An intelligent segmented processing equipment for moso bamboo

Abstract

The present invention provides an intelligent segmented processing device for moso bamboo, including a V-shaped turning plate groove for moso bamboo processing, a feeding mechanism, a moso bamboo clamping and moving mechanism, a bamboo node identification component, a moso bamboo cutting mechanism, and a bamboo segment sorting mechanism. In the present invention, the moso bamboo is moved by the moso bamboo clamping and moving mechanism to the bamboo node identification component for initial moso bamboo head identification, bamboo node identification, and cross-sectional size identification of the remaining bamboo segments after segmentation. Then, according to the identification results, the moso bamboo cutting mechanism is adjusted to remove the moso bamboo head part, cut and feed the moso bamboo, and treat it as waste when the cross-sectional size of the remaining bamboo segments is less than the preset value. In addition, bamboo segments of different specifications divided according to the cross-sectional size of the remaining bamboo segments after segmentation are sequentially dropped into different sorting and blanking grooves, so as to realize a series of safety production automation such as intelligent segmentation, visual recognition, and on-demand sorting of moso bamboo in one step. The operation is efficient and fast, which can greatly improve the processing efficiency of moso bamboo.

Description

Technical Field

[0001] The invention relates to mechanical automated processing equipment, in particular to intelligent bamboo segmentation processing equipment. Background Art

[0002] Compared with wood, bamboo has a shorter growth period, generally three years. In addition to being used as food, daily necessities, folk handicrafts and for viewing, it is widely used in construction, industry, transportation and other fields. It has the advantage of replacing the log industry, has high commercial value and broad prospects for social application.

[0003] The original bamboo used for cutting valves has a diameter of about 150mm, a length of more than ten meters, and a weight of about thirty kilograms. At present, a large part of the original bamboo machining technology is in manual and semi-automatic processing mode, and the application of intelligent control technology is limited to completing a single enabling range. Some intermediate links in the operation process still cannot get rid of heavy labor and manual operation, such as automatic bamboo feeding, bamboo head processing, intelligent sorting, automatic bamboo joint identification, and automatic waste material processing for bamboo pipes with a diameter of less than 40mm. These need to be completed with the assistance of manual intervention, and manual operation is inefficient. For example, manual bamboo feeding and segmentation sorting with a bamboo saw are all heavy labor and high-risk operations with low efficiency and short work continuity. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides an intelligent bamboo segmentation processing equipment, which realizes a series of safe production automation from bamboo loading to completion of bamboo intelligent segmentation, visual recognition, and on-demand sorting in one step, and can effectively improve the processing efficiency of bamboo.

[0005] An intelligent bamboo segmentation processing device, comprising a bamboo processing V-shaped flap groove, a feeding mechanism, a bamboo clamping and moving mechanism, a bamboo joint identification component, a bamboo cutting mechanism and a bamboo segment sorting mechanism;

[0006] The feeding mechanism is used to feed the bamboo from the bamboo processing platform into the bamboo processing V-shaped flap groove;

[0007] The bamboo clamping and moving mechanism is used to clamp the bamboo in the V-shaped flap groove and move it to the bamboo joint identification component for identification and to move it to the bamboo cutting mechanism for cutting;

[0008] The bamboo joint identification component is used to identify the initial bamboo head, bamboo joints and the cross-sectional dimensions of the remaining bamboo segments after segmentation;

[0009] The bamboo cutting mechanism is used to remove the bamboo head part according to the initial bamboo head identified by the bamboo cutting mechanism; cut the bamboo according to the bamboo node identification result; when the cross-sectional size of the remaining bamboo segment after segmentation is smaller than a preset value, drive the bamboo processing V-shaped flap groove to flip the remaining bamboo segment and treat it as waste;

[0010] The sorting mechanism is used to receive the bamboo segments cut by the bamboo cutting mechanism, and to sequentially drop the bamboo segments of different specifications divided according to the cross-sectional sizes of the remaining bamboo segments after segmentation into different sorting drop troughs.

[0011] Furthermore, the feeding mechanism includes a first bamboo feeding base and a second bamboo feeding base arranged side by side, and the first bamboo feeding base and the second bamboo feeding base are provided with a bamboo processing platform and a bamboo lifting platform, the bamboo lifting platform is located on the inner side of the bamboo processing platform and is fixed on the bamboo lifting frame, and the bamboo lifting frame is driven by a lifting device to move up and down, so that the bamboo lifting platform moves down and is flush with the lower end of the bamboo processing platform so that the bamboo enters the bamboo lifting platform, or the bamboo lifting platform moves up to drive the bamboo on the bamboo lifting platform to move up and enter the bamboo processing V-shaped flap groove.

[0012] Furthermore, a bamboo loading access control device is provided on the side of the column of the bamboo lifting platform. When the bamboo lifting platform is displaced upward and raised, the bamboo loading access control device blocks the bamboo outside. When the bamboo lifting frame is displaced downward so that the table top and the bamboo processing platform are in the same plane at an inclination angle, the bamboo enters the bamboo lifting platform.

