Automatic bamboo shoot head cutting operation equipment based on induction recognition

Abstract

The automatic bamboo shoot head cutting operation equipment comprises a PLC industrial personal computer and a bamboo shoot conveying device, a head cutting station and a sensing device are arranged on the bamboo shoot conveying device, and a moving frame driven by an electric reciprocating mechanism is arranged above the head cutting station; a cutter mechanism and a cutter lifting mechanism are arranged on one side of the movable frame, a cutting head positioning mechanism is arranged on the other side of the movable frame, the cutting head positioning mechanism comprises a row of double-head air cylinders which are vertically arranged and controlled and driven by the same air source through a PLC industrial personal computer and an electromagnetic valve, and the piston rod end of the lower end of each double-head air cylinder is fixedly connected with a probe used for inserting bamboo shoots. And a piston rod end at the upper end of each double-head cylinder is a probe positioning end which can be sensed by a sensing device to judge the insertion depth of the probe. By detecting the hardness of multiple positions of the bamboo shoots and judging the head cutting position according to the hardness detection result, mechanical operation is achieved, efficiency is high, errors are small, precision is high, work is stable and reliable, and product quality is improved.

Description

Technical Field

[0001] The invention relates to the technical field of bamboo shoot processing, in particular to automatic bamboo shoot cutting operation equipment based on induction recognition. Background Art

[0002] Bamboo shoots are common agricultural products. During deep processing, they need to be shelled and cut. Since the head of the bamboo shoot is hard and inedible, the head (i.e. the inedible part) needs to be cut off, leaving the edible part for subsequent processing. At present, the cutting of bamboo shoots is done manually. Generally, workers judge the boundary between the edible part and the inedible part based on their experience. This method is not only inefficient and labor-intensive, but also has large errors. If too much of the head is cut, it will cause waste, and if too little of the head is cut, it will affect the product quality, and the stability of product quality cannot be guaranteed. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide an automatic bamboo shoot cutting operation equipment based on induction recognition, which has high efficiency, small error and improves product quality.

[0004] The present invention is implemented by the following scheme: an automatic bamboo shoot cutting operation equipment based on induction recognition, comprising a PLC industrial computer and a bamboo shoot conveying device for guiding the bamboo shoot head end to be conveyed forward, the bamboo shoot conveying device is provided with a cutting station and a sensing device, a movable frame driven by an electric reciprocating mechanism is provided above the cutting station, a cutting mechanism and a cutting knife lifting mechanism are provided on one side of the movable frame, and a cutting head positioning mechanism is provided on the other side, the cutting head positioning mechanism comprises a row of double-headed cylinders arranged vertically and driven by the same air source through the PLC industrial computer and the solenoid valve, the double-headed cylinders are arranged at intervals along a direction parallel to the bamboo shoot conveying direction, a probe for inserting bamboo shoots is fixedly connected to the piston rod end at the lower end of each double-headed cylinder, and a probe for inserting bamboo shoots is fixedly connected to the piston rod end at the lower end of each double-headed cylinder. The piston rod end is a probe positioning end that can be sensed by a sensing device to determine the insertion depth of the probe; the working steps are as follows: (1) the probes of each double-headed cylinder are controlled by a PLC industrial computer and a solenoid valve to complete the downward puncture stroke of the edible part and the inedible part of the bamboo shoot; (2) the height difference of the probe positioning end corresponding to the edible part and the inedible part of the bamboo shoot is sensed by the sensing device to determine the junction of the edible part and the inedible part as the cutting position; (3) the PLC industrial computer and the solenoid valve are used to control the return of each double-headed cylinder; (4) the PLC industrial computer controls the stepping motor of the electric reciprocating mechanism to drive the moving frame to move the cutter mechanism to the cutting position, and then the PLC industrial computer controls the cutter lifting mechanism and the cutter mechanism to complete the work of cutting the bamboo shoot head.

[0005] Furthermore, the sensing devices are also multiple and are arranged one-to-one with the double-head cylinders, and each sensing device forms a vertical sensing area with at least one pair of light emitting ends and light receiving ends arranged in pairs.

