Automatic sorting and warehousing device for corn cobs and working method of automatic sorting and warehousing device

Abstract

The automatic sorting and warehousing device comprises a conveying mechanism, a sorting mechanism, a stacking container, a stacking mechanism, a warehousing mechanism, a PLC and an upper computer, the conveying mechanism comprises a conveying belt, a gravity sensor is arranged below the conveying belt, the gravity sensor is connected with the PLC, the sorting mechanism comprises a sorting mechanical arm, and the sorting mechanical arm is connected with the upper computer. The sorting mechanical arm is located above the conveying belt, the sorting mechanical arm is connected with the PLC and controlled by the PLC, a photoelectric sensor and a camera client are arranged on the sorting mechanical arm, the stacking container is located between the sorting mechanical arm and the stacking mechanical arm, the stacking mechanism comprises a stacking mechanical arm, and the storage mechanism comprises a goods shelf. According to the corn cob sorting device, rapid and accurate sorting and storage of corn cobs can be achieved, compared with a traditional manual sorting mode, a large number of corn cobs can be processed within a short time, the labor cost is effectively reduced, and meanwhile sorting errors caused by human factors are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to an automatic sorting and storage device for corn cobs and a working method thereof. Background Art

[0002] First of all, corn is widely planted in the country. For example, in the rural areas of southeastern Gansu Province, corn is planted on a large scale, but it is very difficult to harvest and sell corn. Since corn has a higher yield than wheat and a good price, it is planted on a large scale as an agricultural product. There are only two ways to harvest corn. The first is that agricultural technology can only support harvesters to harvest corn after it matures, and directly obtain corn cobs for storage. However, this method has a big disadvantage that the defects and deficiencies in the development of agricultural technology now lead to the omission of smaller corns, and the omission accounts for a small proportion. In view of the one-year labor and economic source, farmers are reluctant to waste, so the popularity of corn harvesters is less than 50%; the second is that farmers harvest one by one in the field, but due to the specific harvesting of corn, the peeling will be incomplete, and the peeling needs to be done twice, and it needs to be stacked. The above two harvesting methods require the construction of shelves for storing corn in advance, which requires a lot of labor. Whether it is machine or manual harvesting, it takes a lot of manpower to transport it to the shelves after it is transported from the field to the warehouse, and the surrounding corn is stacked to prevent it from falling. This consumes a lot of manpower and time costs. Summary of the invention

[0003] In order to solve the above technical problems, the present invention proposes an automatic sorting and storage device for corn cobs and a working method thereof. Through automated transportation, sorting and storage, corn cobs can be quickly and accurately sorted and stored. Compared with traditional manual sorting methods, a large number of corn cobs can be processed in a short time, effectively reducing labor costs and reducing sorting errors caused by human factors.

[0004] To achieve the above object, the technical solution adopted by the present invention is: An automatic sorting and storage device for corn cobs, characterized in that it comprises a conveying mechanism, a sorting mechanism, a stacking box, a stacking mechanism, a storage mechanism, a PLC and a host computer, wherein the conveying mechanism comprises a conveyor belt, a gravity sensor is arranged below the conveyor belt, the gravity sensor is connected to the PLC, when the corn cobs to be sorted are put into the conveyor belt for transportation, the gravity sensor detects the weight thereof in real time and transmits the weight information to the PLC, the sorting mechanism is located on one side of the conveyor belt, the sorting mechanism comprises a sorting manipulator, the sorting manipulator is located above the conveyor belt, the sorting manipulator is connected to and controlled by the PLC, a photoelectric sensor and a camera client are arranged on the sorting manipulator, the photoelectric sensor is connected to the PLC, the camera client is connected to the host computer, the host computer is connected to the PLC C connection, when the corn cobs to be sorted are conveyed to the bottom of the sorting robot, the photoelectric sensor detects the corn cobs to be sorted and transmits a signal to the PLC. At this time, the camera client synchronously photographs and identifies the corn cobs to be sorted for graphic collection and transmits it to the host computer. After the host computer and the PLC exchange information, the PLC controls the sorting robot to sort the corn cobs to be sorted according to the weight, grain fullness and color of the corn cobs to be sorted. The stacking box is located between the sorting robot and the stacking mechanism. The corn sorted by the sorting robot is placed in the stacking box. The stacking mechanism includes a stacking robot. When the stacking box is full of sorted corn cobs, the stacking robot moves them away and stacks them. The storage mechanism includes shelves, which are used to place the stacking boxes after stacking.