[0013] Furthermore, the lifting device includes an equipment base arranged on the first bamboo feeding rack, a synchronous transmission shaft base arranged on the second bamboo feeding rack, a driving assembly installed on the synchronous transmission shaft base, a parallelogram connecting rod linked to the driving assembly, and a bamboo feeding rack connected to the parallelogram connecting rod. A universal connector is installed at the node of the parallelogram connecting rod. The driving assembly is connected to the universal connector at the bottom end of one side of the parallelogram connecting rod through the first connecting rod transmission shaft, and the synchronous transmission shaft in the synchronous transmission shaft base is connected to the universal connector at the bottom end of the other side of the parallelogram connecting rod through the second connecting rod transmission shaft, and the bamboo feeding rack is connected to the bamboo lifting rack.

[0014] Furthermore, the driving assembly includes a servo motor and a turbine reducer connected to the servo motor.

[0015] Furthermore, the bamboo clamping and moving mechanism includes a servo motor guide rail and base, a servo motor assembly, a manipulator assembly, and a manipulator. The manipulator is installed on the manipulator assembly. The manipulator assembly is driven by the servo motor assembly to move along the servo motor guide rail and base, and the servo motor assembly drives the manipulator assembly to clamp or release the bamboo.

[0016] Furthermore, the bamboo node recognition component includes an initial bamboo head recognition component, a first visual imaging component, a second visual imaging component, and a visual guide rail component. The initial bamboo head recognition component and the second visual imaging component are installed at the bamboo head baffle, which is arranged close to the bamboo head. The first visual imaging component is installed on the visual guide rail component and can move along the visual guide rail component to the outside of the end of the bamboo.

[0017] Furthermore, the bamboo cutting mechanism includes a slitting main machine base, a first bamboo locking roller, a second bamboo locking roller, a first electric saw component, and a second electric saw component installed on the slitting main machine base. The first bamboo locking roller is installed at the front of the V-shaped turning groove for bamboo processing. The second bamboo locking roller is located in front of the first bamboo locking roller. The first electric saw component and the second electric saw component are installed on the slitting main machine base and are driven by the system controller to approach the bamboo for cutting and blanking. The second electric saw component is located between the first bamboo locking roller and the second bamboo locking roller. The second electric saw component is located in front of the first electric saw component. The distance between the second electric saw component and the first electric saw component is the set value for bamboo segmentation.

[0018] Furthermore, the bamboo clamping and moving mechanism is used to displace the bamboo to the area of the initial bamboo head recognition component and the second visual imaging component. When the bamboo head enters the recognition area of the second visual imaging component and the obstacle touch valve point of the initial bamboo head recognition component, the system controller connected to the initial bamboo head recognition component and the second visual imaging component outputs a data signal for removing the bamboo head. The bamboo clamping and moving mechanism continues to move forward until it stops when the head removal value is met. The bamboo cutting mechanism cuts off the bamboo head according to the set length for removing the bamboo head;

[0019] The bamboo clamping and moving mechanism clamps the bamboo and continues to move forward, displacing to the preset set value for bamboo segmentation;

[0020] The second visual imaging component is also used to measure the extension length of the protruding point of the last bamboo node at the end of the sorted bamboo segment towards its rear. When the measured length meets the preset value, the bamboo is locked by the first bamboo locking roller and the second bamboo locking roller, and the first electric saw component cuts the material. When the measured length does not meet the preset value, the bamboo clamping and moving mechanism clamps the bamboo and continues to move forward until the preset value is met. The bamboo is locked again by the first bamboo locking roller and the second bamboo locking roller. The first electric saw component saws off the excess length of the front section of the bamboo, and the second electric saw component saws off the tail section of the bamboo. The second bamboo locking roller releases. The bamboo clamping and moving mechanism drives the bamboo to continue to move forward. The first visual imaging component enters and completes visual imaging data analysis on the cross-section of the remaining tail end of the bamboo to obtain the diameter and wall thickness data of the cross-section of the tail end. After completion, the first visual imaging component exits, and the first bamboo locking roller releases the bamboo;

[0021] When the cross-sectional diameter and wall thickness data of the remaining end of the moso bamboo do not meet the standard dimensions, the moso bamboo clamping and moving mechanism moves the moso bamboo backward. When the remaining moso bamboo meets the minimum utilization size, the first electric saw assembly cuts it off. When it does not meet the minimum utilization size, waste treatment is carried out through the moso bamboo processing V-shaped turning plate groove.

[0022] Further, the moso bamboo sorting mechanism includes a sorting blanking turning plate, a blanking turning plate cylinder, a sorting rack, a sorting rack turning plate, a sorting turning plate cylinder, and a sorting blanking groove. The sorting rack is a rack with an inclined slope. The sorting blanking grooves are arranged in a diagonal row from the high platform of the sorting blanking turning plate to the low place in sequence; The blanking turning plate cylinder is drivingly connected to the sorting blanking turning plate for controlling the sorting blanking turning plate to turn to the left and right sides under the action of the system controller; The sorting blanking grooves are respectively located at the lower part of the sorting rack. The notch of each sorting blanking groove is provided with a sorting rack turning plate controlled by the sorting turning plate cylinder. The system controller sorts the bamboo segments according to the data provided by the first vision imaging component and outputs the system sorting and positioning signal, and controls the corresponding sorting turning plate cylinder to act according to the system sorting and positioning signal so that different sorted bamboo segments fall into different sorting blanking grooves in different areas.