[0006] Furthermore, a liftable baffle plate controlled by a PLC industrial computer is provided on the front side of the head cutting station, and a liftable bamboo shoot tail support plate controlled by a PLC industrial computer is provided on the rear side of the head cutting station; an induction switch for stopping the bamboo shoot conveying device and rising the bamboo shoot tail support plate controlled by the PLC industrial computer is provided on the corresponding side of the baffle plate corresponding to the bamboo shoot head; after the cutting knife mechanism completes cutting off the bamboo shoot head, the PLC industrial computer controls the lifting of the baffle plate and the lowering of the bamboo shoot tail support plate respectively.

[0007] Furthermore, a V-shaped positioning groove is provided on the upper side of the bamboo shoot tail support plate.

[0008] Furthermore, the bamboo shoot conveying device is an intermittent conveying device, which is composed of two front and rear conveyor sections. The bamboo shoot tail support plate is located at the junction of the two conveyor sections, and a first cylinder for driving the bamboo shoot tail support plate to rise and fall is provided below the bamboo shoot tail support plate.

[0009] Furthermore, the baffle is fixedly connected to one end of a swing arm; the other end of the swing arm is hinged to a fixed frame located beside the conveyor, and the fixed frame is provided with a second cylinder for driving the swing arm to swing up and down, the telescopic rod of the second cylinder is hinged to the swing arm, and the cylinder body of the second cylinder is hinged to the fixed frame; the fixed frame is fixedly connected with a limit block for keeping the swing arm in a horizontal position when it swings down.

[0010] Furthermore, the electric reciprocating mechanism adopts a screw linear slide, and the cutter lifting mechanism adopts a third cylinder, which is installed on the upper side of the movable frame. The cutter mechanism includes a knife holder located on the lower side of the movable frame and driven to rise and fall by the third cylinder, and a cutter is installed on the lower side of the knife holder.

[0011] Furthermore, a bamboo shoot material trough is provided at the rear of the bamboo shoot conveying device, and a lifting conveyor belt for lifting the bamboo shoots is provided on one side of the bamboo shoot material trough. The width of the lifting conveyor belt is slightly larger than the length of the bamboo shoots, and a plurality of groups of material shifting components are spaced apart on the lifting conveyor belt. The material shifting components are composed of 3 to 4 material shifting claws spaced apart along the width direction of the lifting conveyor belt. Each group of material shifting components is located on half of the width direction of the lifting conveyor belt and on the same side so that the head end of the bamboo shoot can be lifted when it is located on the material shifting component, and the tail end falls off automatically when it is located on the material shifting component.

[0012] Furthermore, the bottom of the bamboo shoot material trough is provided with an inclined bottom plate inclined downward toward one side of the lifting conveyor belt, and the lower side of the inclined bottom plate is provided with a lower yielding groove corresponding to the position of the material removing claw; the bamboo shoot material trough is symmetrically provided with a central guide plate extending obliquely to both sides of the conveyor belt on both sides of the lifting conveyor belt.

[0013] Furthermore, the length of the material-discharging claws of each group of material-discharging assemblies gradually increases from the middle to the side, and the ends of the material-discharging claws are upwardly tilted; a material discharge chute is provided between the upper end of the lifting conveyor belt and the bamboo shoot conveying device, and an upper yielding groove corresponding to the position of the material-discharging claws is provided at the upper end of the material discharge chute.

[0014] Compared with the prior art, the present invention has the following beneficial effects: the present invention is reasonably designed, convenient and practical, and can realize mechanized operation by performing hardness tests on multiple positions of bamboo shoots and judging the cutting position according to the hardness test results. It has not only high efficiency and low labor intensity, but also small error and high precision, stable and reliable operation, and improved product quality.