[0005] In the above structure: the automatic sorting and storage device for corn cobs proposed by the present invention comprises a conveying mechanism, a sorting mechanism, a stacking box, a stacking mechanism, a storage mechanism, a PLC and a host computer, wherein the conveying mechanism comprises a conveyor belt, the sorting mechanism comprises a sorting manipulator, the stacking mechanism comprises a stacking manipulator, and the storage mechanism comprises a shelf. A gravity sensor is arranged under the conveyor belt to detect the weight of the corn cobs to be sorted. The gravity sensor is connected to the PLC. When the corn cobs to be sorted are put into the conveyor belt for transportation, the gravity sensor detects their weight in real time and transmits the weight information to the PLC. The sorting robot is located above the conveyor belt. The sorting robot is connected to and controlled by the PLC. A photoelectric sensor and a camera client are arranged on the sorting robot to collect the position and graphic information of the corn cobs to be sorted. When the corn cobs to be sorted are transported to the bottom of the sorting robot, the gravity sensor detects their weight in real time and transmits the weight information to the PLC. At this time, the photoelectric sensor can detect the corn cobs to be sorted and transmit the signal to the PLC. At this time, the camera client synchronously shoots and identifies the corn cobs to be sorted for graphic acquisition. The PLC controls the sorting robot to sort the corn cobs according to the weight, grain fullness and color of the corn cobs to be sorted. The corn sorted by the sorting robot is placed in the stacking box. When the stacking box is full of sorted corn, the stacking robot will move it away and stack it. Finally, the stacking box is placed on the shelf for storage by a forklift.

[0006] During the corn transportation process, the bad and defective corns are removed before being sent to the conveyor belt according to the actual corn harvest, that is, the quality of the national standard corn, while ensuring the yield rate of the corn.

[0007] Conveying corn cobs to be sorted: The corn cobs to be sorted are sent to the bottom of the sorting robot through a conveyor belt. A gravity sensor is set under the conveyor belt to detect the weight of the corn. A certain weight standard is preset in the PLC. When the corn cobs to be sorted arrive at the designated area, machine vision is used to detect the gram weight, grain fullness, and color before sorting.

[0008] Machine vision recognition: Photoelectric sensors are used to identify the position of corn cobs to be sorted and grab them. The camera client is used to collect images in real time to identify the fullness and color of the corn cobs to be sorted, preventing the grabbing of moldy and damaged corn cobs. The sorting robot uses machine vision technology to collect images and identify the position of the corn cobs to ensure the quality of the sorted corn cobs. This sorting method has the advantages of high efficiency, accuracy, and non-contact, and can avoid errors and fatigue in manual sorting.

[0009] Data processing and sorting: Based on the recognition results of machine vision recognition technology, the corn cobs are processed and analyzed through the programmable logic controller (PLC). Then the sorting robot grabs the corn cobs that have been judged and stacks them into the stacking box, stacking them in a nine-square grid pattern.

[0010] Warehouse management: The sorted corn cobs are stacked into palletizing boxes. When the palletizing boxes are fully loaded, the palletizing robot grabs them and arranges them neatly on the palletizing base. Then the forklift truck stores the palletizing base in an orderly manner at the designated location on the shelf.

[0011] Conveyor belt layout: According to the work process, the conveyor belt extends from the corn entrance to the sorting mechanism. The layout of the conveyor belt should ensure the smooth flow of corn cobs to be sorted, reduce turns and climbing, so as to improve the conveying efficiency.

[0012] Sorting mechanism layout: The sorting mechanism should be located in the middle of the conveyor belt to facilitate sorting of corn cobs to be sorted from the conveyor belt.

[0013] Storage organization layout: The storage organization should be located at the bottom of the sorting organization, and a reasonable shelf layout should be designed according to storage needs. The shelves are designed in multiple layers, and the nine-square grid design is used to facilitate subsequent PLC programming to improve space utilization. At the same time, the storage organization is equipped with automatic handling equipment to realize the automatic storage and retrieval of corn cobs after palletizing.

[0014] As a preferred technical solution of the present invention: the conveying mechanism also includes a base frame and a conveying motor, the conveying motor is fixed on the base frame, the conveyor belt is installed on the conveying motor and the corn cobs to be sorted are conveyed through the conveying motor, and an isolation plate is provided on the conveyor belt.

[0015] In the above structure: the conveying mechanism also includes a base frame and a conveying motor, the conveying motor is used to realize the conveying of the conveyor belt, and the base frame is used to realize the installation and fixation of the conveyor belt and the conveying motor.