[0023] In the present invention, the moso bamboo clamping and moving mechanism moves the moso bamboo to the bamboo node recognition component for initial moso bamboo head recognition, bamboo node recognition, and cross-sectional dimension recognition of the remaining bamboo segments after being segmented. Then, according to the recognition results, the moso bamboo cutting mechanism is regulated to remove the moso bamboo head part, cut and blank the moso bamboo, and treat it as waste when the cross-sectional dimension of the remaining bamboo segment is less than the preset value. And the bamboo segments of different specifications divided according to the cross-sectional dimension of the remaining bamboo segments after being segmented fall into different sorting blanking grooves in sequence, so as to realize a series of safety production automation such as intelligent segmentation, visual recognition, and on-demand sorting of moso bamboo in one step. The operation is efficient and fast, which can greatly improve the processing efficiency of moso bamboo. Description of the Drawings

[0024] Figure 1 is the structural schematic diagram of the intelligent moso bamboo segmentation processing equipment of the present invention;

[0025] Figure 2 is the structural schematic diagram of the feeding mechanism in the present invention;

[0026] Figure 3 is the structural schematic diagram of the moso bamboo feeding access control in the present invention;

[0027] Figure 4 is the structural schematic diagram of the sorting mechanism in the present invention.

[0028] The reference numerals in the drawings are described as follows:

[0029] 1 - Slitting host base, 2 - Structural component connection hole positions, 3 - Standard connecting components of the slitter, 4 - Servo motor guide rail and base, 5 - Servo motor assembly, 6 - Manipulator assembly, 7 - Manipulator, 8A, 8B - Electric saw assemblies, 9 - Vision guide rail assembly, 10A, 10B - Vision imaging assemblies;

[0030] 11 - Initial bamboo head recognition assembly, 12A, 12B - Bamboo locking rollers, 13 - Bamboo, 14 - Sorting and blanking flap, 15 - Blanking flap cylinder, 16A, 16B - Sorting racks, 17A, 17B - Sorting rack flaps, 18A, 18B - Sorting flap cylinders, 19A, 19B - Sorting and blanking chutes, 20A, 20B - Bamboo loading base frames;

[0031] 21 - Bamboo to be processed platform, 22 - Bamboo loading access control device, 23 - Bamboo lifting platform, 24 - Bamboo lifting rack, 25 - Bamboo sliding platform base, 26 - Bamboo sliding platform, 27 - Bamboo processing V - shaped flap groove, 28 - Bamboo loading pulley, 29 - Counterweight pulley, 30 - Servo motor;

[0032] 31 - Worm and worm gear reducer, 32 - Loading platform counterweight, 33 - Universal connector, 34 - Parallelogram link, 35 - Synchronous drive shaft base, 36A, 36B - Link drive shafts, 37 - Bamboo head baffle, 38 - Cylinder, 39 - Equipment base, 40 - Bamboo loading rack;

[0033] 41 - Loading rack pulley, 43A, 43B - Bamboo segment sorting and positioning, 44 - Bamboo blocked by the access control. Detailed implementation manners

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0035] Please refer to Figures 1-4 , the embodiments of the present invention provide an intelligent bamboo segment processing device, including a bamboo processing V - shaped flap groove 27, a loading mechanism, a bamboo clamping and moving mechanism, a bamboo node recognition assembly, a bamboo cutting mechanism, and a bamboo segment sorting mechanism.

[0036] The loading mechanism is used to feed the bamboo from the bamboo to be processed platform 21 into the bamboo processing V - shaped flap groove 27;

[0037] The Phyllostachys edulis clamping and moving mechanism is used to clamp the Phyllostachys edulis in the V-shaped turning plate groove 27 of Phyllostachys edulis processing and move it to the bamboo node recognition component for recognition;

[0038] The bamboo node recognition component is used for initial Phyllostachys edulis head recognition, bamboo node recognition, cross-sectional dimension recognition of the remaining bamboo segments after segmentation, and moving to the Phyllostachys edulis cutting mechanism for cutting;

[0039] The Phyllostachys edulis cutting mechanism is used to remove the Phyllostachys edulis head part according to the initial Phyllostachys edulis head recognized by the Phyllostachys edulis cutting mechanism; cut and blank the Phyllostachys edulis according to the bamboo node recognition result; when the cross-sectional dimension of the remaining bamboo segment after segmentation is less than the preset value, drive the V-shaped turning plate groove 27 of Phyllostachys edulis processing to turn the remaining bamboo segment as waste for treatment;

[0040] The sorting mechanism is used to receive the bamboo segments cut by the Phyllostachys edulis cutting mechanism and sequentially drop the bamboo segments of different specifications into different sorting and blanking grooves.