[0015] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below through specific embodiments and related drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 yes Figure 1 Schematic diagram of local structure; Figure 3 This is a cross-sectional view of the bamboo shoot conveying device at the cutting station according to an embodiment of the present invention; Figure 4 Schematic diagram of a cutting head positioning mechanism according to an embodiment of the present invention; Figure 5 This is a schematic diagram of determining the position of a bamboo shoot cut end according to an embodiment of the present invention; Figure 6 2 is another schematic diagram of determining the position of the cut end of bamboo shoots according to an embodiment of the present invention; Figure 7 is a schematic diagram of a probe positioning end of a double-headed cylinder in an embodiment of the present invention being in a vertical sensing area; Figure 8 Schematic diagram of the probe positioning end of the double-headed cylinder of the embodiment of the present invention exiting the vertical sensing area; Fig. 9 2. It is a top view of a bamboo shoot trough according to an embodiment of the present invention; Fig.10 Schematic diagram of the internal structure of a bamboo shoot trough according to an embodiment of the present invention; Fig.11 2 is a schematic diagram of the working state of the lifting conveyor belt according to an embodiment of the present invention; Fig.12 is a schematic diagram of the connection between the cutting head positioning mechanism and the compressed air source according to an embodiment of the present invention; Fig.13 It is a schematic diagram of the connection between a single double-headed cylinder and a compressed air source according to an embodiment of the present invention; Fig.14 is a circuit diagram of a sensing device according to an embodiment of the present invention; Explanation of reference numerals in the figure: 100-bamboo shoot conveying device, 110-bamboo shoot tail support plate, 111-V-shaped positioning groove, 120-transition plate, 130-first cylinder, 140-baffle, 141-sensing switch, 150-side baffle, 160-fourth cylinder, 161-positioning block, 200-moving frame, 210-cutting head positioning mechanism, 211-double-headed cylinder, 212-probe, 213-probe positioning end, 220-cutter, 240-sensing device, 241 -light emitting end, 242-light receiving end, 250-third cylinder, 260-tool holder, 300-fixed frame, 310-swing arm, 320-second cylinder, 330-limit block, 400-screw linear slide, 500-bamboo shoot trough, 510-inclined bottom plate, 511-lower clearance groove, 520-center guide plate, 600-lifting conveyor belt, 610-material shifting assembly, 611-material shifting claw, 700-unloading chute, 710-upper clearance groove, 800-bamboo shoots. DETAILED DESCRIPTION

[0017] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0018] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0019] like Figures 1 to 14As shown, the automatic bamboo shoot cutting operation equipment based on induction recognition includes a PLC industrial computer and a bamboo shoot conveying device 100 for guiding the bamboo shoot head end to be conveyed forward, the bamboo shoot conveying device 100 is provided with a cutting station and a sensing device 240, and a movable frame 200 driven by an electric reciprocating mechanism is provided above the cutting station, a cutting mechanism and a cutting knife lifting mechanism are provided on one side of the movable frame 200, and a cutting positioning mechanism 210 is provided on the other side, the cutting positioning mechanism 210 includes a row of vertically arranged double-headed cylinders 211 driven by the same air source through the PLC industrial computer and the solenoid valve control, all the double-headed cylinders 211 can be controlled by the same solenoid valve, and can also be controlled by each independent solenoid valve, the double-headed cylinders are arranged at intervals along a direction parallel to the bamboo shoot conveying direction, and the piston rod end at the lower end of each double-headed cylinder is fixedly connected to a probe 212 for inserting bamboo shoots, and each double-headed cylinder The piston rod end at the upper end of the cylinder is a probe positioning end 213 that can be sensed by the sensing device to determine the insertion depth of the probe; working steps: (1) The probes of each double-headed cylinder are controlled by the PLC industrial computer and the solenoid valve to complete the downward puncture stroke of the edible part and the inedible part of the bamboo shoot; (2) The height difference of the probe positioning end corresponding to the edible part and the inedible part of the bamboo shoot is sensed by the sensing device (the height difference is caused by the different hardness of the edible part and the inedible part of the bamboo shoot, which results in different downward puncture strokes of the probe) to determine the junction of the edible part and the inedible part as the cutting position; (3) The PLC industrial computer and the solenoid valve are used to control the return of each double-headed cylinder; (4) The PLC industrial computer controls the stepping motor of the electric reciprocating mechanism to drive the moving frame to move the cutter mechanism to the cutting position, and then the PLC industrial computer controls the cutter lifting mechanism and the cutter mechanism to complete the work of cutting the bamboo shoot head. When performing the bamboo shoot cutting operation, all double-headed cylinders of the cutting positioning mechanism 210 use the same pressure to insert their respective probes downward into the bamboo shoot. Due to the different hardnesses of the edible and inedible parts of the bamboo shoot, the edible part is more tender and easier to be pierced. The pressure of the double-headed cylinder is set according to the hardness of the junction between the edible and inedible parts. The probe corresponding to the edible part can move down completely, and the probe positioning end of the corresponding double-headed cylinder is at the lowest position and cannot be sensed by the sensing device 240. However, the probe corresponding to the inedible part is blocked by the harder bamboo shoot meat and cannot move down completely. The probe positioning end of the corresponding double-headed cylinder does not reach the lowest position and can be sensed by the sensing device 240. The middle position between two adjacent probes that have moved down completely and one that has not moved down completely is determined as the cutting position. Take five probes as an example: Figure 5 As shown in , if the first three probes are not fully moved down and the last two probes are fully moved down, the cutting position is the middle position between the third probe and the fourth probe; Figure 6 As shown in the figure, if the first two probes are not fully moved down and the last three probes are fully moved down, the cutting head position is the middle position between the second probe and the third probe. The more probes there are, the higher the detection accuracy.

