Edible bird's nest raw material impurity picking machine

Abstract

The disclosure provides a bird's nest raw material impurity picking machine, relating to the technical field of computer vision and material impurity processing, and can be specifically applied to the picking of bird's nest impurities. The specific implementation scheme is that the impurity picking machine includes a machine body, a carrier disc, a sliding mechanism, an impurity picking device, and a post-processing assembly. The carrier disc is arranged on the machine body; the sliding mechanism is arranged on the machine body; the base of the impurity picking device is connected with the sliding mechanism, and the impurity picking mechanism is slidably arranged on the base; the first end of the rod body of the impurity picking mechanism is provided with a suction head, the second end of the rod body is provided with a vacuum tube, the outside of the suction head is provided with a fixed part, the side away from the first end of the rod body of the fixed part is provided with a pressing plate, and the pressing plate is provided with a picking opening; the post-processing assembly is arranged on the machine body and is communicated with the vacuum tube to process the impurities picked from the material. According to the technical scheme of the disclosure, the integrated picking and processing process of impurity picking and impurity recycling can be realized, and the impurity picking efficiency and picking accuracy are improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of material impurity processing, in particular to an impurity picking machine. BACKGROUND

[0002] In order to ensure the quality of the material, the impurities mixed in the material need to be picked. The impurity picking technology in the related art cannot well meet the impurity picking efficiency requirement and the impurity picking rate requirement. SUMMARY

[0003] The present disclosure provides an impurity picking machine for bird's nest raw materials.

[0004] According to an aspect of the present disclosure, an impurity picking machine is provided, comprising:

[0005] a machine body;

[0006] a carrier disc arranged on a table top of the machine body and used for carrying material containing impurities;

[0007] a sliding mechanism arranged on the machine body and movable relative to the carrier disc;

[0008] an impurity picking device comprising a base and an impurity picking mechanism, the base being connected with the sliding mechanism, and the impurity picking mechanism being slidably arranged on the base; a first end of a rod body of the impurity picking mechanism is provided with a suction head, a second end of the rod body is provided with a vacuum tube, the suction head is in communication with the vacuum tube, an outer portion of the suction head is provided with a fixing portion, a pressing plate is arranged on a side of the fixing portion away from the first end of the rod body, and a picking opening is arranged on the pressing plate;

[0009] a post-processing assembly arranged on the machine body, in communication with the vacuum tube, and used for processing the impurities picked from the material by the suction head.

[0010] According to the technical solution of the present disclosure, an integrated picking and processing process of impurity picking and impurity recycling can be realized, and the impurity picking efficiency and picking accuracy can be improved.

[0011] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present disclosure, nor to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0012] The accompanying drawings are used to better understand the present scheme and do not limit the present disclosure. Among them:

[0013] Figure 1 is a structural schematic diagram of an impurity picking machine according to an embodiment of the present disclosure;

[0014] Figure 2is a structural schematic diagram of an impurity picking machine according to an embodiment of the present disclosure;

[0015] Figure 3 is a top view structural schematic diagram of an impurity picking machine according to an embodiment of the present disclosure;

[0016] Figure 4 is a structural schematic diagram of an impurity picking mechanism according to an embodiment of the present disclosure;

[0017] Figure 5 is a structural schematic diagram of an impurity picking device according to an embodiment of the present disclosure;

[0018] Figure 6 is a structural schematic diagram of an impurity picking device according to an embodiment of the present disclosure;

[0019] Figure 7 is a top view structural schematic diagram of an impurity picking machine according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0020] Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, which include various details of the embodiments of the present disclosure to assist in understanding, which should be considered in a descriptive sense only. Thus, it will be apparent to one of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope of the present disclosure. Also, for the sake of brevity and clarity, descriptions of well-known functions and constructions are omitted from the following description.

[0021] As shown in Figures 1 to 7 , the present disclosure provides an impurity picking machine 300, comprising: a machine body 310, a carrier disc 320, a sliding mechanism 330, an impurity picking device 200 and a post-processing assembly 350.

[0022] The machine body 310 is used to mount the carrier disc 320, the sliding mechanism 330 and the impurity picking device 200.

[0023] The carrier disc 320 is arranged on the table surface 321 of the machine body 310, and is used to carry materials containing impurities.

[0024] The sliding mechanism 330 is arranged above the table surface 321 of the machine body 310, and is used to drive the impurity picking device 200 connected thereto to move relative to the carrier disc 320, so that the impurity picking mechanism 100 of the impurity picking device 200 can pick impurities located at any position on the carrier disc 320.

[0025] The impurity sorting device 200 includes a base 5 and an impurity sorting mechanism 100. The base 5 is connected to a sliding mechanism 330, and the impurity sorting mechanism 100 is slidably disposed on the base 5. A conveying cavity 11 is formed inside the rod 1 of the impurity sorting mechanism 100, connecting the first end 12 and the second end 13 of the rod 1. A suction head 2 is provided at the first end 12 of the rod 1, and a vacuum tube 3 is provided at the second end 13 of the rod 1. The vacuum tube 3 is connected to the second end 13 of the rod 1 and is used to provide suction for the suction head 2. The first end 12 of the rod 1 is the end closest to the impurity when the impurity sorting mechanism 100 is working. The suction head 2 is connected to the vacuum tube 3. The fixing part 4 is disposed outside the suction head 2 and connected to the first end 12 of the rod body 1. A pressure plate 41 is provided on the side of the fixing part 4 away from the first end 12 of the rod body 1. The pressure plate 41 is used to fix impurities in the material to be picked up, preventing the impurities from being displaced by the force of the fixing part 4 or the suction head 2, which would prevent the suction head 2 from accurately picking up the impurities. The pressure plate 41 is provided with a picking opening 42, which is used to expose the impurities so that the suction head 2 can pick up the impurities exposed in the picking opening 42.

[0026] The post-processing component 350 is located on the machine body 310 and is connected to the vacuum tube 3. It is used to process the impurities picked up from the material by the suction head 2, and can further filter and / or collect the impurities.

[0027] According to the embodiments of this disclosure, it should be noted that:

[0028] definition Figure 1 and Figure 5 The upper part of the structure shown is the upper position, defined Figure 1 and Figure 5 The lower part of the structure shown is the lower position, defined Figure 1 and Figure 5 The left side of the structure shown is the left orientation, defined as follows: Figure 1 and Figure 5 The right side of the structure shown is the right orientation, defined as follows: Figure 1 and Figure 5 The upper and lower parts of the structure shown are vertically aligned, defined as follows: Figure 1 and Figure 5 The left and right sides of the structure shown are horizontal.

[0029] The structure, shape, size, and material of the carrier 320 can be selected and adjusted as needed, and no specific limitations are made here.

[0030] The specific structure of the sliding mechanism 330 can be selected and adjusted as needed, and is not specifically limited here. It should be able to drive the impurity picking device 200 to move in any direction on a horizontal plane parallel to the carrier tray 320.