[0041] As Figure 1 shown, the feeding mechanism includes a juxtaposed Phyllostachys edulis feeding base frame 20A and a Phyllostachys edulis feeding base frame 20B. A Phyllostachys edulis to-be-processed platform 21, a Phyllostachys edulis lifting platform 23 and a Phyllostachys edulis sliding platform 26 provided on a Phyllostachys edulis sliding platform base 25 are arranged on the Phyllostachys edulis feeding base frame 20A and the Phyllostachys edulis feeding base frame 20B. The Phyllostachys edulis to-be-processed platform 21 is an inclined platform with a higher outer side and a lower inner side. The Phyllostachys edulis lifting platform 23 is located inside the Phyllostachys edulis to-be-processed platform 21 and is fixed on a Phyllostachys edulis lifting frame 24. The Phyllostachys edulis lifting frame 24 is driven by a lifting device to move up and down, so that the Phyllostachys edulis lifting platform 23 moves down to be flush with the lower end of the Phyllostachys edulis to-be-processed platform 21 to enable the Phyllostachys edulis to enter the Phyllostachys edulis lifting platform 23, or the Phyllostachys edulis lifting platform 23 moves up to drive the Phyllostachys edulis on the Phyllostachys edulis lifting platform 23 to move up, and the Phyllostachys edulis falls into the V-shaped turning plate groove 27 of Phyllostachys edulis processing through an inclined plane formed by the Phyllostachys edulis sliding platform 26.

[0042] As Figure 2 shown, a Phyllostachys edulis feeding access control device 22 is integrally provided on the side of the column of the Phyllostachys edulis lifting platform 23. When the Phyllostachys edulis lifting frame 24 moves downward and returns to its position, that is, when the inclined angles of the tabletop of the Phyllostachys edulis lifting frame 24 and the Phyllostachys edulis to-be-processed platform 21 are in the same plane, the Phyllostachys edulis can smoothly enter the Phyllostachys edulis lifting platform 23. When the Phyllostachys edulis lifting platform 23 moves upward and rises, due to the structural volume occupation of the designed Phyllostachys edulis feeding access control device 22, the Phyllostachys edulis 44 is blocked outside the Phyllostachys edulis feeding access control device 22 (as Figure 3 shown).

[0043] The external movable mechanical gripper batches and places the bamboo 13 onto the bamboo to-be-processed platform 21. At this time, the bamboo loading access control device 22 is in an open state. That is, when the bamboo lifting platform 23 moves downward and lands on the same plane as the bamboo to-be-processed platform 21, the bamboo 13 enters the bamboo lifting platform 23, and the bamboo head approaches the bamboo head baffle 37. The bamboo head baffle 37 is located on one side of the bamboo loading machine frame 20A.

[0044] As Figure 2 shown, the lifting device includes an equipment base 39 provided on the bamboo loading machine frame 20A, a synchronous transmission shaft base 35 provided on the bamboo loading machine frame 20B, a drive assembly installed on the synchronous transmission shaft base 35, a parallelogram link 34 linked with the drive assembly, a bamboo loading machine frame 40 connected to the parallelogram link 34. A universal connector 33 is installed at the node of the parallelogram link 34. The drive assembly is connected to the universal connector 33 at the bottom end of one side of the parallelogram link 34 through a link transmission shaft 36A. The synchronous transmission shaft in the synchronous transmission shaft base 35 is connected to the universal connector 33 at the bottom end of the other side of the parallelogram link 34 through a link transmission shaft 36B. The bamboo loading machine frame 40 is connected to the bamboo lifting machine frame 24. The drive assembly includes a servo motor 30 and a worm and worm gear reducer 31 connected to the servo motor 30.

[0045] Bamboo loading working principle: The servo motor 30 operates, starting the worm and worm gear reducer 31, the turbine transmission main shaft connecting rod 36A, the universal shaft connector 33, and the parallelogram link 34. The turbine transmission synchronous connecting rod 36B and the turbine transmission main shaft connecting rod 36A have the same running trajectory. The parallelogram link 34 drives the bamboo loading displacement machine frame 40 and the bamboo lifting machine frame 24. Through the bamboo lifting platform 23, it lifts the bamboo 13 upward. Both devices are designed with a loading platform counterweight 32, a counterweight pulley 29, and a loading machine frame pulley 41. To solve the problem of the same pace when two devices at different positions are driven simultaneously, a parallelogram coaxial link drive method is adopted in the structure, which can solve the problem that the force directions of the synchronous movement of the two devices are the same, ensure the torque loss of the four-axis point connecting rod in the vertical and horizontal directions, and two sets of symmetric universal connectors 33 are designed at the four connecting rod shaft positions where the force is applied. The length of the parallelogram link 34 can be adjusted according to the actual length of the bamboo.