[0020] The lowest position of the probe during the entire downward movement is set so that the lower end of the probe is close to the conveying surface of the bamboo shoot conveying device 100, so as to prevent the lower end of the probe from touching the conveying surface of the bamboo shoot conveying device 100 and causing damage to both.

[0021] In this embodiment, the sensing devices 240 are also multiple and are arranged one by one with the double-headed cylinders. Each sensing device forms a vertical sensing area with at least one pair of light emitting ends 241 and light receiving ends 242 arranged in pairs. In the detection, the probe piercing time is the time it takes for the probe to penetrate the bamboo shoots to reach the lowest position under the thrust of the double-headed cylinder. During the piercing process, if the probe penetrates the bamboo shoots, the corresponding cutting head positioning end of the probe moves down to a position that is not in the vertical sensing area, such as Figure 8 As shown, if the probe cannot penetrate the bamboo shoots because it is blocked by the inedible part of the bamboo shoots, the tool positioning end corresponding to the probe can block at least one light receiving end, such as Figure 7 shown.

[0022] In this embodiment, all double-headed cylinders are supplied with air by a compressed air source. A buffer air bin is provided on the connecting pipeline between the compressed air source and the double-headed cylinders. A pressure regulating valve is provided at the input end of the buffer air bin. The output end of the buffer air bin is connected to each double-headed cylinder. The compressed air source supplies air to all double-headed cylinders through the buffer air bin to ensure that the pressure of all double-headed cylinders is consistent. The pressure regulating valve is used to adjust the pressure.

[0023] In this embodiment, a liftable baffle 140 controlled by a PLC industrial computer is provided at the front side of the head cutting station, and a liftable bamboo shoot tail support plate 110 controlled by a PLC industrial computer is provided at the rear side of the head cutting station; a sensing switch 141 is provided on the side corresponding to the bamboo shoot head of the baffle 140, which is controlled by the PLC industrial computer to stop the bamboo shoot conveying device and to raise the bamboo shoot tail support plate; after the cutter mechanism completes the cutting of the bamboo shoot head, the PLC industrial computer controls the baffle to rise and the bamboo shoot tail support plate to fall respectively. When the bamboo shoots arrive at the head cutting station, the baffle is used to block the bamboo shoots, and the sensing switch is used to determine whether the bamboo shoots are in place; after sensing that they are in place, the bamboo shoot tail support plate 110 is controlled by the PLC industrial computer to rise to a certain height, and the tail end of the bamboo shoots is lifted upward, so that the bamboo shoots are as horizontal as possible; after the bamboo shoots complete the head cutting operation, the bamboo shoot tail support plate falls to avoid blocking the next bamboo shoot.

[0024] In this embodiment, a V-shaped positioning groove 111 is provided on the upper side of the bamboo shoot tail support plate, which has a positioning effect and prevents the bamboo shoot tail from being tilted.

