the discharge port of the funnel. The screening door is used to control the opening and closing of the two screening channels, so that the discarded segment falls out of the material from one screening channel, then the screening door is actuated to close the screening channel through which the discarded segment passes and open the other screening channel, then the clamping unit 410 is released to release the rhizome seed, and the rhizome seed falls and is discharged along the other screening channel, achieving the sorting of the materials.

[0091] In addition, the discarded segment and the rhizome seed can also be unloaded from different positions, specifically, as shown in the figure, Figure 14 ​As shown, the sorting mechanism 400 also includes a moving mechanism 422. The clamping unit 410 is driven by the moving mechanism 422 to switch between the shearing position and the unloading position. When the clamping unit 410 is in the shearing position, the clamping unit 410 is close to the conveying path of the conveying mechanism 6 to clamp the part of the ligusticum chuanxiong stem where the ligusticum chuanxiong seed is located for the shearing unit 310 to shear. When the clamping unit 410 is in the unloading position, the clamping unit 410 is away from the conveying path of the conveying mechanism 6 to release the ligusticum chuanxiong seed for unloading. The moving direction of the moving mechanism 422 can be defined as a preset direction two. The preset direction two can be set as a straight line perpendicular to the preset direction one, and it is also perpendicular to the conveying path of the conveying mechanism 6. After the shearing unit 310 shears the stems of *Ligusticum chuanxiong*, the discard section falls directly to the ground, while the *Ping* seeds are held in the holding unit 410 and do not fall with the discard section. The moving mechanism 422 drives the holding unit 410 to move along the preset direction two, thus moving the *Ping* seeds to another position and away from the discharge position of the discard section. Then, the holding unit 410 releases the *Ping* seeds for discharge. This conveniently and simply achieves material sorting. The preset direction two can also be other directions, only... The goal is to enable the separate feeding of the poria cocos seed and the discarded section from different locations; and the moving mechanism 422 can drive the clamping unit 410 to move along a preset direction to multiple different feeding positions, thereby enabling the sorting of the poria cocos seed by quality. Specifically, the image recognition mechanism 200 identifies and obtains the ratio of the diameter of each section of the chuanxiong stem to the diameter of the stem conveyed by the conveying component 100. The sorting mechanism 400 controls the moving mechanism 422 to move the clamping unit 410 to several different feeding positions according to the ratio of the diameter of each section of the chuanxiong stem to the diameter of the stem obtained by the image recognition mechanism 200, so as to feed the poria cocos seed of different quality grades from different feeding positions, thus conveniently realizing the sorting of the poria cocos seed by quality.

[0092] Specifically, the ratio of the diameter of the node disc to the diameter of the stem is extracted from the image acquired by the image recognition mechanism 200, including:

[0093] The image is then processed sequentially into grayscale, Gaussian blur, and binarization to generate a black and white image.

[0094] The diameter of the stem disc and the stem diameter are extracted based on the black connected components of the black and white image;

[0095] Calculate the ratio of the diameter of the node disc to the diameter of the stem.

[0096] In actual production, it is found that not only the ratio value of node disc diameter to stem diameter is positively correlated with the germination rate of the seed, but also the germination rate of the seed is positively correlated with whether the node disc has a bud disc. Therefore, preferably, the image recognition mechanism 200 identifies the ratio value of the node disc diameter to the stem diameter of the chuanxiong stem transported by the conveying assembly 100, and further identifies whether the node disc contains a bud disc. The node disc containing a bud disc can be cut to obtain the seed, or all node discs can be cut to obtain the seed, and then the sorting mechanism 400 sorts the seeds from different positions of the unloading position according to whether the node disc contains a bud disc to achieve sorting.

[0097] The identification of whether the node disc contains a bud disc specifically includes:

[0098] The pre-trained neural network model is obtained; the image is input into the neural network model, and a plurality of first target detection boxes representing node discs and a plurality of second target detection boxes representing bud discs are output; when the first target detection box and the second target detection box partially overlap, it is determined that the node disc corresponding to the first target detection box contains the bud disc.