[0046] When the Moso bamboo lifting platform 23 rises to form a parallel plane with the inclination angle of the Moso bamboo sliding platform 26 (slightly higher than the Moso bamboo sliding platform 26), the Moso bamboo passes through the Moso bamboo sliding platform 26 and automatically falls into the V-shaped turning plate groove 27 for Moso bamboo processing. The V-shaped turning plate groove 27 for Moso bamboo processing has three functions: one is the carrier for the falling position of the Moso bamboo; the second is to determine the start of the segmented system when the Moso bamboo falls into position; third, if the diameter of the Moso bamboo remaining after the last segmentation is less than 40 mm, the cylinder 38 pushes the V-shaped turning plate groove 27 for bamboo processing to work and treats this last segment of Moso bamboo as waste. The Moso bamboo 13 freely falls in the middle of the position of the Moso bamboo locking roller 12 to complete the preparation before Moso bamboo segmentation.

[0047] The Moso bamboo clamping and moving mechanism and the bamboo node recognition component are installed on the base 1 of the slitting main machine. The Moso bamboo clamping and moving mechanism includes a servo motor guide rail and a machine base 4, a servo motor component 5, a manipulator component 6, and a manipulator 7. The manipulator is installed on the manipulator component 6. The manipulator component 6 is driven by the servo motor component 5 to move along the servo motor guide rail and the machine base 4, and the servo motor component 5 drives the manipulator 7 to act through the manipulator component 6 to clamp or release the Moso bamboo.

[0048] The bamboo node recognition component includes an initial Moso bamboo head recognition component 11, a visual imaging component 10A, a visual imaging component 10B, and a visual guide rail component 9. Among them, the initial Moso bamboo head recognition component 11 and the visual imaging component 10B are installed at the Moso bamboo head baffle 37 and are located on one side of the Moso bamboo. The visual imaging component 10A is installed on the visual guide rail component 9 and can move along the visual guide rail component 9 to the outside of the end of the Moso bamboo.

[0049] The principle of detecting the positioning of the Moso bamboo head, the recognition of bamboo nodes, and the cross-sectional dimensions (bamboo wall thickness and diameter) of the remaining bamboo segments after segmentation by using devices such as the visual imaging component 10A, the visual imaging component 10B, and the initial Moso bamboo head recognition component 11 is as follows:

[0050] (1) Moso bamboo head positioning: The initial Moso bamboo head recognition component 11 can be a common obstacle reflection sensor, such as a transceiver integrated infrared probe.

[0051] (2) Bamboo node recognition: In the 2D black-and-white imaging diagram, the imaging feature points of bamboo nodes are a line with irregular shape, width, and color. The relatively stable feature points are that both ends of the line protrude from the plane of the bamboo itself, forming convex points, which are also called width variations. In other words, the bamboo itself is a straight line. When this line is magnified, it can be found that there are convex points on the line, and this convex point is the bamboo node. The essence of the feature of the positioning point is the width variation. Using this variable, with the line plane of the bamboo itself as the reference, when the reference fluctuates, it is the point that needs to be positioned. Select the vertex of the fluctuation as the positioning point (the vertex of the bamboo node protrusion). Search for feature points according to requirements, analyze the feature points to select stable positioning points, and extract the positioning points according to the positioning point information. In this process, the bamboo node appears as a line in the imaging, and both ends of the line protrude from the bamboo body. The entire convex point can be regarded as a width variation, and detecting the width variation is to detect the position of the bamboo node. The data is extracted and then sent to the computer for processing.

[0052] (2) Bamboo wall thickness (detecting the cross-section of the moso bamboo after it is segmented): The essence of thickness detection is distance detection, that is, the distance from one point to another point. First, these two points need to be determined. By sampling from the 2D black-and-white imaging diagram, it is not difficult to find that the factors forming the bamboo wall thickness are two irregular ellipses. By extracting and counting the difference between the short radii or long radii of the inner and outer ellipses, the bamboo wall thickness can be obtained. Determine the positions of these two circles in the image to find the cross-section of the bamboo. The cross-section is different from the environmental reflection and is relatively uniform and clear. Use patch positioning to determine the position of the cross-section of the bamboo, complete the cross-section positioning, use ellipse measurement to distinguish the inner and outer ellipses, and form a measurement method that can measure from the outside to the inside to determine the value of the outer ellipse. For the inner ellipse, on the contrary, identifying and measuring from the inside to the outside can determine the value of the inner ellipse. After obtaining the values of the inner and outer ellipses, through data processing, subtracting the long radius or short radius can obtain the bamboo wall thickness and diameter.

[0053] The moso bamboo cutting mechanism includes a slitting main machine base 1, a moso bamboo locking idler wheel 12A, a moso bamboo locking idler wheel 12B, a saw component 8A, and a saw component 8B installed on the slitting main machine base 1. The moso bamboo locking idler wheel 12A is installed in the front part of the moso bamboo processing V-shaped turning plate groove 22. The moso bamboo locking idler wheel 12B is located in front of the moso bamboo locking idler wheel 12A. The saw component 8A and the saw component 8B are installed on the slitting main machine base 1 and can be driven by the control device to approach the moso bamboo 13 for cutting and blanking. The saw component 8A is located between the moso bamboo locking idler wheel 12A and the moso bamboo locking idler wheel 12B, and the saw component 8B is located in front of the saw component 8A. The functions of the moso bamboo locking idler wheel 12A and the moso bamboo locking idler wheel 12B are: first, to lock both ends of the moso bamboo during segmentation to ensure the safe blanking of the saw 8; second, when the visual imaging component intervenes, the moso bamboo locking idler wheel 12B releases and the moso bamboo locking idler wheel 12A locks the tail of the moso bamboo to achieve stable visual imaging.