[0025] In this embodiment, the bamboo shoot conveying device is an intermittent conveying device. The bamboo shoot conveying device 100 is composed of two sections of conveyors, the bamboo shoot tail support plate is located at the junction of the two sections of conveyors, and a first cylinder 130 for driving the bamboo shoot tail support plate to rise and fall is provided below the bamboo shoot tail support plate. The PLC industrial computer controls the movement of the first cylinder through a solenoid valve; a transition plate 120 is provided at the junction of the two sections of conveyors, and a hole for the bamboo shoot tail support plate to pass through is provided on the transition plate. The bamboo shoot conveying device 100 adopts an intermittent motion mode, and the PLC industrial computer is used to control the start and stop of the conveyor motor to realize the intermittent motion of the bamboo shoot conveying device. Each time it moves, the bamboo shoots with cut heads are sent to the cutting station, and the bamboo shoots with completed cutting heads are sent out of the cutting station. The conveyor adopts a chain plate conveyor or a belt conveyor.

[0026] In this embodiment, the baffle is fixedly connected to one end of a swing arm 310; the other end of the swing arm is hinged to a fixed frame 300 located beside the conveyor, and the fixed frame 300 is provided with a second cylinder 320 for driving the swing arm to swing up and down, the telescopic rod of the second cylinder is hinged to the swing arm, and the cylinder body of the second cylinder is hinged to the fixed frame; a limit block 330 is fixedly connected to the fixed frame to keep the swing arm in a horizontal position when it swings down; after the bamboo shoots are cut, the PLC industrial computer controls the movement of the second cylinder through the solenoid valve, and drives the baffle to lift through the swing arm, so that the bamboo shoots that have been cut can pass, and then it descends again to block the next bamboo shoot.

[0027] In this embodiment, the electric reciprocating mechanism adopts a screw linear slide 400, and the cutter lifting mechanism adopts a third cylinder 250. The third cylinder 250 is installed on the upper side of the movable frame 200. The cutter mechanism includes a knife holder 260 located on the lower side of the movable frame 200 and driven to rise and fall by the third cylinder 250, and the cutter 220 is installed on the lower side of the knife holder. The PLC industrial computer can accurately control the moving distance of the mobile frame by controlling the stepper motor of the screw linear slide 400, thereby realizing the precise positioning of the cutter position. The distance between each probe position and the cutter is fixed. The distance parameters between each probe position and the cutter are set in the PLC industrial computer. After determining the cutting head position, the PLC industrial computer can quickly and accurately move the cutter to the top of the cutting head position by controlling the stepper motor of the screw linear slide 400. Then the PLC industrial computer controls the action of the third cylinder through the solenoid valve to drive the cutter to move downward and complete the cutting head operation; then the PLC industrial computer controls the stepper motor of the third cylinder and the screw linear slide 400 respectively to reset the cutter and the mobile frame. The lowest position of the cutter's downward movement is the position where the cutter blade is close to the conveying surface of the bamboo shoot conveying device 100.

[0028] In this embodiment, side baffles 150 are provided on both sides of the bamboo shoot conveying device, and positioning blocks 161 driven by the fourth cylinder 160 are respectively provided on the left and right sides of the cutting station. The fourth cylinder 160 is controlled by the PLC industrial control computer through the solenoid valve, and the positioning blocks are wedge-shaped; through the action of the positioning blocks 161 on both sides, including the centering effect, the bamboo shoots can be prevented from being skewed at the cutting station, and at the same time, the bamboo shoots can be effectively fixed to prevent the bamboo shoots from being lifted up when the probe moves up. The positioning blocks are set close to the tail end of the bamboo shoots to ensure that the positioning position is the edible part of the bamboo shoots; after the cutting operation is completed, the two positioning blocks are released, and the pressure of the fourth cylinder driving the positioning blocks does not need to be too large.

[0029] After the bamboo shoots are cut, the cut heads (i.e., inedible parts) are removed; how to remove them is beyond the scope of the present invention and will not be described in detail here. The bamboo shoot conveying device can continue to convey the cut edible parts and inedible parts forward together, and remove them manually; or a push plate can be set on one side of the cutting station near the baffle, and the push plate is driven by a cylinder to push the cut heads to the other side to make them exit the bamboo shoot conveying device.