[0016] As a preferred technical solution of the present invention: the sorting robot includes a clamp, a first robot arm, a second robot arm, a third robot arm, a fourth robot arm, a rotating base, a rotating disk, a rotating motor, a sliding table, a sliding base, a screw, a screw motor and a clamp motor, the clamp is installed on the first robot arm, the first robot arm is installed with a clamp motor, a photoelectric sensor and a camera client, the first robot arm is rotatably installed on the second robot arm, the second robot arm is rotatably installed on the third robot arm, the third robot arm is rotatably installed on the fourth robot arm, the fourth robot arm is installed on the rotating base, the rotating base is installed on the rotating disk, the rotating motor is connected to the rotating disk and controls its rotation, the rotating motor is fixed on the sliding table, the sliding base is provided with slide rails and screws, the screw is located between the slide rails, the sliding table is located on the slide rails and connected to the screw, a screw motor is installed on one side of the sliding base, the screw motor is connected to the screw and controls its rotation.

[0017] In the above structure: the first mechanical arm, the second mechanical arm, the third mechanical arm, and the fourth mechanical arm can realize multi-level angle adjustment, and cooperate with the rotating disk to realize grabbing of the corn cobs to be sorted at various angles. The clamp is installed on the first mechanical arm to realize grabbing of the corn cobs to be sorted. The clamp motor installed on the first mechanical arm is used to control the clamp to grab the corn cobs to be sorted. Photoelectric sensors and camera clients are also installed thereon. The photoelectric sensor can identify the position of the corn cobs to be sorted to realize grabbing. The camera client takes the image of the corn cobs to be sorted in real time and analyzes it through PLC. In cooperation with the gram weight characteristics recognized by the weight sensor, the corn cobs to be sorted are identified and grabbed. A slide rail and a lead screw are arranged on the sliding base. The sliding table is slidably installed on the slide rail and is connected to the lead screw transmission. The lead screw is driven by the lead screw motor. The lead screw motor can drive the sliding table to move on the slide rail through the lead screw, thereby realizing horizontal movement of the sorting robot.

[0018] As a preferred technical solution of the present invention: it also includes a palletizing base, which is located on one side of the palletizing robot and is used to place fully loaded palletizing boxes.

[0019] In the above structure: the stacking base is a rectangular plate used to place the stacking boxes. When the stacking boxes are full, they are moved to the shelf by a forklift.

[0020] As a preferred technical solution of the present invention: the structure of the palletizing robot is the same as that of the sorting robot. When the palletizing box is fully loaded, the palletizing robot clamps the palletizing box and places it on the palletizing base.

[0021] In the above structure: the palletizing robot is used to carry the palletizing boxes to the palletizing base, and its structure is the same as the sorting robot. After the palletizing boxes are fully loaded, the palletizing boxes can be placed on the palletizing base in sequence through the palletizing robot.

[0022] As a preferred technical solution of the present invention: the stacking cargo box includes a box body, the box body is provided with criss-cross partitions, and the sides of the box body are respectively provided with grabbing holes for grabbing by a stacking robot and ventilation holes for ventilation of the box body.

[0023] In the above structure: a partition is provided in the stacking box, and the corn cobs are separated by the partition so that the corn cobs can be stacked stably in the stacking box without rolling, and the corn cobs are stacked in a staggered manner on both sides, with 6 corn cobs stacked in each row, two rows of corn cobs, and 4 layers of corn cobs in one stacking box. The productivity is 1,500 corn cobs can be stacked per hour, and grabbing holes are provided on the sides of the stacking box to facilitate the stacking robot to grab the stacking box. Ventilation holes are also provided on the sides to maintain ventilation in the box to prevent the corn cobs from getting moldy.

[0024] As a preferred technical solution of the present invention: a cargo pallet is provided on the shelf, and when the stacking base is fully loaded with stacking cargo boxes, the stacking base is placed on the cargo pallet by a forklift.

[0025] In the above structure: a multi-layer cargo plate is arranged on the shelf for placing stacked cargo boxes.

[0026] A working method of an automatic corn cob sorting and storage device, characterized in that it comprises the following steps: S1. According to the actual corn harvest and the quality of corn according to the national standard, the bad and incomplete corn cobs are removed before the corn cobs are sent to the conveyor belt, and the screened corn cobs are placed on the conveyor belt for transmission; S2, when the corn cobs to be sorted are put into the conveyor belt, they are transported by the conveyor belt. At this time, the gravity sensor under the conveyor belt detects the weight of the corn cobs to be sorted above it in real time, and transmits the weight information to the PLC, which records the weight data of each corn cob to be sorted; S3, when the corn cobs to be sorted are conveyed to the bottom of the sorting robot, the photoelectric sensor on the sorting robot detects the corn cobs to be sorted, and at the same time, the camera client also captures the graphic information of the corn cobs to be sorted and sends it to the host computer. After the host computer and the PLC exchange information, the PLC controls the sorting robot to sort the corn cobs to be sorted according to the weight, grain fullness and color of the corn cobs to be sorted, and the sorting robot places the sorted corn in the stacking box; S4. When the stacking box is full of sorted corn cobs, the stacking robot will move the stacking box and stack it on the stacking base; S5. When the palletizing base is fully loaded with palletizing containers, the forklift will take the palletizing base away and place it neatly on the shelf for storage.