[0031] One end of the vacuum tube 3 is communicated with the second end 13 of the rod body 1, and the other end of the vacuum tube 3 can be communicated with a vacuum pump. The vacuum pump drives the vacuum tube 3 to provide suction force for the suction head 2, so that the suction head 2 uses the vacuum force generated by high-speed airflow to suck the impurities into the conveying cavity 11 and then suck them out to the outside through the vacuum tube 3.

[0032] The material can be understood as bird's nest, tea, traditional Chinese medicine, tobacco or grain, etc., which is not limited here. The impurities can be understood as impurities in the material such as bird's nest, tea, traditional Chinese medicine, tobacco or grain, etc., which is not limited here.

[0033] The material, shape and size of the rod body 1 can be selected and adjusted as needed, which is not limited here. The conveying cavity 11 of the rod body 1 can be a straight line or a broken line cavity, which is not limited here. The first end 12 and the second end 13 of the rod body 1 can be two ends arranged oppositely, or two openings located in different spatial orientations, which can be adjusted according to the shape of the rod body 1, which is not limited here.

[0034] The specific structure of the suction head 2 is not limited here, which can realize the suction of impurities from the material under the action of vacuum negative pressure.

[0035] The structure, material, shape and size of the fixing part 4 can be selected and adjusted as needed, which is not limited here. It can be realized that the impurities are pressed to prevent displacement of the impurities when the impurities are picked. The size of the pressing plate 41 and the caliber size of the picking port 42 can be selected and adjusted according to the size of the impurities. When the size of the impurities is large, the size of the pressing plate 41 and the caliber of the picking port 42 can be increased correspondingly to ensure that the impurities are picked out smoothly. When the size of the impurities is small, the size of the pressing plate 41 and the caliber of the picking port 42 can be reduced correspondingly to ensure that the impurities are picked out smoothly.

[0036] The specific device structure used for the filtering function and the collecting function of the post-processing assembly 350 is not limited here, which can realize the filtering and / or collecting of the impurities sucked by the impurity picking mechanism 100.

[0037] According to the technology of the embodiment of the present disclosure, the impurity picking machine table 300 of the embodiment of the present disclosure can meet different factory environment, different material scene, different tray 320 size and different image acquisition device scheme. By setting the post-processing component 350, the integrated processing process of impurity picking can be realized. After the impurity picking device 200 completes the impurity picking in the material, the material (waste material) sucked out with the impurities in the suction process of the suction head 2 can be further filtered to retain the waste material as much as possible and reduce the material loss rate. By setting the sliding mechanism 330, the impurity picking device 200 can realize the movement in the horizontal direction with arbitrary freedom to pick the impurities at any position on the tray 320. The fine impurities floating in water are easy to drift with water. By setting the fixing part 4, the impurities to be picked can be fixed to prevent displacement of the impurities during picking of the impurities by the suction head 2, so that the impurities can be accurately picked. The suction head 2 can quickly pick and suck the impurities, which has high picking speed and high picking accuracy. Under the cooperation of the pressing plate 41 of the fixing part 4, the impurities fixed by the pressing plate 41 can be accurately picked from the material.

[0038] In one example, the impurity picking machine table 300 of the embodiment of the present disclosure can be applied to picking impurities in bird's nest. For example, picking fine impurities in the preliminary picked bird's nest silk. Bird's nest is made of mixed down and saliva of gold-collared swiftlet or the same swiftlet, and is always considered as a high-grade tonic. High-quality bird's nest requires high cleanliness. Even the clean bird's nest needs further cleaning, and the bird's hair and various foreign matters need to be picked out of the bird's nest. Impurity picking of the bird's nest is a necessary process before eating the bird's nest. Before picking, the bird's nest needs to be divided into strips and scattered into silk, and soaked in water and laid on the tray 320, so that various impurities can be picked out of the bird's nest by the suction head 2 of the impurity picking machine table 300 of the embodiment of the present disclosure. The impurities that can be picked out of the bird's nest by the impurity picking machine table 300 of the embodiment of the present disclosure include but are not limited to colored impurities such as bird's hair, small black particles, fibers, yellow silk, yellow bird's piece, wood chips, metal chips, stones, insects, hair, and white impurities such as nails, paper scraps, plastic silk, plastic pieces, eggshells, egg white, proteins, thread ends, foam and bird's strips. The impurity picking machine table 300 of the embodiment of the present disclosure limits the loss of bird's silk sucked by the suction head 2. The suction head 2 is provided with a fixing part 4 having a pressing plate 41, which can leave the bird's silk on the tray 320 while picking the impurities.

[0039] In one example, the impurity picking mechanism 100 of the embodiment of the present disclosure can be a suction pen structure composed of a rod body 1 and a suction head 2. The rod body 1 is a pen barrel of the suction pen structure, and the suction head 2 is a pen head of the suction pen structure.

[0040] In one example, the outer edge of the suction head 2 can be set as a circular shape. The pressing plate 41 can be set as a ring structure.

[0041] In one example, the impurity picking mechanism 100 includes at least two impurity picking mechanisms 100, the at least two impurity picking mechanisms 100 are slidably arranged on the base 5, the at least two impurity picking mechanisms 100 reciprocate relative to the base 5 between a first direction and a second direction, the suction head 2 of each of the at least two impurity picking mechanisms 100 has a different caliber, and different sizes of impurities are picked by the suction head 2 with different calibers.

[0042] According to the embodiments of the present disclosure, it should be noted that:

[0043] The first direction, as shown in Figure 5 , can be understood as the direction in which the suction head 2 moves vertically downward.

[0044] The second direction, as shown in Figure 5 , can be understood as the direction in which the suction head 2 moves vertically upward.

[0045] The base 5 is used to fix the at least two impurity picking mechanisms 100. When the impurity picking device 200 needs to be used in cooperation with other equipment, the base 5 is also used to install the at least two impurity picking mechanisms 100 on the corresponding matching equipment. The specific structure, shape, size and material of the base 5 can be selected and adjusted as needed, and here is not specifically limited.

[0046] The number of impurity picking mechanisms 100 can be selected and adjusted as needed, and here is not specifically limited. It mainly depends on the picking mode and the size requirement of the picked impurities. For example, when the impurities are classified into two size levels of large and small, the impurity picking mechanism 100 can be two. When the impurities are classified into three size levels of large, medium and small, the impurity picking mechanism 100 can be three.

[0047] The impurity picking mechanism 100 is slidably arranged on the base 5, which can be understood as that the impurity picking mechanism 100 can slide relative to the base 5. Each impurity picking mechanism 100 can be movable relative to the base 5, or can be linked. For example, multiple impurity picking mechanisms 100 can perform impurity picking operations together. For another example, one impurity picking mechanism 100 performs impurity picking operation, and the rest of the impurity picking mechanisms 100 do not perform impurity picking operation.