[0030] In this embodiment, a bamboo shoot material trough 500 is provided at the rear of the bamboo shoot conveying device, and a lifting conveyor belt 600 for lifting the bamboo shoots is provided on one side of the bamboo shoot material trough. The width of the lifting conveyor belt 600 is slightly larger than the length of the bamboo shoots. A plurality of groups of material shifting components 610 are arranged at intervals on the lifting conveyor belt. The material shifting components are composed of 3 to 4 material shifting claws 611 arranged at intervals along the width direction of the lifting conveyor belt. Each group of material shifting components is located on the half side of the width direction of the lifting conveyor belt and on the same side so that the bamboo shoot head end can be lifted when it is located on the material shifting component, and the tail end falls automatically when it is located on the material shifting component. Since the bamboo shoots are conical, the head end is medium and the tail end is light, this characteristic of the bamboo shoots is used to control the orientation of the bamboo shoots before they are sent into the bamboo shoot conveying device to ensure that the bamboo shoots face forward and the tail end faces backward after entering the bamboo shoot conveying device. When the lifting conveyor belt 600 lifts the bamboo shoots upward through the material-digging assembly 610, if the head end of the bamboo shoot is above the material-digging assembly 610, the bamboo shoot will be lifted upward for transportation; if the tail end of the bamboo shoot is above the material-digging assembly 610, the bamboo shoot will automatically fall back into the bamboo shoot material trough 500 and participate in the lifting and transportation again; thereby, the bamboo shoots are transported one by one, and it is ensured that the head ends of the bamboo shoots being lifted and transported are all facing in one direction, that is, all facing the right side of the lifting conveyor belt. Fig.11 shown.

[0031] In this embodiment, in order to adapt to the tapered structure of bamboo shoots, the length of the material-digging claws of each group of material-digging components is gradually lengthened from the middle to the side, and the end of the material-digging claw is tilted upward to prevent the bamboo shoots from rolling down from the end position of the material-digging claw; a material-discharging chute 700 is provided between the upper end of the lifting conveyor belt and the bamboo shoot conveying device, and an upper yielding groove 710 corresponding to the position of the material-digging claw is provided at the upper end of the material-digging chute. The lifted bamboo shoots slide down to the bamboo shoot conveying device along the material-discharging chute 700. Since the heads of the bamboo shoots lifted to the upper end of the lifting conveyor belt are all facing in one direction, and the heads of the bamboo shoots are heavier and will face downward during the sliding process, it is ensured that the bamboo shoots delivered to the bamboo shoot conveying device are basically head-facing. If the head and tail positions of some individual bamboo shoots are swapped during the sliding process, they can be manually removed. In the specific implementation process, it is also possible not to set a bamboo shoot trough, and directly place the bamboo shoots head-facing forward on the bamboo shoot conveying device by hand, which is extremely inefficient.

[0032] In this embodiment, the bottom of the bamboo shoot trough is provided with an inclined bottom plate 510 that is inclined downward toward one side of the lifting conveyor belt, and the lower side of the inclined bottom plate is provided with a lower clearance groove 511 that corresponds to the position of the material-dispensing claws; the bamboo shoot trough is symmetrically provided with a central guide plate 520 that extends obliquely to both sides of the conveyor belt on both sides of the lifting conveyor belt. The inclined bottom plate 510 and the central guide plate 520 enable the bamboo shoots in the bamboo shoot trough to automatically gather toward the middle.