[0099] The pre-training of the neural network model includes: constructing an initialized network model, wherein the network model includes a semantic segmentation model; obtaining a training data set and a test data set composed of image samples containing artificially marked node discs and bud discs; training and testing the network model based on the training data set and the test data set.

[0100] Since the scale of the bud disc in the overall image of the chuanxiong stem is small, which may cause poor model training results, the method of pre-training the neural network model can also be: constructing an initialized network model, wherein the network model includes a semantic segmentation model; obtaining a training data set and a test data set composed of image samples containing artificially marked node discs and bud disc regions; training and testing the network model based on the training data set and the test data set, wherein the IOU value of the prediction box and the real box is used for deletion during training, and the NMS method is used to leave only one real box.

[0101] Further, a material guide chute 441 is arranged below the cutting position and each unloading position, respectively. The material guide chute 441 receives the falling material and guides the falling material into each material container 442, respectively. The material guide chute 441 is a smooth inclined surface, and the seed and the discarded segment can smoothly slide along the inclined surface without obstruction. The inclined surface can reduce the impact when the material falls, so as to avoid damage to the seed due to impact. Each material container is a replaceable structure, which can be easily replaced with a new empty material container when full to receive and store the material, so as to ensure continuous operation of the chuanxiong seed cutting equipment.

[0102] Each clamping unit 410 can be driven independently by a moving mechanism 422 to move along a preset direction, so that each clamping unit 410 moves to the unloading position that meets the quality requirements for unloading under the drive of its corresponding moving mechanism 422; or, as Figure 14 As shown, all clamping units 410 are driven by a moving mechanism 422 to move along a preset direction. The moving mechanism 422 is a linear moving mechanism, which can be a cylinder, hydraulic cylinder, electric push rod, screw pair mechanism, etc. The moving mechanism 422 drives all clamping units 410 to move. When all clamping units 410 move to a feeding position, the clamping unit 410 releases the seedlings that meet the quality requirements of the feeding position. Seedlings that do not meet the quality requirements are still clamped by the clamping unit 410. Then all clamping units 410 move to another feeding position, and the clamping unit 410 releases the seedlings that meet the quality requirements of the feeding position again. This process is repeated to achieve the quality sorting of seedlings.

[0103] When the clamping unit 410 clamps and releases the seed, the seed may stick to the clamping unit. Furthermore, when the clamping unit 410 releases the seed, it will fall straight down along the direction of gravity, which may be blocked by the components below, affecting the reliability of the feeding process. Therefore, if... Figure 14 As shown, the clamping unit 410 is equipped with an air blowing assembly 421. When the clamping unit 410 releases the seed, the air blowing assembly 421 blows the seed to discharge it. The air blowing assembly 421 mainly includes an air nozzle, which is connected to an air source through an air pipe. The air blowing assembly 421 blows out high-pressure gas to move the seed, so that the seed can be discharged reliably, avoiding the seed from adhering to the clamping unit 410. This causes the seed to fall in a parabolic trajectory, avoiding the seed from falling in a straight line and being blocked by the components below, thus improving the reliability of the discharge.