[0048] According to the technology of the embodiment of the present disclosure, by setting at least two impurity picking mechanisms 100, different suction heads 2 can be driven to pick impurities according to different forms of impurities, thereby reducing picking loss. Different sizes of impurities are continuously picked in one impurity picking process, the machine downtime for impurity picking is reduced, and the picking efficiency, continuous picking speed and picking accuracy of impurities are improved. Especially for materials with high impurity density, the embodiment of the present disclosure can significantly improve the picking efficiency of impurities by setting at least two impurity picking mechanisms 100.

[0049] In one example, the number of impurities per 10g of bird's nest can be as high as several hundred. If the force is not controlled properly, single-point multiple picking will cause serious damage to the integrity of the silk, and each picking may take away a part of the bird's nest. The mechanical picking loss is the biggest pain point for bird's nest manufacturers to introduce large-scale mechanical picking. To solve the above problems, the embodiment of the present disclosure uses different small-diameter suction pens for precise suction. Whether it is for free impurities, impurities in the attached silk of bird's nest, or impurities condensed in the silk of bird's nest, the impurity picking device 200 of the present embodiment can accurately and efficiently pick impurities from the silk. At the same time, under the action of the pressing plate 41, the suction head 2 can cause less damage to the silk and have a higher picking rate. Especially for cleaning various small impurities, the effect is remarkable, and it can completely replace manual operation.

[0050] In one embodiment, the impurity picking machine 300 further comprises a waste discharge area 380, which is arranged on the table top 321 and within the stroke range of the sliding mechanism 330, and is used to accommodate the impurities blocked in the suction head 2 blown out by the suction head 2.

[0051] According to the embodiment of the present disclosure, it should be noted that:

[0052] The specific structure of the waste discharge area 380 can be set as needed and is not limited here. For example, the waste discharge area 380 can be a hollow cylindrical structure extending into the table top 321, or a disc-shaped structure located on the table top 321, etc.

[0053] According to the technology of the embodiment of the present disclosure, an exhaust area 380 is provided outside the machine table top. When the impurity picking mechanism 100 is blocked, the sliding mechanism 330 can automatically move the impurity picking mechanism 100 to the waste discharge area 380. The mode of the suction head 2 is changed from suction to blowing through the vacuum pipe 3, so that the blocked impurities are blown out of the suction head 2. When the negative pressure of the suction head 2 returns to normal, the picking operation continues. In the actual impurity picking scene, different forms of impurities, such as individual long fibers, yellow silk, and block-shaped impurities such as yellow silk pieces, can be sucked by the suction head 2 and then transported to the waste discharge area 380 by the sliding mechanism 330, and then spit out. There is no need to separately manufacture suction heads 2 suitable for strip-shaped or block-shaped impurities to adapt to the form of impurities.

[0054] In an embodiment, the carrier tray 320 is slidably arranged on the table top 321 by a slide 360, and the carrier tray 320 is detachably connected with the slide 360. When the carrier tray 320 is slid along the slide 360 to a first position, the carrier tray 320 is located in the table top 321. When the carrier tray 320 is slid along the slide 360 to a second position, the carrier tray 320 is located out of the table top 321. The carrier tray 320 can be pulled out and replaced relative to the table top 321, forming a drawer type structure.

[0055] According to the embodiments of the present disclosure, it should be noted that:

[0056] The detachable connection mode of the carrier tray 320 and the slide 360 can be selected and adjusted as needed, and is not specifically limited here. It is only necessary to ensure that the carrier tray 320 and the slide 360 can be stably connected and can be smoothly removed and replaced from the slide 360.

[0057] The slide 360 can be understood as any mechanism in the prior art that can achieve the driving of the carrier tray 320 to slide relative to the table top 321. For example, the slide 360 can be a slide rail mechanism.

[0058] According to the technology of the embodiments of the present disclosure, since the impurity picking time is counted by minutes, the material laying on the carrier tray 320 and the carrier tray 320 replacement time is counted by seconds, and the carrier tray 320 is replaced by sliding and pulling, the efficiency of the feeding and discharging (carrier tray 320) can be improved, and it is more suitable for the overall planning of the production rhythm in the workshop scene.

[0059] In one example, a square white plastic tray with a flat surface (the height difference of the surface of the carrier tray 320 is not more than 0.5 mm) and clean (no obvious color spots or scratches) is used to hold bird's nest, and a shallow edge is provided around the tray to prevent water from overflowing when the bird's nest is soaked. During feeding and discharging, the drawer type carrier tray 320 (which has completed impurity picking) is first pulled out from the machine table, and then a new carrier tray 320 (which is to be picked for impurities) is replaced and placed in the machine table. When pushed back to the first position, the carrier tray 320 can be self-locked on the table top 321. The carrier tray 320 can be integrally formed to prevent bacteria from growing in the joints.

[0060] In an embodiment, the carrier plate 320 is made of acrylic material. According to the embodiment of the present disclosure, the carrier plate 320 is made of acrylic material, so that the carrier plate 320 is resistant to climate change and good in acid and alkali resistance, and does not have the phenomena of yellowing, hydrolysis and deformation due to long-term sun and rain. The service life of the carrier plate 320 is long, which is at least three years longer than that of other materials. The carrier plate 320 has strong impact resistance, which is 16 times that of ordinary glass. The carrier plate 320 has strong plasticity, large change in shape, easy processing and shaping, good ductility and flatness. The carrier plate 320 is easy to maintain and clean, and can be naturally cleaned by rainwater or cleaned by soap and soft cloth.

[0061] In an embodiment, the post-processing assembly 350 includes a filtering device 351. The filtering assembly includes a housing, the housing is provided with a first inlet 3511 and a first outlet 3512, and a filter screen 3513 is arranged in the housing between the first inlet 3511 and the first outlet 3512. The vacuum pipe 3 is in communication with the first inlet 3511. The filter screen 3513 can be 40 mesh or higher mesh, so as to ensure that the solid impurities and the materials sucked out together are left in the filter screen 3513. For example, when the bird's nest is picked for impurities, a small amount of bird's nest silk may be sucked out together with the impurities. The filter screen 3513 can intercept the part of the bird's nest silk, so as to reduce the loss of the bird's nest material.

[0062] According to the embodiment of the present disclosure, it should be noted that:

[0063] The specific structure and size of the housing are not limited here. The first inlet 3511 and the caliber are suitable for the vacuum pipe 3. The setting positions of the first outlet 3512 and the first inlet 3511 can be adjusted as needed, and are not limited here.

[0064] According to the technology of the embodiment of the present disclosure, by arranging the filtering device 351, the solid materials sucked out together can be intercepted on the filter screen 3513, so as to collect the part of the materials and reduce the loss of the materials in the picking process.

[0065] In an embodiment, the post-processing assembly 350 further includes a recycling device 352. The recycling device 352 includes a cup body, the cup body is provided with a second inlet 3521 and a second outlet 3522, and the second inlet 3521 is in communication with the first outlet 3512. The recycling device 352 is used for collecting the fine impurities sucked out.