[0027] Compared with the prior art, the present invention has the following beneficial effects: The present invention can realize fast and accurate sorting and storage of corn cobs through automated transportation, sorting and storage. Compared with the traditional manual sorting method, the present invention can process a large number of corn cobs in a short time, effectively reducing the labor cost and reducing sorting errors caused by human factors. After sorting, the corn can be stored separately according to the size and other characteristics of the corn. At the same time, the designed automated storage can avoid damage from rain and snow and prevent the corn from mildewing. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall layout of the present invention; Figure 2 It is a schematic diagram of the conveyor belt structure in the present invention; Figure 3 It is a schematic diagram of the structure of the sorting robot in the present invention; Figure 4 This is the working principle diagram of the sorting robot; Figure 5 It is a schematic diagram of the structure of the palletizing container in the present invention; Figure 6 It is a schematic diagram of the structure of the palletizing rack in the present invention.

[0029] List of reference numerals: 1. Conveying mechanism; 11. Base frame; 12. Conveyor belt; 13. Isolation plate; 14. Conveying motor; 2. Sorting mechanism; 21. Gripper; 22. First robot arm; 23. Second robot arm; 24. Third robot arm; 25. Fourth robot arm; 26. Rotating base; 27. Rotating disk; 28. Rotating motor; 29. ​​Sliding table; 210. Sliding base; 211. Screw; 212. Screw motor; 213. Gripper motor; 3. Palletizing box; 31. Box body; 32. Partition; 33. Grabbing hole; 34. Ventilation hole; 4. Palletizing mechanism; 5. Palletizing base; 6. Storage mechanism; 61. Shelf; 62. Pallet. DETAILED DESCRIPTION

[0030] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments: like Figure 1-6As shown, the present invention proposes an automatic sorting and storage device for corn cobs, comprising a conveying mechanism 1, a sorting mechanism 2, a stacking box 3, a stacking mechanism 4, a storage mechanism 6, a PLC and a host computer. The conveying mechanism 1 comprises a conveyor belt 12, a gravity sensor is arranged below the conveyor belt 12, and the gravity sensor is connected to the PLC. When the corn cobs to be sorted are put into the conveyor belt 12 for transportation, the gravity sensor detects the weight thereof in real time and transmits the weight information to the PLC. The sorting mechanism 2 is located on one side of the conveyor belt 12, and the sorting mechanism 2 comprises a sorting manipulator, and the sorting manipulator is located above the conveyor belt 12, and the sorting manipulator is connected to and controlled by the PLC. A photoelectric sensor and a camera client are arranged on the sorting manipulator, and the photoelectric sensor is connected to the PLC, and the camera client is connected to the host computer. The upper computer is connected to the PLC. When the corn cobs to be sorted are conveyed to the bottom of the sorting robot, the photoelectric sensor detects the corn cobs to be sorted and transmits a signal to the PLC. At this time, the camera client synchronously photographs and identifies the corn cobs to be sorted for graphic collection and transmits it to the upper computer. After the upper computer and the PLC exchange information, the PLC controls the sorting robot to sort the corn cobs to be sorted according to the weight, grain fullness and color of the corn cobs to be sorted. The stacking box 3 is located between the sorting robot and the stacking mechanism 4. The corn sorted by the sorting robot is placed in the stacking box 3. The stacking mechanism 4 includes a stacking robot. When the stacking box 3 is full of sorted corn cobs, the stacking robot moves them away and stacks them. The storage mechanism 6 includes a shelf 61, and the shelf 61 is used to place the stacking box 3 after stacking.

[0031] The conveying mechanism 1 also includes a base frame 11 and a conveying motor 14. The conveying motor 14 is fixed on the base frame 11. The conveyor belt 12 is installed on the conveying motor 14 and the corn cobs to be sorted are conveyed through the conveying motor 14. An isolation plate 13 is provided on the conveyor belt 12.