[0104] The diameter of the segmented discs for the seeds varies, resulting in differences in the weight of each seed. Furthermore, the degree of adhesion of the seeds to the clamping unit also varies, leading to differences in the distance the seeds travel under the blowing action of the air-blowing component. In other words, the seeds are difficult to fall to a precise position under the blowing action of the air-blowing component alone, hindering accurate sorting. Figure 15 and Figure 16As shown, the baffle mechanism 430 is arranged to guide the seedlings, which includes a baffle 431 and a baffle driving mechanism 432, the baffle 431 is driven by the baffle driving mechanism 432 to switch between the blocking position and the avoiding position, when the baffle 431 is in the blocking position, the baffle 431 is located on the path of the seedlings blown by the air blowing assembly 421 to block and guide the seedlings to fall, when the baffle 431 is in the avoiding position, the baffle 431 avoids the clamping unit 410 to ensure that the clamping unit 410 can normally clamp the seedlings, avoiding the baffle 431 from blocking between the clamping unit 410 and the chuanmiao stem to interfere with the normal clamping of the seedling position on the chuanmiao stem by the clamping unit 410, the baffle 431 can switch between the blocking position and the avoiding position in a linear sliding manner, similar to a sliding door structure, the baffle 431 can also switch between the blocking position and the avoiding position in a deflection manner, similar to a hinged door structure, in this embodiment, all clamping units 410 share a baffle mechanism 430, that is, only a single baffle 431 is arranged, which is a vertical plate, when the baffle 431 is in the blocking position, it can simultaneously block and guide the seedlings on all clamping units 410, the baffle mechanism 430 as a whole is in a position-fixed state relative to the clamping unit 410, the baffle mechanism 430 as a whole moves along the preset direction two under the driving of the moving mechanism 422, when the chuanmiao seedling cutting mechanism works, the baffle mechanism 430 is first in a state that the baffle 431 is in the avoiding position, the clamping unit 410 is driven by the moving mechanism 422 to approach the chuanmiao stem, the clamping unit 410 clamps the seedling position on the chuanmiao stem, then the cutting unit 310 cuts the chuanmiao stem to make the seedling cut and separated from the chuanmiao stem, the discarded segment 502 directly falls into the material frame, then the clamping unit 410 is reversely moved under the driving of the moving mechanism 422, then the baffle mechanism 430 switches to a state that the baffle 431 is in the blocking position, the moving mechanism 422 drives the clamping unit 410 and the baffle mechanism 430 as a whole to move to the required discharging position, the clamping unit 410 releases the seedling and the air blowing assembly 421 blows the seedling to fall along a parabolic path, then the seedling hits the baffle 431 to be blocked and guided by the baffle 431 to fall onto the corresponding material guide chute 441 below, then the seedling slides up and down along the material guide chute 441 to the material container, so that the discharging is more accurate.

[0105] In this embodiment, the sorting mechanism 400 and the seedling cutting mechanism 300 are independent mechanisms, as shown in Figures 12 to 14 The sorting mechanism 400 and the seedling cutting mechanism 300 are respectively located on both sides of the conveying path of the conveying mechanism 6, in the case of arranging the clamping unit 410 with the sorting mechanism 400, as shown in Figure 13 , Figure 14 andFigure 17 As shown, each shearing unit 310 may contain only one shearing member 311. Before the cutting mechanism 300 performs the cutting action, the clamping unit 410 clamps the part of the Ligusticum striatum where the seed is located on the stem of Ligusticum striatum. The position of the shearing unit 310 is adjusted so that each shearing unit 310 is facing one side of the axial direction of its corresponding node disc to cut. Then each shearing unit 310 is moved to the other side of the axial direction of the node disc (or the entire Ligusticum striatum stem is moved relative to the Ligusticum striatum shearing assembly so that each shearing unit 310 is aligned with the other side of the axial direction of the node disc) to cut, thereby obtaining the seed with the required size.

[0106] Of course, each of the shearing units 310 in this embodiment can also be the same as the shearing unit 310 in Embodiment 1. That is, each shearing unit 310 includes two shearing members 311 arranged at a distance along a preset direction. The distance between the two shearing members 311 is the length of the poria seed. When shearing, the nodes on the chuanxiong stem are located between the two shearing members 311. Each shearing unit 310 can obtain the poria seed in one operation, thereby improving the efficiency of shearing and shortening the shearing processing time. Example 3

[0107] like Figure 18 As shown, the difference from Embodiment 2 is that the sorting mechanism and the seed-cutting mechanism are combined into a composite functional component. That is, the sorting mechanism and the seed-cutting mechanism are integrated together to improve the integration and reduce the volume occupied. The individual cutting unit 310 and the individual clamping unit 410 are connected as one unit to form a single composite functional unit. Each composite functional unit is driven by the adjustment mechanism 320 to move and adjust along a preset direction.