[0033] The specific working process of the automatic bamboo shoot cutting equipment based on induction recognition is as follows: (1) The PLC industrial computer controls the motor of the lifting conveyor belt to transport the bamboo shoots in the bamboo shoot trough outward one by one. The heads of the bamboo shoots being lifted and transported are all facing in one direction. The heads of the bamboo shoots sent to the bamboo shoot conveying device face forward. The PLC industrial computer controls the motor of the bamboo shoot conveying device to transport the bamboo shoots forward intermittently using the bamboo shoot conveying device. (2) The baffle is initially in the downward position. When the bamboo shoots reach the cutting position, the head of the bamboo shoots is blocked by the baffle, and the induction switch senses that the bamboo shoots are in place. (3) The induction switch sends a signal to the PLC industrial computer, which controls the first and fourth cylinders through the solenoid valve. The first cylinder drives the tail support plate of the bamboo shoot to lift up, and the fourth cylinder drives the positioning blocks on both sides to cooperate and press the bamboo shoots. (4) The PLC industrial computer controls the movement of the double-headed cylinders through the solenoid valves. All double-headed cylinders drive the corresponding probes to move downward with the same pressure. The boundary between the edible part and the inedible part of the bamboo shoot is determined by the difference in the penetration stroke of the probes into the edible part and the inedible part of the bamboo shoot as the cutting position. The middle position between two adjacent probes that have moved down completely and those that have not moved down completely is determined as the cutting position. (5) The PLC industrial computer controls the movement of the double-headed cylinder through the solenoid valve, and all double-headed cylinders drive the corresponding probes to move upward and reset; (6) The PLC industrial computer controls the stepper motor of the screw linear slide to work, and the screw linear slide drives the movable frame to move so that the cutter moves to above the cutting head position. Then the PLC industrial computer controls the action of the third cylinder through the solenoid valve, and the third cylinder drives the cutting head to move downward to complete the cutting operation. Then the PLC industrial computer controls the solenoid valve of the third cylinder and the stepper motor of the screw linear slide 400 respectively, so that the third cylinder and the screw linear slide respectively drive the cutter and the movable frame to reset. (7) The PLC industrial computer controls the actions of the first cylinder, the second cylinder and the fourth cylinder through solenoid valves. The first cylinder drives the tail support plate of the bamboo shoot to descend, the second cylinder drives the baffle to rise, and the fourth cylinder drives the positioning blocks on both sides to loosen. Then the PLC industrial computer controls the motor of the bamboo shoot conveying device to operate, and the bamboo shoot conveying device conveys the bamboo shoots that have been cut forward, completing a bamboo shoot cutting operation.

[0034] Unless otherwise stated, any technical solution disclosed in the present invention disclosed above, if it discloses a numerical range, then the disclosed numerical range is a preferred numerical range, and any technician in the field should understand that the preferred numerical range is only a numerical value with a more obvious technical effect or representative value among many implementable numerical values. Since there are too many numerical values ​​to be exhaustive, the present invention discloses some numerical values ​​to illustrate the technical solution of the present invention, and the numerical values ​​listed above should not constitute a limitation on the scope of protection of the present invention.

[0035] If the present invention discloses or involves components or structures that are fixedly connected to each other, then, unless otherwise stated, the fixed connection can be understood as: a detachable fixed connection (for example, connection using bolts or screws), and can also be understood as: a non-detachable fixed connection (for example, riveting, welding). Of course, the mutual fixed connection can also be replaced by an integrated structure (for example, manufactured by integrated molding using a casting process) (except when it is obviously impossible to use an integrated molding process).

[0036] In addition, unless otherwise stated, the terms used to indicate positional relationships or shapes in any of the technical solutions disclosed in the present invention include states or shapes that are approximate, similar, or close to them.

[0037] Any component provided by the present invention may be assembled from a plurality of separate components, or may be a separate component manufactured by an integral forming process.

[0038] The above is only a preferred embodiment of the present invention, and does not limit the present invention in other forms. Any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention still belongs to the protection scope of the technical solution of the present invention.