[0066] According to the embodiment of the present disclosure, it should be noted that:

[0067] The specific structure and size of the cup body are not limited here. The second inlet 3521 and the caliber are adapted to the first outlet 3512. The position of the second outlet 3522 relative to the second inlet 3521 can be adjusted as needed and is not limited here.

[0068] The second outlet 3522 can be provided with a valve. When the impurities collected in the cup body are too much, the impurities can be discharged through the second outlet 3522.

[0069] According to the technology of the embodiments of the present disclosure, by providing the recovery device 352, the impurity picking process of the impurity picking machine table 300 can be continuously carried out, and the efficiency of impurity picking is improved.

[0070] In an embodiment, a liquid level sensor is provided on the cup body.

[0071] According to the embodiments of the present disclosure, it should be noted that:

[0072] The liquid level sensor can use any sensor that can detect the liquid level in the prior art, and is not limited here.

[0073] According to the technology of the embodiments of the present disclosure, by providing the liquid level sensor, the impurity collection condition in the cup body can be monitored in real time. When the impurity capacity is monitored to be excessive, the recovery device 352 can be ensured to discharge the impurities in time, so as to continue the subsequent impurity collection.

[0074] In an embodiment, an exhaust port is provided on the cup body.

[0075] According to the embodiments of the present disclosure, it should be noted that:

[0076] The number and position of the exhaust port can be adjusted as needed and is not limited here.

[0077] According to the technology of the embodiments of the present disclosure, by providing the exhaust port, the post-processing assembly 350 can always be kept dry and unobstructed.

[0078] In an embodiment, the impurity picking machine table 300 further comprises a first image acquisition device 370 provided on the sliding mechanism 330, for acquiring images of the material. The first image acquisition device 370 can be used before the impurity picking mechanism 100 picks the impurities, to pre-acquire images of the material to be picked, and then identify the impurities to be picked, so that the impurity picking mechanism 100 can pick the identified impurities.

[0079] According to the embodiments of the present disclosure, it should be noted that:

[0080] The setting position of the first image collecting device 370 on the sliding mechanism 330 can be selected and adjusted as required, to ensure that the collection field of view of the first image collecting device 370 is not interfered by the impurity picking device 200.

[0081] The first image collecting device 370 can adopt any shooting device in the prior art, which is not specifically limited here. For example, the first image collecting device 370 can adopt a camera, a camera, etc.

[0082] The impurity recognition can be realized by a model. The image collected by the first image collecting device 370 is input into a pre-trained model, and the model identifies the impurity from the image. The model can adopt an image recognition model in the prior art, which is not specifically limited here. The impurity picking mechanism 100 suitable for the morphological characteristics of the identified impurity is selected (the suction head 2 of different impurity picking mechanisms 100 has different specifications to realize the suction of impurities of different sizes), and the picking coordinates are determined according to the outline centroid of the impurity. The picking coordinates are used for the impurity picking device 200 to pick the impurity.

[0083] According to the technology of the embodiments of the present disclosure, by setting the first image collecting device 370, the impurity in the material can be accurately identified, so that the impurity picking device 200 can move to the corresponding impurity position for impurity picking according to the identification result.

[0084] In an embodiment, the sliding mechanism 330 includes a first sliding rail 331 and a second sliding rail 332. The first sliding rail 331 is arranged on the machine table body 310, the second sliding rail 332 is slidably arranged on the first sliding rail 331, and the base 5 of the impurity picking device 200 is slidably arranged on the second sliding rail 332. The first sliding rail 331 and the second sliding rail 332 are arranged parallel to the table top 321, and the sliding direction of the second sliding rail 332 on the first sliding rail 331 is perpendicular to the sliding direction of the base 5 on the second sliding rail 332.

[0085] According to the embodiments of the present disclosure, it should be noted that:

[0086] The number of the first sliding rail 331 and the second sliding rail 332 can be selected and adjusted as required, which is not specifically limited here. For example, in order to ensure the stability of sliding, two first sliding rails 331 can be arranged in parallel and at intervals, and two second sliding rails 332 can be arranged in parallel and at intervals. The two second sliding rails 332 are slidably arranged between the two first sliding rails 331. The base 5 of the impurity picking device 200 is slidably arranged between the two second sliding rails 332.

[0087] According to the technology of the embodiment of the present disclosure, the impurity picking device 200 can move to any position in the horizontal direction through the first sliding rail 331 and the second sliding rail 332. Meanwhile, in combination with the lifting movement of the impurity picking mechanism 100 relative to the base 5 in the vertical direction, the omnidirectional movement of the impurity picking device 200 can be realized, so as to realize the picking of impurities located at any position on the carrier disc 320. The impurity picking machine table 300 of the embodiment of the present disclosure can realize three-axis linkage movement (x-axis, y-axis, z-axis) through the cooperation of the sliding mechanism 330 and the impurity picking device 200, and can realize omnidirectional high-speed movement and picking on the carrier disc 320. Meanwhile, in combination with the first image acquisition device 370 or the second image acquisition device 9, the visual technology can be combined to accurately pick impurities in the material.

[0088] In an embodiment, the impurity picking mechanism 100 is at least two, and the at least two impurity picking mechanisms 100 reciprocate relative to the base 5 between the first direction and the second direction, and the diameters of the suction heads 2 of the at least two impurity picking mechanisms 100 are different, so as to respectively pick impurities of different sizes.

[0089] According to the technology of the embodiment of the present disclosure, when the impurity picking mechanism 100 is at least two, the linkage of the impurity picking mechanisms 100 can be realized through a transmission mechanism, so that one of the at least two impurity picking mechanisms 100 moves in the first direction to pick impurities while the remaining impurity picking mechanisms 100 move in the second direction, wherein the first direction is opposite to the second direction.

[0090] In an embodiment, the side wall of the fixed part 4 is provided with at least one pressure relief port 43, and the pressure relief port 43 is used to communicate the internal space of the fixed part 4 with the external space of the fixed part 4.

[0091] According to the embodiment of the present disclosure, it should be noted that the shape, number and arrangement position of the pressure relief port 43 on the fixed part 4 can be selected and adjusted as needed, and are not specifically limited here. For example, the pressure relief port 43 can be provided as two, and the two pressure relief ports 43 are symmetrically arranged on the fixed part 4.

[0092] According to the technology of the embodiment of the present disclosure, since the pressure relief port 43 is provided, when the impurities block the picking port 42 of the fixed part 4, the pressure relief port 43 can realize the pressure relief of the internal space of the fixed part 4, thereby effectively preventing the suction head 2 from continuing to perform vacuum suction in the case of blocking the picking port 42 by impurities, so that the fixed part 4 is cracked and damaged due to excessive pressure.