[0108] Specifically, such as Figures 18 to 21As shown, each of the shearing units 310 respectively comprises two shearing members 311 arranged at an interval along the preset direction one, and the clamping unit 410 is arranged between the two shearing members 311. The chuanpi shearing and planting device adopts a vertical structure, that is, the shearing unit 310 and the clamping unit 410 are connected to form a composite functional unit which is vertically and spacedly distributed. The chuanpi seed below the clamping unit 410 is provided with the next layer of the composite functional unit. If the clamping unit 410 directly releases the chuanpi seed, the chuanpi seed will be blocked by the functional unit below. Therefore, the clamping unit 410 is provided with a blowing assembly 421. The blowing assembly 421 is used to blow the chuanpi seed. The air outlet direction of the blowing assembly 421 is along the horizontal direction, so that the chuanpi seed falls in a parabolic manner to avoid the next layer of the composite functional unit, thereby improving the reliability of the discharging. The moving mechanism 422 is used to drive the clamping unit 410 to move along the preset direction two and also drives the shearing unit 310 to move along the preset direction two, so as to drive the shearing unit 310 to move in a direction perpendicular to the length direction of the chuanpi stem to perform the feeding and the retracting. The moving mechanism 422 has multiple functions, that is, it is used to move the clamping unit 410 to sort the materials, and it is also used to drive the shearing unit 310 to perform the feeding and the retracting. The moving mechanism 422 is also provided with a baffle mechanism 430. The baffle mechanism 430 comprises a baffle 431 and a baffle driving mechanism 432. The baffle 431 is driven by the baffle driving mechanism 432 to switch between the blocking position and the avoiding position. When the baffle 431 is in the blocking position, the baffle 431 is located on the path of the chuanpi seed blown by the blowing assembly 421 to block and guide the chuanpi seed to fall. When the chuanpi seed falls in a parabolic manner, it hits the baffle 431 in the blocking position, so that the chuanpi seed can accurately fall, thereby improving the accuracy of the sorting. The baffle mechanism 430 as a whole moves along the preset direction two under the driving of the shearing unit 310 and the clamping unit 410 by the moving mechanism 422. Specifically, a base member can be provided. The base member is provided with a plurality of shearing units 310 and clamping units 410 which are distributed along the preset direction one. The shearing unit 310 and the clamping unit 410 are connected to form a whole functional unit. Each functional unit has a movement degree of freedom along the preset direction one. Each functional unit is driven by an adjusting mechanism 320 to move along the preset direction one. The base member is also provided with the baffle mechanism 430. The base member as a whole moves along the preset direction two under the driving of the moving mechanism 422. In order to improve the stability and accuracy of the movement of the base member along the preset direction two, a guide sliding mechanism can be provided to guide and limit the movement of the base member. A guide chute 441 is arranged below each discharging position along the moving direction of the moving mechanism 422. The guide chute 441 receives the falling materials and guides the falling materials into each material container 442. The material container 442 can be conveniently replaced to ensure the continuity of the shearing and planting production. Embodiment four