[0054] Described bamboo head identification: bamboo 13 is clamped by servo motor assembly 5 and manipulator 7 and displaced toward initial bamboo head identification assembly 11 and visual imaging assembly 10B area. When bamboo head enters the identification area of visual imaging assembly 10B and initial bamboo head identification assembly 11 and blocks the valve point, the system immediately outputs the data signal of bamboo head removal, and servo motor 5 continues to move forward according to two groups of captured threshold points until the head removal value is met and stops. Determine the length of bamboo head removal, this process can be divided into automatic or manual operation (the automatic head removal setting value in this example is about 150mm). Bamboo locking wheel 12A locks bamboo 13, and electric saw assembly 8A intercepts bamboo head, cuts off a small amount of bamboo head to make the cross section flat, and serves the next bamboo breaking process.

[0055] Taking the cross-section of the bamboo head 13 removed as the zero time starting point of the servo motor assembly 5, the servo motor assembly 5 clamps the bamboo 13 through the manipulator 7 and continues to move forward, that is, it moves to the segment setting value preset by the system, that is, the system segment preset length (the conventional segment size is generally divided into grades between 1.5-2.9m, which is set by the system).

[0056] The bamboo joint identification is completed by the visual imaging component 10B to measure the length of the protruding point of the bamboo joint at the end of the selected bamboo segment to the rear: 1) Whether the electric saw component 8A is in action depends on the identification data provided by the visual imaging component 10B. When assessing the segmentation of the end size of the bamboo pre-selected stroke, the visual imaging component 10B starts to detect the last section of the protruding bamboo node to check whether the distance between it and the cutting opening of the disk saw meets ≥50mm (that is, the ratio of the system segmentation setting value to the pre-selected value of 50mm at the end of the bamboo joint, and the ratio of the system segmentation setting value to the rearward extension of the end bamboo node, which should be ≥50mm). If the conditions are met, the bamboo 13 is locked by the bamboo locking wheel 12A and the bamboo locking wheel 12B, and the electric saw component 8A cuts the material. 2) If the visual imaging component 10B determines that the remaining bamboo joints are less than 50 mm, the servo motor component 5 continues to clamp the bamboo 13 and move it forward. When the bamboo joints are ≥50 mm, the bamboo 13 is locked again by the bamboo locking wheels 12A and 12B, and the electric saw component 8B saws off the excess size of the front section of the bamboo (the part increased after the bamboo node is extended), and the electric saw component 8A saws off the tail section of the bamboo. The bamboo locking wheel 12B is released, and the servo motor component 5 continues to move forward with the bamboo on the manipulator 7, leaving the active area position of the visual guide rail component 9, and the visual imaging component 10A enters to complete the visual imaging data analysis of the tail end cross section left by the bamboo 13, that is, to obtain the cross-sectional diameter and wall thickness data of the segmented bamboo joint. After completion, the visual imaging component 10A exits and the bamboo locking wheel 12A is released.

[0057] Combined with reference Figure 1 and Figure 4, the moso bamboo sorting mechanism includes: a sorting and discharging flap 14, a discharging flap cylinder 15, sorting racks (16A, 16B), sorting rack flaps (17A, 17B), sorting flap cylinders (18A, 18B), sorting and discharging chutes (19A, 19B), a system control operation panel, a discharging cart, and other components. The sorting racks (16A, 16B) are racks with an inclined slope, and the sorting and discharging chutes (19A, 19B) are arranged in a row at an angle from the high platform of the sorting and discharging flap 14 to the low place in sequence. The discharging flap cylinder 15 is drivingly connected to the sorting and discharging flap 14 and is used to control the sorting and discharging flap 14 to turn to the left and right sides under the action of the system controller. The sorting and discharging chutes (19A, 19B) are respectively located at the lower part of the sorting racks (16A, 16B), and sorting rack flaps (17A, 17B) controlled by the sorting flap cylinders (18A, 18B) to turn are provided at the openings of the sorting and discharging chutes (19A, 19B).

[0058] According to the data collected by the visual imaging component 10A, it is processed by a computer, and the system controller sets classifications according to sorting requirements. The discharging flap cylinder 15, the sorting and discharging flap 14, the sorting and discharging chutes (19A, 19B), the sorting flap cylinders (18A, 18B), and the sorting rack flaps (17A, 17B) have the same structure and correspond one by one to the system sorting position signals.

[0059] Segmented bamboo sorting and positioning: The system controller classifies according to the data provided by the visual imaging component 10A to complete the sorting of bamboo segments. The positioning area of the sorted bamboo segments is controlled by the discharging flap cylinder 15 and the discharging flap 14, which determines whether the bamboo segments fall into the sorting and discharging chute 19A or the sorting and discharging chute 19B. Only the sorting rack flap of a certain sorting flap cylinder in the selected area can be opened. For example, the system controller provides the discharging flap cylinder 15 with the preferred discharging attribution area as the sorting flap cylinder 18A, the sorting and discharging flap 14 drops, the manipulator 7 releases the moso bamboo, and at the same time the sorting rack flap 17A corresponding to it opens, and the segmented moso bamboo is sent into the gap groove of the sorting rack flap 17A and pre-loaded on the bamboo material cart, and different sorted bamboo segments fall into different areas and different sorting and discharging chutes.