[0093] In an embodiment, the suction head 2 and / or the first end 12 of the rod body 1 is provided with a pressure sensor for detecting the vacuum pressure value in the vacuum tube 3. When the pressure sensor detects that the vacuum pressure value is higher than a first pressure threshold, it indicates that the impurity picking mechanism 100 has a blockage of impurities. When the pressure sensor detects that the vacuum pressure value is lower than a second pressure threshold, it indicates that the vacuum tube 3 of the impurity picking mechanism 100 has a gas leakage.

[0094] According to the embodiments of the present disclosure, it should be noted that:

[0095] The pressure sensor can be any pressure detection device in the prior art, such as a vacuum negative pressure gauge, a differential pressure sensor, and an absolute pressure sensor.

[0096] According to the technology of the embodiments of the present disclosure, by providing a pressure sensor, it can be monitored in real time whether the impurity picking mechanism 100 has a blockage of impurities or the vacuum tube 3 is damaged and leaks, so as to ensure that the impurity picking mechanism 100 can always operate in a good working state and improve the efficiency of impurity picking.

[0097] In an embodiment, the impurity picking device 200 further comprises a water spraying mechanism 6, which comprises a spray head 61 and a pipeline 62. The spray head 61 is connected with the base 5, and the pipeline 62 is connected with the spray head 61. The pipeline 62 is used for conveying liquid to the spray head 61. The spray head 61 is used for spraying the liquid conveyed in the pipeline 62. The pipeline 62 can be connected with a water pump, so that the liquid can be conveyed to the spray head 61 smoothly and quickly through the pipeline 62 by the water pump.

[0098] When the material is bird's nest or other material that needs to be picked in a wet state, in order to avoid the drift of the position of impurities caused by water replenishment, the water replenishment is performed by the spray head 61 when the fixed part 4 is lowered. Before picking, the bird's nest is cut into 1mm-3mm thick bird's silk, which is wetted with water, and is evenly laid on the carrier disc 320 in a single layer. The water depth of the carrier disc 320 is appropriate to the bird's silk. The impurity picking mechanism 100 will take away part of the water each time, and the water replenishment by the water spraying mechanism 6 can keep the humidity of the carrier disc 320, so as to facilitate the picking of impurities.

[0099] According to the technology of the embodiments of the present disclosure, by providing the water spraying mechanism 6, the water replenishment can be performed in time, and the success rate of picking impurities in the material can be improved.

[0100] In an example, the type of the spray head 61 is not specifically limited here, and can be selected and adjusted as needed, for example, a water mist spray head, a shower head, etc.

[0101] In an embodiment, the impurity picking device 200 further comprises a third elastic member 7 arranged at a position of the base 5 close to the second direction, the third elastic member 7 corresponding to the positions of the at least two impurity picking mechanisms 100, and in the case that any of the at least two impurity picking mechanisms 100 moves towards the second direction, the third elastic member 7 is in contact with the any of the at least two impurity picking mechanisms 100.

[0102] According to the embodiments of the present disclosure, it should be noted that:

[0103] The third elastic member 7 can adopt any component with deformation ability in the prior art, which is not specifically limited here. For example, a spring, an elastic gasket, an elastic clip, etc. can be adopted.

[0104] According to the technology of the embodiments of the present disclosure, the third elastic member 7 can make the impurity picking mechanism 100 adapt to the hardness of different materials, and can be self-adaptive when the impurities exist in the material, so as to ensure the success rate of impurity picking of the suction pen. At the same time, the third elastic member 7 can play a certain buffering role. In addition, when the flatness of the material containing tray 320 is poor, the third elastic member 7 can buffer the impact force of the material containing tray 320 on the suction head 2, so as to avoid the passivation of the suction head 2.

[0105] In an embodiment, the impurity picking mechanism 100 is connected to the base 5 in a liftable manner through a transmission mechanism, the transmission mechanism comprises a slide rail arranged on the base 5, and the impurity picking mechanism 100 is slidably connected to the slide rail, so that the impurity picking mechanism 100 can reciprocate relative to the base 5. The slide rail is used for guiding the impurity picking mechanism 100, so that the impurity picking mechanism 100 can move along the vertical direction towards the first direction and the second direction.

[0106] According to the embodiments of the present disclosure, it should be noted that:

[0107] In the case that the impurity picking mechanism 100 is at least two, the at least two impurity picking mechanisms 100 can be connected through a transmission mechanism to realize linkage, so that one of the at least two impurity picking mechanisms 100 moves along the first direction to pick impurities, while the rest of the impurity picking mechanisms 100 moves along the second direction, wherein the first direction is opposite to the second direction.

[0108] The structure of the slide rail can be selected and adjusted as needed. For example, the slide rail can be a strip-shaped groove arranged on the base 5 and recessed in the base 5. For another example, the slide rail can be a strip-shaped protrusion arranged on the base 5 and protruding from the base 5.

[0109] According to the technology of the embodiment of the present disclosure, by connecting the transmission mechanism with each impurity picking mechanism 100, the simultaneous linkage of each impurity picking mechanism 100 can be realized, and it is ensured that while the impurity picking mechanism 100 performing the impurity picking action moves towards the impurities in the first direction, the remaining impurity picking mechanisms 100 not performing the impurity picking action will move towards the position away from the impurities in the second direction, so as to avoid the interference of the impurity picking mechanisms 100 not performing the impurity picking action on the impurity picking mechanism 100 performing the impurity picking action. By providing the slide rail on the base 5, the impurity picking mechanism 100 driven by the transmission mechanism can be guided, so that the impurity picking mechanism 100 can accurately move to the position corresponding to the picking port 42 of the fixed part 4, and then the picking of the impurities is realized.

[0110] In an embodiment, the impurity picking mechanism 100 is connected with the slide rail through the sliding piece 360, and a jacking mechanism 82 is arranged between the impurity picking mechanism 100 and the sliding piece 360, and the jacking mechanism 82 is used to drive the impurity picking mechanism 100 to reciprocate between the first direction and the second direction.

[0111] According to the embodiment of the present disclosure, it should be noted that:

[0112] The jacking mechanism 82 can adopt any mechanism capable of driving the connected components to reciprocate in the prior art, which is not specifically limited here. For example, the jacking mechanism 82 can adopt a hydraulic rod, a hydraulic cylinder, an air pressure rod, an air pressure cylinder, a gear and rack, etc.

[0113] According to the technology of the embodiment of the present disclosure, by providing the jacking mechanism 82, the position of the suction head 2 can be accurately controlled, and by changing the position of the suction head 2, the picking requirements of different picking modes and different types of impurities can be met. For example, when the picking mode is to suck the impurities, the jacking mechanism 82 can be used to control the suction head 2 to maintain a certain interval with the picking port 42, so as to avoid that the suction force is too large to pick out the materials and impurities together.

[0114] In an embodiment, the sliding piece 360 is connected with the motor 83, and the motor 83 is used to drive the sliding piece 360 to slide along the slide rail.

[0115] According to the embodiment of the present disclosure, it should be noted that:

[0116] The motor 83 can adopt any motor 83 structure in the prior art, which is not specifically limited here, and can drive the sliding piece 360 to slide along the slide rail. For example, the motor 83 can adopt a linear motor or a servo motor, etc.