[0109] AsFigure 22 The main difference between the embodiment one and the embodiment two is that the opening mechanism 7 is a non-powered mechanism, and the first clamping mechanism and the second clamping mechanism are automatically opened by the opening mechanism 7 when passing through the opening mechanism 7. Specifically, the opening mechanism 7 has a protruding part protruding in the direction perpendicular to the conveying direction of the conveying mechanism 6, so that when the first clamping mechanism and the second clamping mechanism pass through the opening mechanism 7, the protruding part on the opening mechanism 7 can push the control part on the first clamping mechanism and the second clamping mechanism in the direction perpendicular to the conveying direction of the conveying mechanism 6, thereby opening the first clamping mechanism and the second clamping mechanism. The first clamping mechanism 1 can be specifically as shown in the figure Figure 22 The structure of the first clamping mechanism is basically the same as that of the first clamping mechanism in the embodiment one, and specifically includes a first clamping piece 11 and a second clamping piece 12. The first clamping piece 11 is fixedly connected with the pin shaft 14, and the second clamping piece 12 is slidably arranged on the pin shaft 14. An elastic piece 13 is arranged between the second clamping piece 12 and the pin shaft 14. The first clamping piece 11 and the second clamping piece 12 are respectively provided with clamping pieces 15 for directly clamping and contacting the Chuanxiong stems. The clamping pieces 15 are specifically flexible elastic sheets. The first clamping mechanism further includes a cover body 17, which covers the first clamping piece 11 and the second clamping piece 12. The cover body 17 is fixedly connected with the second clamping piece 12. The cover body 17 is provided with a guide groove 18 perpendicular to the conveying direction of the conveying mechanism. The first clamping piece 11 is provided with a driving groove 19 inclined to the conveying direction of the conveying mechanism. The control part 16 is a push rod simultaneously slidably inserted into the guide groove 18 and the driving groove 19. The second clamping mechanism has the same structure as the first clamping mechanism 1. The opening mechanism 7 can be specifically a rotatable guide wheel, which can reduce the frictional resistance. As long as the opening mechanism 7 can push the control part on the first clamping mechanism and the second clamping mechanism, the opening mechanism 7 can be used. When the first clamping mechanism and the second clamping mechanism pass through the opening mechanism 7, the control part 16 is pushed by the opening mechanism 7 to slide along the guide groove 18. Then, the control part 16 moves the first clamping piece 11 away from the second clamping piece 12 along the conveying direction through the driving groove 19, so as to open the first clamping mechanism and the second clamping mechanism. After the first clamping mechanism and the second clamping mechanism completely pass through the opening mechanism 7, the first clamping piece 11 is automatically reset to the clamping state close to the second clamping piece 12 under the action of the elastic piece 13.

[0110] The above is only the preferred embodiment of the present application, and it should be pointed out that the above preferred embodiment should not be regarded as a limitation of the present application, and the protection scope of the present application should be limited by the scope defined by the claims. For ordinary skilled in the art, several improvements and refinements can be made without departing from the spirit and scope of the present application, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A seed-cutting device for Ligusticum chuanxiong, characterized in that, It includes a conveying assembly (100), an image recognition mechanism (200), and a seed-cutting mechanism (300); The conveying assembly (100) includes a conveying mechanism (6) and a clamp provided on the conveying mechanism (6). The clamp includes a clamping mechanism one (1) and a clamping mechanism two (2). The clamping mechanism one (1) and the clamping mechanism two (2) are spaced apart in a preset direction one to clamp two different positions of the Ligusticum striatum stem respectively. The image recognition mechanism (200) and the seed-cutting mechanism (300) are arranged sequentially on the side of the conveying path of the conveying mechanism (6) along the conveying direction of the conveying mechanism (6); The image recognition mechanism (200) is used to identify and acquire the node position of the Ligusticum striatum stem conveyed by the conveying assembly (100); The cutting mechanism (300) includes a plurality of cutting units (310) for cutting the stems of Ligusticum striatum. The cutting units (310) are distributed at intervals along a preset direction. Each cutting unit (310) is driven by an adjustment mechanism (320) to move and adjust along the preset direction. The shearing mechanism (300) adjusts the position of each shearing unit (310) according to the node position of the Ligusticum striatum stem obtained by the image recognition mechanism (200) to shear the Ligusticum striatum stem; It also includes a sorting mechanism (400) provided on the side of the conveying path of the conveying mechanism (6), the sorting mechanism (400) including a plurality of clamping units (410) for clamping the seeds, the clamping units (410) being distributed at intervals along a preset direction, and each clamping unit (410) being movable and adjustable along the preset direction; The clamping unit (410) clamps the part of the lingzi on the stem of chuanxiong before the cutting mechanism (300) performs the cutting action, and after the cutting mechanism (300) performs the cutting action, the lingzi is temporarily clamped on the clamping unit (410). The sorting mechanism (400) and the seed-cutting mechanism (300) are combined to form a composite functional component. The cutting unit (310) and the clamping unit (410) are connected as a whole to form a composite functional unit. Each composite functional unit is driven by the adjusting mechanism (320) to move and adjust along a preset direction. Each cutting unit (310) includes two cutting components (311) arranged at a distance along the preset direction. The clamping unit (410) is arranged between the two cutting components (311).