[0032] The sorting robot comprises a gripper 21, a first robot arm 22, a second robot arm 23, a third robot arm 24, a fourth robot arm 25, a rotating base 26, a rotating disk 27, a rotating motor 28, a sliding table 29, a sliding base 210, a lead screw 211, a lead screw motor 212 and a gripper motor 213. The gripper 21 is mounted on the first robot arm 22. The first robot arm 22 is equipped with a gripper motor 213, a photoelectric sensor and a camera client. The first robot arm 22 is rotatably mounted on the second robot arm 23. The second robot arm 23 is rotatably mounted on the third robot arm 24. The third robotic arm 24 is rotatably mounted on the fourth robotic arm 25, the fourth robotic arm 25 is mounted on a rotating base 26, the rotating base 26 is mounted on a rotating disk 27, the rotating motor 28 is connected to the rotating disk 27 and controls its rotation, the rotating motor 28 is fixed on a sliding table 29, the sliding base 210 is provided with a slide rail and a lead screw 211, the lead screw 211 is located between the slide rails, the sliding table 29 is located on the slide rails and connected to the lead screw 211, a lead screw motor 212 is installed on one side of the sliding base 210, the lead screw motor 212 is connected to the lead screw 211 and controls its rotation.

[0033] It also includes a palletizing base 5, which is located at one side of the palletizing robot and is used to place a fully loaded palletizing box 3.

[0034] The structure of the stacking robot is the same as that of the sorting robot. When the stacking container 3 is fully loaded, the stacking robot clamps the stacking container 3 and places it on the stacking base 5.

[0035] The stacking cargo box 3 comprises a box body 31, in which crisscross partitions 32 are arranged, and the sides of the box body 31 are respectively provided with grabbing holes 33 for grabbing by a stacking robot and ventilation holes 34 for ventilation of the box body 31.

[0036] A cargo plate 62 is arranged on the shelf 61 . When the palletizing base 5 is fully loaded with the palletizing cargo box 3 , the palletizing base 5 is placed on the cargo plate 62 by a forklift.

[0037] The present invention provides an automatic sorting and storage device for corn cobs, comprising a conveying mechanism 1, a sorting mechanism 2, a stacking box 3, a stacking mechanism 4, a storage mechanism 6, a PLC and a host computer, wherein the conveying mechanism 1 comprises a conveyor belt 12, the sorting mechanism 2 comprises a sorting manipulator, the stacking mechanism 4 comprises a stacking manipulator, and the storage mechanism 6 comprises a shelf 61. A gravity sensor is provided below the conveyor belt 12 for detecting the weight of the corn cobs to be sorted. The gravity sensor is connected to the PLC. When the corn cobs to be sorted are put into the conveyor belt 12 for transportation, the gravity sensor detects their weight in real time and transmits the weight information to the PLC. The sorting robot is located above the conveyor belt 12. The sorting robot is connected to and controlled by the PLC. A photoelectric sensor and a camera client are provided on the sorting robot for collecting the position and graphic information of the corn cobs to be sorted. When the corn cobs to be sorted are transported to the bottom of the sorting robot, the photoelectric sensor and the camera client are provided. At this time, the photoelectric sensor can detect the corn cobs to be sorted and transmit a signal to the PLC. At this time, the camera client synchronously shoots and identifies the corn cobs to be sorted for graphic acquisition. The PLC controls the sorting robot to sort the corn cobs according to the weight, grain fullness and color of the corn cobs to be sorted. The corn sorted by the sorting robot is placed in the stacking box 3. When the stacking box 3 is full of sorted corn, the stacking robot will move it away and stack it. Finally, the stacking box 3 after stacking is placed on the shelf 61 for storage by a forklift.

[0038] During the corn transportation process, the bad and defective corns are removed before being sent to the conveyor belt according to the actual corn harvest, that is, the quality of the national standard corn, while ensuring the yield rate of the corn.

[0039] Conveying corn cobs to be sorted: The corn cobs to be sorted are sent to the bottom of the sorting robot through the conveyor belt 12. A gravity sensor is provided under the conveyor belt 12 to detect the weight of the corn. A certain weight standard is preset in the PLC. When the corn cobs to be sorted arrive at the designated area, machine vision is used to detect the gram weight, grain fullness, and color before sorting.

[0040] Machine vision recognition: Photoelectric sensors are used to identify the position of corn cobs to be sorted and grab them. The camera client is used to collect images in real time to identify the fullness and color of the corn cobs to be sorted, preventing the grabbing of moldy and damaged corn cobs. The sorting robot uses machine vision technology to collect images and identify the position of the corn cobs to ensure the quality of the sorted corn cobs. This sorting method has the advantages of high efficiency, accuracy, and non-contact, and can avoid errors and fatigue in manual sorting.