[0117] According to the technology of the embodiment of the present disclosure, by driving through the motor 83, the impurity picking mechanism 100 can be driven at a very high acceleration to translate at a high speed, and the picking efficiency of a single impurity picking mechanism 100 is improved.

[0118] In an embodiment, the impurity picking device 200 further comprises a second image acquisition device 9 arranged on the base 5 and configured to acquire images of the material. The second image acquisition device 9 can acquire images of the surrounding area of the impurities in real time during the picking of the impurities by the impurity picking mechanism 100, so as to better observe whether the impurity picking mechanism 100 accurately picks the impurities and whether the impurities are picked clean. The second image acquisition device 9 can also be used before the impurity picking mechanism 100 picks the impurities, to acquire images of the material to be picked in advance, and then identify the impurities to be picked, so that the impurity picking mechanism 100 can pick the identified impurities.

[0119] According to the embodiments of the present disclosure, it should be noted that:

[0120] The arrangement position of the second image acquisition device 9 on the base 5 can be selected and adjusted as needed, as long as the acquisition field of view of the second image acquisition device 9 is not interfered by the impurity picking mechanism 100. The second image acquisition device 9 can adopt any shooting device in the prior art, which is not limited here. For example, the image acquisition device can adopt a camera, a camera, etc.

[0121] According to the technology of the embodiments of the present disclosure, by arranging the second image acquisition device 9, accurate identification of impurities in the material can be achieved, and real-time observation of the picking of the impurities can be achieved when the impurity picking mechanism 100 picks the impurities.

[0122] In an embodiment, a protective cover is arranged outside the image acquisition end of the second image acquisition device 9. The protective cover is used to protect the image acquisition end and avoid the image acquisition end being blocked from the acquisition field of view by impurities, liquid or dust.

[0123] According to the embodiments of the present disclosure, it should be noted that:

[0124] The specific structure, shape and size of the protective cover can be adjusted according to the image acquisition end, as long as the protective cover is arranged outside the image acquisition end and does not interfere with the image acquisition end.

[0125] According to the technology of the embodiments of the present disclosure, by arranging the protective cover, the acquisition field of view of the image acquisition end of the second image acquisition device 9 can be prevented from being blocked by impurities, liquid or dust from the outside, and the accuracy of image acquisition can be improved.

[0126] In an embodiment, the fixing part 4 is connected to the first end 12 of the rod body 1 by a first elastic member 44. The first elastic member 44 can adapt the fixing part 4 to the hardness of different materials, and at the same time, play a certain buffering role to prevent the fixing part 4 from damaging the material.

[0127] And / or, the suction head 2 is connected with the first end 12 of the rod body 1 through the second elastic member 21. The second elastic member 21 can adapt the suction head 2 to the hardness of different materials, and also has a certain buffering effect, preventing the suction head 2 from damaging the material containing impurities when the suction head 2 suddenly extends through the picking opening 42. For example, when the material is bird's nest, because the bird's nest is soft and fragile, if the suction head 2 moves too fast, the pressure when the suction head 2 contacts the bird's nest can easily break or cut the bird's nest, resulting in a decrease in the quality of the bird's nest.

[0128] According to the embodiments of the present disclosure, it should be noted that:

[0129] The first elastic member 44 and the second elastic member 21 can both be any component with deformation ability in the prior art, which is not specifically limited here. For example, a spring, an elastic gasket, an elastic spring, etc. can be used.

[0130] According to the technology of the embodiments of the present disclosure, by arranging the first elastic member 44, the fixed part 4 can adapt to the hardness of different materials, and also has a certain buffering effect, preventing the fixed part 4 from damaging the material. By arranging the second elastic member 21, the suction head 2 can have a buffering effect, and the suction head 2 can adapt to materials with different hardness and texture when picking, preventing the suction head 2 from damaging the integrity of the material, and ensuring that the suction head 2 can smoothly pick the impurities from the material. The suction head 2 will not be damaged due to the excessive contact pressure between the suction head 2 and the impurities, and the impurities will not be smoothly separated from the material. At the same time, arranging the second elastic member 21 can also avoid damage to the suction head 2 caused by the unevenness of the tray 320 on which the material is placed.

[0131] In one embodiment, the suction head 2 is detachably arranged at the first end 12 of the rod body 1.

[0132] According to the technology of the embodiments of the present disclosure, because the suction head 2 is detachably connected with the first end 12 of the rod body 1, when the impurities are blocked in the suction head 2, the suction head 2 can be replaced in time, ensuring that the impurity picking work can continue smoothly, and the impurity picking efficiency will not be affected by cleaning the impurities in the suction head 2. In addition, different suction heads 2 can be replaced according to different impurity sizes and impurity categories, to meet the impurity picking requirements.

[0133] In one embodiment, the fixed part 4 is detachably arranged at the first end 12 of the rod body 1.

[0134] According to the technology of the embodiment of the present disclosure, since the fixed part 4 is detachably connected with the first end 12 of the rod body 1, when impurities are blocked in the picking-up opening 42 of the fixed part 4 or inside the fixed part 4, the fixed part 4 can be replaced in time, so that the impurity picking-up work can continue smoothly, and the impurity picking-up efficiency will not be affected by the cleaning of the impurities in the fixed part 4. In addition, different fixed parts 4 can be replaced according to different impurity sizes and impurity categories to meet the impurity picking-up requirements.

[0135] In one example, the impurity picking-up mechanism 100 of the embodiment of the present disclosure can adopt a suction pen structure, the pen head (suction head 2) of the suction pen structure can be circular, the fixed part 4 around the pen head is provided with a ring-shaped pressing plate 41 which does not contact the pen head, and the pen body (rod body 1) is connected with the vacuum tube 3 to generate a vacuum force by high-speed airflow to suck impurities. The impurity picking-up mechanism 100 of the embodiment of the present disclosure is suitable for clean bees which have been preliminarily picked up, and the main picking-up target is small impurities. The diameter of the suction pen head is 1-4 mm, and the outer diameter of the pressing plate 41 is about twice the diameter of the pen head. Since the same length of the pen head edge has the largest circular area, and the impurities in the bee nest are mainly black spots and bee hairs, the loss of the small-hole circular suction pen is the lowest. The design of the pressing plate 41 can fix the bee silk around the impurities when the suction pen contacts the loading plate 320 to vacuum suck the impurities, and further reduce the loss. The pressure relief holes on the side edges of the pressing plate 41 can balance the air pressure, effectively reduce the risk of suction pen blockage, and avoid secondary pollution of the bee nest caused by the impurities sucked by the pen head.