2. The Ligusticum chuanxiong seed-cutting device according to claim 1, characterized in that, The sorting mechanism (400) also includes a moving mechanism (422). The clamping unit (410) is driven by the moving mechanism (422) to switch between the shearing position and the unloading position. When the clamping unit (410) is in the shearing position, the clamping unit (410) is close to the conveying path of the conveying mechanism (6) to clamp the part of the ligusticum chuanxiong stem where the ligusticum chuanxiong seed is located for the shearing unit (310) to shear. When the clamping unit (410) is in the unloading position, the clamping unit (410) is away from the conveying path of the conveying mechanism (6) to release the ligusticum chuanxiong seed for unloading.

3. The Ligusticum chuanxiong seed-cutting device according to claim 2, characterized in that, The image recognition mechanism (200) identifies and obtains the ratio of the diameter of each segment of the Ligusticum striatum stem to the diameter of the stem, which is conveyed by the conveying component (100). The sorting mechanism (400) controls the moving mechanism (422) to operate according to the ratio of the diameter of each segment of the Ligusticum striatum stem to the diameter of the stem, which is obtained by the image recognition mechanism (200), so that the clamping unit (410) moves to several different unloading positions to separate the Ligusticum striatum seeds of different grades.

4. The Ligusticum chuanxiong seed-cutting device according to claim 3, characterized in that, A guide chute (441) is provided below the shearing position and each feeding position to guide the falling material into the material container (442).

5. The Ligusticum chuanxiong seed-cutting device according to claim 1, characterized in that, The clamping unit (410) is provided with an air blowing component (421), which blows the lingzi (a type of medicinal herb) to feed it when the clamping unit (410) releases the lingzi.

6. The Ligusticum chuanxiong seed-cutting device according to claim 5, characterized in that, The sorting mechanism (400) further includes a baffle mechanism (430), which includes a baffle (431) and a baffle driving mechanism (432). The baffle (431) is driven by the baffle driving mechanism (432) to switch between a blocking position and a clearance position. When the baffle (431) is in the blocking position, the baffle (431) is located on the path of the seeds being blown out by the air blowing component (421) to block and guide the seeds to fall.

7. The Ligusticum chuanxiong seed-cutting device according to claim 1, characterized in that, The shearing component (311) includes a cutting tool (312) and a power mechanism (313) for driving the cutting tool (312) to perform actions. The two shearing components (311) in each shearing unit (310) share a power mechanism (313).

8. The Ligusticum chuanxiong seed-cutting device according to claim 1, characterized in that, The clamping mechanism one (1) and clamping mechanism two (2) are elastic clamping mechanisms; It also includes an opening clamping mechanism (7), which is located on the side of the conveying path of the conveying mechanism (6) to drive the clamping mechanism one (1) and the clamping mechanism two (2) to open.

9. The Ligusticum chuanxiong seed-cutting device according to claim 1, characterized in that, At least one of the clamping mechanism one (1) and clamping mechanism two (2) has a degree of freedom of movement in a preset direction relative to the conveying mechanism (6) to straighten the Ligusticum striatum stem clamped between clamping mechanism one (1) and clamping mechanism two (2).

Images