[0041] Data processing and sorting: According to the recognition results of machine vision recognition technology, the corn cobs are processed and analyzed through the programmable logic controller PLC, and then the sorting robot grabs the corn cobs that have been judged and stacks them into the stacking box 3, stacking them into a nine-square grid pattern.

[0042] Warehouse management: The sorted corn cobs are stacked in the stacking box 3. After the stacking box 3 is fully loaded, the stacking robot grabs them and arranges them neatly on the stacking base 5. Then the forklift stores the stacking base 5 in an orderly manner at the designated position on the shelf 61.

[0043] Layout of conveyor belt 12: According to the working process, conveyor belt 12 extends from the corn entrance to the sorting mechanism 2. The layout of conveyor belt 12 should ensure the smooth flow of corn cobs to be sorted, reduce turns and climbing, so as to improve the conveying efficiency.

[0044] Layout of the sorting mechanism 2: The sorting mechanism 2 should be located in the middle of the conveyor belt 12 to facilitate sorting of the corn cobs to be sorted from the conveyor belt 12.

[0045] Layout of storage mechanism 6: Storage mechanism 6 should be located at the bottom of sorting mechanism 2, and a reasonable layout of shelves 61 should be designed according to storage requirements. Shelves 61 adopt a multi-layer design, and a nine-square grid design is used to facilitate subsequent PLC programming to improve space utilization. At the same time, storage mechanism 6 is equipped with automatic handling equipment to realize the automatic storage and retrieval of corn cobs after palletizing.

[0046] Understanding the actual situation, we can know the following working environment and related indicators of grabbing corn: (1) Corn parameters: The length range is approximately 220-240 mm; (2) Corn shape and size: The stacking box 3 is a common conical shape with a diameter range of 70-80 mm; (3) Grab weight: The weight varies, but the approximate range is 300-350g; (4) Working environment: outdoor work, flat ground.

[0047] The conveying mechanism 1 further includes a base frame 11 and a conveying motor 14 . The conveying motor 14 is used to realize the conveying of the conveyor belt 12 , and the base frame 11 is used to realize the installation and fixation of the conveyor belt 12 and the conveying motor 14 .

[0048] The first robot arm 22, the second robot arm 23, the third robot arm 24, and the fourth robot arm 25 can achieve multi-level angle adjustment, and cooperate with the rotating disk 27 to realize grabbing of the corn cobs to be sorted at various angles. The clamp 21 is installed on the first robot arm 22 to realize grabbing of the corn cobs to be sorted. The clamp motor 213 installed on the first robot arm 22 is used to control the clamp 21 to grab the corn cobs to be sorted. Photoelectric sensors and camera clients are also installed thereon. The photoelectric sensor can identify the position of the corn cobs to be sorted to achieve grabbing. The camera client takes the image of the corn cobs to be sorted in real time and analyzes it through PLC. In cooperation with the gram weight characteristics recognized by the weight sensor, the corn cobs to be sorted are identified and grabbed. The sliding base 210 is provided with a slide rail and a screw 211. The sliding table 29 is slidably installed on the slide rail and is connected to the screw 211 in transmission. The screw 211 is driven by the screw motor 212. The screw motor 212 can drive the sliding table 29 to move on the slide rail through the screw 211, thereby realizing horizontal movement of the sorting robot.

[0049] The stacking base 5 is a rectangular plate for placing the stacking boxes 3. When the stacking boxes 3 are full, they are moved to the shelf 61 by a forklift.

[0050] The palletizing robot is used to carry the palletizing boxes 3 to the palletizing base 5 , and its structure is the same as that of the sorting robot. After the palletizing boxes 3 are fully loaded, the palletizing boxes 3 can be placed on the palletizing base 5 in sequence by the palletizing robot.

[0051] A partition 32 is provided in the stacking box 3, and the corn cobs are separated by the partition 32, so that the corn cobs can be stacked stably in the stacking box 3 without rolling, and the corn cobs are stacked in a staggered manner on both sides, 6 corn cobs are stacked in each row, and two rows are stacked. Four layers are stacked in one stacking box 31, and the productivity is 1,500 corn cobs can be stacked per hour. A grabbing hole 33 is provided on the side of the stacking box 31 to facilitate the stacking robot to grab the stacking box 31. A ventilation hole 34 is also provided on the side to maintain ventilation in the box 31 to prevent the corn cobs therein from getting moldy.

[0052] The internal stacking of the stacking container 3 requires that the stacking direction of the bottom layer is forward stacking, which is the case for both rows, and the stacking direction of the second layer is reverse stacking. This stacking method is to save space and prevent the stacked corn from collapsing.