[0060] Treatment of moso bamboo that does not meet the standards: The visual imaging component 10B also takes into account the detection of the diameter of the moso bamboo. When the visual imaging component 10B detects that the diameter of the moso bamboo is less than 40 mm, the system immediately terminates the next procedure, and the servo motor component 5 will displace the moso bamboo backward. The displacement meets the following two conditions: a. The minimum utilization size: There is a minimum effective segmented size greater than the system preset segmented value in the displacement interval, and the servo motor component 5 displaces to that place and stops, and cuts off a section that meets the standards; b. If the remaining moso bamboo is not enough to meet the minimum size set by the system (such as setting 1500 mm), the remaining moso bamboo will be processed as waste through the moso bamboo processing V-shaped flap groove 27.

[0061] The entire production process of the intelligent control production line is completed by a visual console, which is equipped with a man-machine dialogue window for convenient operation by staff. All function settings and parameter modifications of the system can be synchronously completed on the display screen (including fault recording and fault query, etc.), and whether each working link is normal can be reflected on the display screen. The system also designs functions such as manual control and emergency braking, and manual intervention operations on a certain link can be conveniently carried out when necessary.

[0062] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any variations or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. An intelligent segmented processing device for moso bamboo, characterized in that: It includes a V-shaped turning plate groove for processing moso bamboo, a feeding mechanism, a moso bamboo clamping and moving mechanism, a bamboo node recognition component, a moso bamboo cutting mechanism and a bamboo segment sorting mechanism; The feeding mechanism is used to feed moso bamboo from the moso bamboo to-be-processed platform into the V-shaped turning plate groove for processing moso bamboo; The moso bamboo clamping and moving mechanism is used to clamp the moso bamboo in the V-shaped turning plate groove for processing moso bamboo and move it to the bamboo node recognition component for recognition and move it to the moso bamboo cutting mechanism for cutting; The bamboo node recognition component is used for initial moso bamboo head recognition, bamboo node recognition and cross-sectional dimension recognition of the remaining bamboo segments after segmentation; The moso bamboo cutting mechanism is used to remove the moso bamboo head part according to the initial moso bamboo head recognized by the bamboo node recognition component; cut and feed the moso bamboo according to the bamboo node recognition result; when the cross-sectional dimension of the remaining bamboo segments after segmentation is less than the preset value, drive the V-shaped turning plate groove for processing moso bamboo to turn the remaining bamboo segments as waste for disposal; The bamboo segment sorting mechanism is used to receive the bamboo segments cut by the moso bamboo cutting mechanism and sequentially drop the bamboo segments of different specifications into different sorting hoppers; The bamboo node recognition component includes an initial moso bamboo head recognition component, a first visual imaging component, a second visual imaging component and a visual guide rail component. Among them, the initial moso bamboo head recognition component and the second visual imaging component are installed at the moso bamboo head baffle. The moso bamboo head baffle is arranged close to the moso bamboo head. The first visual imaging component is installed on the visual guide rail component and can move along the visual guide rail component to the outside of the end of the moso bamboo; The moso bamboo cutting mechanism includes a slitting main machine base, a first moso bamboo locking roller, a second moso bamboo locking roller, a first electric saw assembly and a second electric saw assembly installed on the slitting main machine base. The first moso bamboo locking roller is installed at the front of the V-shaped turning plate groove for processing moso bamboo. The second moso bamboo locking roller is located in front of the first moso bamboo locking roller. The first electric saw assembly and the second electric saw assembly are installed on the slitting main machine base and are driven by the system controller to approach the moso bamboo for cutting and feeding. The second electric saw assembly is located between the first moso bamboo locking roller and the second moso bamboo locking roller. The second electric saw assembly is located in front of the first electric saw assembly. The distance between the second electric saw assembly and the first electric saw assembly is the set value for moso bamboo segmentation; The moso bamboo clamping and moving mechanism is used to displace the moso bamboo to the area of the initial moso bamboo head recognition component and the second visual imaging component. When the moso bamboo head enters the recognition area of the second visual imaging component and the obstacle touch valve point of the initial moso bamboo head recognition component, the system controller connected to the initial moso bamboo head recognition component and the second visual imaging component outputs a data signal for removing the moso bamboo head. The moso bamboo clamping and moving mechanism continues to move forward until it stops when the head-removing value is met. The moso bamboo cutting mechanism intercepts the moso bamboo head according to the set length for removing the moso bamboo head; The moso bamboo clamping and moving mechanism clamps the moso bamboo and continues to run forward, displacing to the preset set value for moso bamboo segmentation.