[0136] In one example, the impurity picking device 200 of the present embodiment can be configured with two suction pen structures of the impurity picking mechanism 100. The pen head and the pressing plate 41 group can be replaced according to the actual material to be picked. Two suction pen positions can be equipped with a large and a small pen head respectively, which are used for picking impurities of different sizes. On the distribution density graph of impurity diameter, the positions corresponding to the diameters of the two suction pen openings are obviously different. Different suction pens are driven according to the size of the impurities to pick, which can better balance the success rate and loss rate of picking. At least one of the suction pen positions is equipped with a gas cylinder (second lifting mechanism 82). When on standby, the impurity picking mechanism 100 is kept at a high position, with the suction pen position with the gas cylinder on top and the other suction pen position on the bottom. When picking, the impurity picking mechanism 100 is lowered, and the suction pen with the gas cylinder is also lowered when the suction pen is working, the suction pen is on the bottom, and the suction pen without the gas cylinder is on the top. Conversely, when the suction pen without the gas cylinder is working, the gas cylinder remains contracted, the suction pen is on the bottom, and the suction pen with the gas cylinder is on the top. Only one suction pen contacts the impurities for picking operation each time. The third elastic member 7 is arranged at the upper end of the slide rail, which can buffer the impact force of the pen head on the load disc 320 when the flatness of the load disc 320 is poor, and avoid the dullness of the pen head. The impurity picking device 200 of the present embodiment adopts double suction pen alternating operation, one group is a large suction pen and the other group is a small suction pen. For example, when the pen head diameter of the small suction pen is 1.5 mm, if the diameter of the impurities is greater than 1.5 mm or the distance between two impurities is greater than 1.5 mm, a large suction pen will be used for suction. Conversely, if the diameter of a single impurity is less than 1.5 mm, a small suction pen will be used for suction. The two are used alternately according to the picking mode matched with the coordinates. According to the impurities identified in the image collected by the image acquisition device, high-speed continuous picking is performed. Compared with the ordinary single suction pen in the past, the loss can be reduced more, and various foreign matters can be adapted. According to the actual measurement, black spots, yam, fibers, hair, small stones, iron filings and other types of small impurities can be picked out.

[0137] In one example, the impurity picking mechanism 100 of the suction pen structure of the present embodiment can perform suction, blowing, and stopping. The airflow passes through the vacuum tube 3 at the tip of the suction pen at high speed. Compared with other types of vacuum equipment, the vacuum tube 3 is light, the vacuum response is fast, and it is easy to install and replace. The vacuum pressure of the structure can reach-90 KPa (kiloPascal), which is sufficient to ensure the suction force of the tip on the impurities. The tip tail end is equipped with a vacuum negative pressure table (pressure sensor) for real-time monitoring. If the negative pressure is out of limit, the tip is blocked. If the negative pressure is insufficient, the pipeline is leaking. The impurity picking mechanism 100 of the present embodiment can realize vacuum suction. In order to generate sufficient negative pressure, the impurity picking mechanism 100 uses the vacuum tube 3 to generate sufficient suction force through high airflow. Compared with other types of vacuum equipment, the characteristics are: fast vacuum response, simple and light structure, vacuum pressure up to-90 KPa, direct piping, easy to install and replace. At the same time, the vacuum negative pressure table (pressure sensor) is used for real-time monitoring to ensure that the suction head 2 is not blocked. In order to distinguish impurities of different sizes, each impurity picking mechanism 100 can be connected with a vacuum tube 3. The advantage of this method is that the two do not interfere with each other, do not gas, and the impurities are easy to distinguish. The impurities sucked by the two groups of air paths will be recycled by the two groups of recycling devices 352 respectively.

[0138] In one example, the impurity picking device 200 of the present embodiment is configured with an automatic water replenishing device (water spraying mechanism 6) composed of a nozzle, a water pipe, and a pump body. In order to avoid the water replenishing causing the impurity position to drift, the automatic water replenishing device sprays water when the suction pen is descending. Before picking, the bird's nest is divided into 1-3 mm thick bird's nest silk, which is wetted with water and evenly laid on the carrier disc 320 in a single layer. The water depth of the carrier disc 320 is appropriate to the bird's nest silk that will not be flooded. If the water is too much, the impurities near the periphery of the pressing plate 41 during the operation of the suction pen are easy to move horizontally. If the water is too little, the impurities, especially the bird's hair, are easy to adhere to the carrier disc 320 and not easy to be sucked away. The suction pen will take away part of the water each time. The automatic water replenishing device replenishes water to maintain the humidity of the carrier disc 320. Since the water is added at a low height, the water mist is close to the bird's nest release, so it will not affect the image acquisition of the image acquisition device.

[0139] Although the scenes of impurity picking are different (such as impurity picking of tea, bird's nest, traditional Chinese medicine, and tobacco), the core needs of users for impurity picking in high-value materials are the same. That is, they hope to reduce the loss of materials as much as possible, increase the total amount of materials picked per unit time as much as possible, and more importantly, improve the impurity picking rate of the same materials. The impurity picking machine 300 of the embodiments of the present disclosure can be a good solution to the above needs. By taking pictures with an industrial camera or a camera (first image acquisition device 370 and / or second image acquisition device 9), calling a model to identify impurities, and then driving the impurity picking device 200 to align with the material laid on the carrier disc 320 to perform impurity picking actions, impurity picking can be accurately and efficiently realized. The continuous picking efficiency of the entire impurity picking machine 300 can exceed the manual picking efficiency, reaching 700g / h, the picking rate is more than 80%, and the production requirements of replacing manual work are realized.

[0140] To improve the impurity picking efficiency of the bird's nest, the impurity picking machine 300 of the embodiments of the present disclosure adopts the following technical means: 1) The carrier disc 320 with a flat belt edge is used to support the already striped bird's nest, and the bird's nest is laid flat. The bird's nest is not suitable for stacking and overlapping, and the wet material without water after spinning can exceed 100g to cover the carrier disc 320, thereby reducing the turnover rate; 2) The color industrial camera (first image acquisition device 370 or second image acquisition device 9) is used to take pictures of the bird's nest laid on the carrier disc 320 with a round hole surface light. The light is bright and uniform, and the length of each pixel is less than 0.05mm. The standard for successful camera parameter adjustment is that the impurities are clearly visible and obviously distinguished from the bird's nest; 3) The model is used to infer the image collected by the camera to identify irregular impurities. According to the threshold value of the impurity profile diameter, the impurity picking mechanism 100 corresponding to the impurity picking mechanism 100 of different specifications is driven to pick the impurities, thereby improving the single picking success rate; 4) The impurity picking machine 300 uses suction to pick impurities. The pressing plate 41 of the fixed part 4 fixes the bird's nest and limits the influence range of the picking action; 5) The picked impurities are directly discharged to the post-processing assembly 350 through the vacuum pipe 3, and there is no need for a special impurity separation device; 6) The high-speed linear motor or servo motor drives the sliding mechanism 330 to move in X, Y, and Z three-dimensional space, maintains high motion acceleration, and ensures that the single picking time is within 1s; 7) The water spraying mechanism 6 is installed. After each picking, water mist is sprayed to supplement the water in the bird's nest taken away by picking impurities.