[0053] Maintenance of the whole machine The maintenance and upkeep of the entire equipment is an important part of ensuring its long-term stable operation and improving efficiency. The following are some basic maintenance measures; 1. Daily inspection: Check the power supply, circuit, etc. before each start to ensure normal operation; check the appearance of the robot arm and whether there are foreign objects on the conveyor belt 12, and whether there are sundries piled in the cargo box.

[0054] 2. Lubrication: The joints of the sorting robot and the palletizing robot, the linear guide rails of the base, and the conveyor belt 12 are lubricated regularly.

[0055] 3. Motor inspection: If multiple motors are installed in the overall device, regular inspection is required to check whether the motor shaft is deformed or otherwise damaged and must be replaced.

[0056] 4. Professional maintenance: Maintenance work that is too complicated or critical should be performed by professional technicians.

[0057] 5. Safety inspection: Conduct safety inspections regularly, including checking safety signs, emergency stop devices, safety areas, etc.

[0058] By following these maintenance and servicing measures, the service life of the robot arm, conveyor belt 12, cargo box, and shelf 61 can be extended to the maximum extent.

[0059] A multi-layer cargo plate 62 is provided on the shelf 61 for placing the stacked cargo boxes 3 .

[0060] The present invention provides a working method of an automatic corn cob sorting and storage device, comprising the following steps: S1. According to the actual corn harvest and the quality of corn according to the national standard, the bad and incomplete corn cobs are removed before the corn cobs are sent to the conveyor belt, and the screened corn cobs are placed on the conveyor belt 12 for transmission; S2, when the corn cobs to be sorted are put into the conveyor belt 12, they are transported by the conveyor belt 12. At this time, the gravity sensor below the conveyor belt 12 detects the weight of the corn cobs to be sorted above it in real time, and transmits the weight information to the PLC, which records the weight data of each corn cob to be sorted; S3, when the corn cobs to be sorted are conveyed to the bottom of the sorting robot, the photoelectric sensor on the sorting robot detects the corn cobs to be sorted, and at the same time, the camera client also captures the graphic information of the corn cobs to be sorted and sends it to the host computer. After the host computer and the PLC exchange information, the PLC controls the sorting robot to sort the corn cobs to be sorted according to the weight, grain fullness and color of the corn cobs to be sorted, and the sorting robot places the sorted corn in the stacking box 3; S4, when the stacking cargo box 3 is full of sorted corn cobs, the stacking robot will move the stacking cargo box 3 and stack it on the stacking base 5; S5. When the palletizing base 5 is fully loaded with the palletizing containers 3, the forklift takes the palletizing base 5 away and neatly places it on the shelf 61 for storage. The present invention can realize fast and accurate sorting and storage of corn cobs through automated transportation, sorting and storage. Compared with the traditional manual sorting method, the present invention can process a large number of corn cobs in a short time, effectively reducing the labor cost and reducing sorting errors caused by human factors. After sorting, the corn can be stored separately according to the size and other characteristics of the corn. At the same time, the designed automated storage can avoid damage from rain and snow and prevent the corn from mildewing.

[0061] The above description is only a preferred embodiment of the present invention and does not constitute any other form of limitation to the present invention. Any modification or equivalent change made based on the technical essence of the present invention still falls within the scope of protection required by the present invention.

Claims

1. An automatic sorting and storage device for corn cobs, characterized in that: The invention comprises a conveying mechanism (1), a sorting mechanism (2), a stacking box (3), a stacking mechanism (4), a storage mechanism (6), a PLC and a host computer. The conveying mechanism (1) comprises a conveyor belt (12). A gravity sensor is arranged below the conveyor belt (12). The gravity sensor is connected to the PLC. When corn cobs to be sorted are put into the conveyor belt (12) for transportation, the gravity sensor detects the weight thereof in real time and transmits the weight information to the PLC. The sorting mechanism (2) is located on one side of the conveyor belt (12). The sorting mechanism (2) comprises a sorting manipulator. The sorting manipulator is located above the conveyor belt (12). The sorting manipulator is connected to the PLC and controlled by the PLC. A photoelectric sensor and a camera client are arranged on the sorting manipulator. The photoelectric sensor is connected to the PLC. The camera client is connected to the host computer. The host computer is connected to the PLC. Then, when the corn cobs to be sorted are conveyed to the bottom of the sorting robot, the photoelectric sensor detects the corn cobs to be sorted and transmits a signal to the PLC. At this time, the camera client synchronously photographs and identifies the corn cobs to be sorted to collect graphics and transmits them to the host computer. After the host computer and the PLC exchange information, the PLC controls the sorting robot to sort the corn cobs to be sorted according to the weight, grain fullness and color of the corn cobs to be sorted. The stacking box (3) is located between the sorting robot and the stacking mechanism. The corn sorted by the sorting robot is placed in the stacking box (3). The stacking mechanism (4) includes a stacking robot. When the stacking box (3) is full of sorted corn cobs, the stacking robot moves them away and stacks them. The storage mechanism (6) includes a shelf (61). The shelf (61) is used to place the stacked stacking box (3).