2. The intelligent segmented processing equipment for moso bamboo according to claim 1, characterized in that: The feeding mechanism includes a first bamboo feeding base frame and a second bamboo feeding base frame arranged side by side. A bamboo to-be-processed platform and a bamboo lifting platform are provided on both the first bamboo feeding base frame and the second bamboo feeding base frame. The bamboo lifting platform is located inside the bamboo to-be-processed platform. The bamboo lifting platform is fixed on a bamboo lifting machine frame, and the bamboo lifting machine frame is driven by a lifting device to move up and down, so that the bamboo lifting platform moves down to be flush with the lower end of the bamboo to-be-processed platform to enable the bamboo to enter the bamboo lifting platform, or the bamboo lifting platform moves up to drive the bamboo on the bamboo lifting platform to move up and enter the V-shaped turning plate groove for bamboo processing.

3. The intelligent segmented processing equipment for moso bamboo according to claim 2, wherein: A bamboo feeding access control device is integrally provided on the side of the column of the bamboo lifting platform. When the bamboo lifting platform moves upward, the bamboo feeding access control device blocks the bamboo outside. When the bamboo lifting machine frame moves downward so that the inclination angle of the platform is in the same plane as that of the bamboo to-be-processed platform, the bamboo enters the bamboo lifting platform.

4. The intelligent segmented processing equipment for moso bamboo according to claim 2, characterized in that: The lifting device includes an equipment base provided on the first bamboo feeding machine frame, a synchronous transmission shaft base provided on the second bamboo feeding machine frame, a drive assembly installed on the synchronous transmission shaft base, a parallelogram link connected to the drive assembly, and a bamboo feeding machine frame connected to the parallelogram link. A universal connector is installed at the node of the parallelogram link. The drive assembly is connected to the universal connector at the bottom end of one side of the parallelogram link through a first link transmission shaft. The synchronous transmission shaft in the synchronous transmission shaft base is connected to the universal connector at the bottom end of the other side of the parallelogram link through a second link transmission shaft. The bamboo feeding machine frame is connected to the bamboo lifting machine frame.

5. The intelligent bamboo sectional processing equipment according to claim 4, wherein: The drive assembly includes a servo motor and a worm and gear reducer connected to the servo motor.

6. The intelligent segmented processing equipment for moso bamboo according to claim 1, characterized in that: The bamboo clamping and moving mechanism includes a servo motor guide rail and a machine base, a servo motor assembly, a manipulator assembly, and a manipulator. The manipulator is installed on the manipulator assembly. The manipulator assembly is driven by the servo motor assembly to move along the servo motor guide rail and the machine base, and the servo motor assembly drives the manipulator to act through the manipulator assembly to clamp or release the bamboo.

7. The intelligent segmented processing equipment for moso bamboo according to claim 1, characterized in that: The bamboo section sorting mechanism includes a sorting and dropping turning plate, a dropping turning plate cylinder, a sorting machine frame, a sorting machine frame turning plate, a sorting turning plate cylinder, and a sorting dropping groove. The sorting machine frame is a frame with an inclined slope. The sorting dropping grooves are arranged in a row with an oblique angle from the high platform of the sorting and dropping turning plate to the low place in sequence. The dropping turning plate cylinder is drivingly connected to the sorting and dropping turning plate and is used to control the sorting and dropping turning plate to turn to the left and right sides under the action of the system controller. The sorting dropping grooves are respectively located at the lower part of the sorting machine frame. The orifice of each sorting dropping groove is provided with a sorting machine frame turning plate controlled by the sorting turning plate cylinder. The system controller sorts the bamboo sections according to the data provided by the first vision imaging component and outputs a system sorting and positioning signal, and controls the corresponding sorting turning plate cylinder to act according to the system sorting and positioning signal so that different sorted bamboo sections fall into different sorting dropping grooves in different areas.

8. The intelligent segmented processing equipment for moso bamboo according to claim 1, characterized in that: The second visual imaging component is further configured to measure the length of the protrusion point of the last bamboo joint of the sorted bamboo section extending backward. When the measured length meets the preset value, the bamboo is locked by the first bamboo locking roller and the second bamboo locking roller, and the first electric saw component cuts the bamboo; when the measured length does not meet the preset value, the bamboo clamping and moving mechanism clamps the bamboo and continues to move forward until the preset value is met. The bamboo is locked again by the first bamboo locking roller and the second bamboo locking roller. The front section of the bamboo exceeding the size is sawed off by the second electric saw component, the tail section of the bamboo is sawed off by the first electric saw component, the second bamboo locking roller releases, and the bamboo clamping and moving mechanism moves the bamboo forward. The first visual imaging component enters, completes visual imaging data analysis on the cross-section of the remaining tail end of the bamboo, obtains the diameter and wall thickness data of the cross-section of the tail end. After completion, the first visual imaging component exits, and the first bamboo locking roller releases the bamboo; When the diameter and wall thickness data of the cross-section of the remaining tail end of the bamboo do not meet the standard size, the bamboo clamping and moving mechanism moves the bamboo backward. When the remaining bamboo meets the minimum utilization size, the first electric saw component cuts it off. When it does not meet the minimum utilization size, it is flipped through the V-shaped turning trough of the bamboo processing for waste treatment.

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