[0141] The impurity picking machine table 300 is an intelligent soft and hard integrated machine. After the sliding mechanism 330 drives the impurity picking device 200 to move to the target impurity position, the PLC (Programmable Logic Controller) of the impurity picking machine table 300 sends a signal to the terminal deployed on the edge computing upper part of the impurity picking machine table 300. The terminal calls the first image acquisition device 370 or the second image acquisition device 9 to take pictures and perform image recognition processing, and then sends the picking coordinates corresponding to all the impurities recognized by the PLC and the adaptive impurity picking mechanism 100. After picking is completed, the sliding mechanism 330 drives the impurity picking device 200 to move to the next target position. After all the target positions are traversed, the sliding mechanism 330 drives the impurity picking device 200 to move to the waste discharge area 380 to clean the suction head 2 for next picking. An alarm lamp is prompted until the next time it is started. A grating and an alarm are arranged above the machine body 310. If a hand or other foreign matter passes through the grating during operation, the sliding mechanism 330 and the impurity picking device 200 stop working and sound and light alarms are issued. In addition, the alarm flashes yellow after picking is completed to prompt the change of the loading disc 320. The PLC is provided with a touch screen. The control interface of the touch screen has four buttons of start, stop, reset and emergency stop as well as an alarm lamp. The control interface can start, reset, stop urgently, cancel the alarm, switch the shaft movement mode (electricity / manual), and also can view the current shooting position, the number of impurities, the picking serial number, the picking coordinates, the working state and the abnormal information. During debugging, the suction pen can be manually moved to the target position, and whether the calibration is accurate is confirmed by comparing the coordinates. After alignment, the manual touch of the suction pen can simulate the automatic picking process and check the picking effect of the suction pen.

[0142] In the description of the present disclosure, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present disclosure.

[0143] In addition, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0144] In the present disclosure, unless specifically defined otherwise, the terms "mounting", "connection", "connecting", "fixed", and the like, should be construed broadly and, for example, can be a fixed connection, or a detachable connection, or integral. It can be a mechanical connection, or an electrical connection, or a communication. It can be a direct connection, or an indirect connection through an intermediate medium, or an internal connection of two elements, or an interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances.

[0145] In the present disclosure, unless specifically defined otherwise, "on" or "under" of a first feature to a second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, "on", "above" and "over" of a first feature to a second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. "Under", "below" and "underneath" of a first feature to a second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0146] The above disclosure provides many different embodiments or examples for implementing different structures of the present disclosure. In order to simplify the present disclosure, the components and settings of specific examples are described above. Of course, they are only examples, and the purpose is not to limit the present disclosure. In addition, the present disclosure can repeatedly refer to numbers and / or letters in different examples. Such repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0147] The above detailed description does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent replacement and improvement within the principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. An impurity sorting machine, comprising: Machine body; A tray, set on the table surface of the machine body, is used to hold materials containing impurities; A sliding mechanism is provided on the machine body and can move relative to the carrier tray; An impurity sorting device includes a base and an impurity sorting mechanism. The base is connected to a sliding mechanism, and the impurity sorting mechanism is slidably disposed on the base. A suction head is provided at the first end of the rod of the impurity sorting mechanism, and a vacuum tube is provided at the second end of the rod. The suction head communicates with the vacuum tube. A fixing part is provided outside the suction head, and a pressure plate is provided on the side of the fixing part away from the first end of the rod. The pressure plate is provided with a sorting port. The fixing part has an internal space. A post-processing component, disposed on the machine body and connected to the vacuum tube, is used to process impurities picked up from the material by the suction head; the post-processing component is used to filter the impurities. The waste discharge area is set on the table surface and within the stroke range of the sliding mechanism, and is used to accommodate impurities that are blocked in the suction head and blown out by the suction head.

2. The impurity sorting machine according to claim 1, wherein, The tray is slidably disposed on the platform via a slider, and the tray is detachably connected to the slider; when the tray slides along the slider to a first position, the tray is located in the platform. When the carrier disk slides along the slider to the second position, the carrier disk is located outside the platform.

3. The impurity sorting machine according to claim 1, wherein, The post-processing component includes a filtration device, the filtration component includes a housing, the housing is provided with a first inlet and a first outlet, the housing is provided with a filter screen located between the first inlet and the first outlet, and the vacuum tube is connected to the first inlet.

4. The impurity sorting machine according to claim 3, wherein, The post-processing component also includes a recycling device, which includes a cup body with a second inlet and a second outlet, the second inlet being connected to the first outlet.

5. The impurity sorting machine according to claim 4, wherein, The cup body is equipped with a liquid level sensor, and / or the cup body is equipped with a vent.

6. The impurity sorting machine according to claim 1 further includes: A first image acquisition device is disposed on the sliding mechanism and is used to acquire images of the material.

7. The impurity sorting machine according to claim 1, wherein, The sliding mechanism includes a first slide rail and a second slide rail. The first slide rail is disposed on the machine body, and the second slide rail is slidably disposed on the first slide rail. The base of the impurity picking device is slidably disposed on the second slide rail. The first slide rail and the second slide rail are disposed parallel to the table surface, and the sliding direction of the second slide rail on the first slide rail is perpendicular to the sliding direction of the base on the second slide rail.

8. The impurity sorting machine according to claim 1, wherein, There are at least two impurity picking mechanisms, and the at least two impurity picking mechanisms reciprocate between a first direction and a second direction relative to the base. The suction heads of the at least two impurity picking mechanisms have different diameters.

9. The impurity sorting machine according to any one of claims 1 to 8, wherein, The side wall of the fixing part is provided with at least one pressure relief port; and / or A pressure sensor is provided at the first end of the suction head and / or the rod body to detect the vacuum pressure value inside the vacuum tube.

10. The impurity sorting machine according to any one of claims 1 to 8, wherein, The impurity sorting device also includes a water spraying mechanism, which includes a nozzle and a pipeline. The nozzle is connected to the base, and the pipeline is connected to the nozzle. The pipeline is used to deliver liquid to the nozzle.

11. The impurity sorting machine according to any one of claims 1 to 8, wherein, The impurity picking mechanism is vertically and flexibly connected to the base via a transmission mechanism. The transmission mechanism includes a slide rail disposed on the base. The impurity picking mechanism is slidably connected to the slide rail so that the impurity picking mechanism can reciprocate relative to the base.

12. The impurity sorting machine according to claim 11, wherein, The impurity sorting mechanism is connected to the slide rail via a sliding member. A lifting mechanism is provided between the impurity sorting mechanism and the sliding member. The lifting mechanism is used to drive the impurity sorting mechanism to reciprocate relative to the base.

13. The impurity sorting machine according to any one of claims 1 to 8, wherein the impurity sorting device further comprises a second image acquisition device disposed on the base for acquiring images of the material.

14. The impurity sorting machine according to claim 13, wherein, The image acquisition end of the second image acquisition device is equipped with a protective cover.

Images