2. The automatic sorting and storage device for corn cobs according to claim 1, characterized in that: The conveying mechanism (1) further comprises a base frame (11) and a conveying motor (14), wherein the conveying motor (14) is fixed on the base frame (11), the conveying belt (12) is installed on the conveying motor (14) and the conveying of the corn cobs to be sorted is achieved through the conveying motor (14), and an isolation plate (13) is arranged on the conveying belt (12).

3. The automatic sorting and storage device for corn cobs according to claim 1 is characterized in that: The sorting robot comprises a gripper (21), a first robot arm (22), a second robot arm (23), a third robot arm (24), a fourth robot arm (25), a rotating base (26), a rotating disk (27), a rotating motor (28), a sliding table (29), a sliding base (210), a lead screw (211), a lead screw motor (212) and a gripper motor (213); the gripper (21) is mounted on the first robot arm (22); the gripper motor (213), a photoelectric sensor and a camera client are mounted on the first robot arm (22); the first robot arm (22) is rotatably mounted on the second robot arm (23); the second robot arm (23) is rotatably mounted on the third robot arm (24); The third mechanical arm (24) is rotatably mounted on the fourth mechanical arm (25), the fourth mechanical arm (25) is mounted on a rotating base (26), the rotating base (26) is mounted on a rotating disk (27), the rotating motor (28) is connected to the rotating disk (27) and controls its rotation, the rotating motor (28) is fixed on a sliding table (29), a sliding rail and a lead screw (211) are provided on the sliding base (210), the lead screw (211) is located between the sliding rails, the sliding table (29) is located on the sliding rails and connected to the lead screw (211), a lead screw motor (212) is installed on one side of the sliding base (210), the lead screw motor (212) is connected to the lead screw (211) and controls its rotation.

4. The automatic sorting and storage device for corn cobs according to claim 1, characterized in that: It also comprises a palletizing base (5), which is located on one side of the palletizing robot and is used to place a fully loaded palletizing container (3).

5. The automatic sorting and storage device for corn cobs according to claim 1 or 4, characterized in that: The stacking robot has the same structure as the sorting robot. When the stacking container (3) is fully loaded, the stacking robot clamps the stacking container (3) and places it on the stacking base (5).

6. The automatic sorting and storage device for corn cobs according to claim 1, characterized in that: The stacking cargo box (3) comprises a box body (31), wherein a crisscross partition board (32) is arranged inside the box body (31), and the sides of the box body (31) are respectively provided with a grasping hole (33) for grasping by a stacking robot and a ventilation hole (34) for ventilating the box body (31).

7. The automatic sorting and storage device for corn cobs according to claim 1 or 4, characterized in that: A cargo plate (62) is arranged on the shelf (61). When the stacking base (5) is fully loaded with the stacking cargo boxes (3), the stacking base (5) is placed on the cargo plate (62) by a forklift.

8. The working method of the automatic corn cob sorting and storage device according to any one of claims 1 to 7, characterized in that: The steps include: S1. Based on the actual corn harvest and the quality of corn according to the national standard, the bad and incomplete corn cobs are removed before the corn cobs are sent to the conveyor belt, and the screened corn cobs are placed on the conveyor belt (12) for transmission; S2, when the corn cobs to be sorted are placed on the conveyor belt (12), they are transported by the conveyor belt (12), at which time, a gravity sensor below the conveyor belt (12) detects the weight of the corn cobs to be sorted above it in real time, and transmits the weight information to the PLC, which records the weight data of each corn cob to be sorted; S3, when the corn cobs to be sorted are conveyed to the bottom of the sorting robot, the photoelectric sensor on the sorting robot detects the corn cobs to be sorted, and at the same time, the camera client also captures the graphic information of the corn cobs to be sorted and sends it to the host computer. After the host computer and the PLC exchange information, the PLC controls the sorting robot to sort the corn cobs to be sorted according to the weight, grain fullness and color of the corn cobs to be sorted, and the sorting robot places the sorted corn in the stacking box (3); S4. When the stacking box (3) is filled with sorted corn cobs, the stacking robot will move the stacking box (3) away and stack it on the stacking base (5); S5. When the stacking base (5) is fully loaded with stacking containers (3), a forklift takes the stacking base (5) away and neatly places it on a shelf (61) for storage.

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