Claims

1. An automatic bamboo shoot cutting device based on induction recognition, characterized in that: The utility model comprises a PLC industrial control computer and a bamboo shoot conveying device for guiding the head end of the bamboo shoots to be conveyed forward, the bamboo shoot conveying device is provided with a head cutting station and a sensing device, a movable frame driven by an electric reciprocating mechanism is provided above the head cutting station, a cutting mechanism and a cutting lifting mechanism are provided on one side of the movable frame, and a head cutting positioning mechanism is provided on the other side, the head cutting positioning mechanism comprises a row of double-headed cylinders arranged vertically and driven by the same air source through the PLC industrial control computer and the electromagnetic valve, the double-headed cylinders are arranged at intervals along a direction parallel to the conveying direction of the bamboo shoots, a probe for inserting bamboo shoots is fixedly connected to the piston rod end at the lower end of each double-headed cylinder, and a probe for inserting bamboo shoots is fixedly connected to the piston rod end at the upper end of each double-headed cylinder, and ... The probe positioning end of the probe insertion depth; working steps: (1) the PLC industrial computer and the solenoid valve control the probes of each double-headed cylinder to complete the downward puncture stroke of the edible part and the inedible part of the bamboo shoot; (2) the height difference of the probe positioning end corresponding to the edible part and the inedible part of the bamboo shoot is sensed by the sensing device to determine the junction of the edible part and the inedible part as the cutting position; (3) the PLC industrial computer and the solenoid valve control the return of each double-headed cylinder; (4) the PLC industrial computer controls the stepping motor of the electric reciprocating mechanism to drive the moving frame to move the cutter mechanism to the cutting position, and then the PLC industrial computer controls the cutter lifting mechanism and the cutter mechanism to complete the work of cutting the bamboo shoot head.

2. The automatic bamboo shoot cutting device based on induction recognition according to claim 1 is characterized in that: There are also a plurality of sensing devices which are arranged one-to-one with the double-head cylinders, and each sensing device forms a vertical sensing area with at least one pair of light emitting end and light receiving end arranged in pairs.

3. The automatic bamboo shoot cutting operation equipment based on induction recognition according to claim 1 is characterized in that: A liftable baffle controlled by a PLC industrial computer is provided on the front side of the head cutting station, and a liftable bamboo shoot tail support plate controlled by a PLC industrial computer is provided on the rear side of the head cutting station; an induction switch for stopping the bamboo shoot conveying device and raising the bamboo shoot tail support plate controlled by the PLC industrial computer is provided on the corresponding side of the baffle corresponding to the bamboo shoot head; after the cutting knife mechanism completes cutting off the bamboo shoot head, the PLC industrial computer controls the lifting of the baffle and the lowering of the bamboo shoot tail support plate respectively.

4. The automatic bamboo shoot cutting operation equipment based on induction recognition according to claim 3 is characterized in that: A V-shaped positioning groove is provided on the upper side of the bamboo shoot tail support plate.

5. The automatic bamboo shoot cutting operation equipment based on induction recognition according to claim 3 is characterized in that: The bamboo shoot conveying device is an intermittent conveying device, which is composed of two front and rear conveyor sections. The bamboo shoot tail support plate is located at the junction of the two conveyor sections, and a first cylinder for driving the bamboo shoot tail support plate to be lifted and lowered is provided below the bamboo shoot tail support plate.

6. The automatic bamboo shoot cutting device based on induction recognition according to claim 5 is characterized in that: The baffle is fixedly connected to one end of a swing arm; the other end of the swing arm is hinged to a fixed frame located beside the conveyor, and the fixed frame is provided with a second cylinder for driving the swing arm to swing up and down, the telescopic rod of the second cylinder is hinged to the swing arm, and the cylinder body of the second cylinder is hinged to the fixed frame; the fixed frame is fixedly connected with a limit block for keeping the swing arm in a horizontal position when it swings down.

7. The automatic bamboo shoot cutting device based on induction recognition according to claim 1 is characterized in that: The electric reciprocating mechanism adopts a screw linear slide, and the cutter lifting mechanism adopts a third cylinder. The third cylinder is installed above one side of the mobile frame. The cutter mechanism includes a knife holder located on the lower side of the mobile frame and driven to rise and fall by the third cylinder, and a cutter is installed on the lower side of the knife holder.

8. The automatic bamboo shoot cutting device based on induction recognition according to claim 1 is characterized in that: A bamboo shoot material trough is provided at the rear of the bamboo shoot conveying device, and a lifting conveyor belt for lifting the bamboo shoots is provided on one side of the bamboo shoot material trough. The width of the lifting conveyor belt is slightly larger than the length of the bamboo shoots. A plurality of groups of material shifting components are spaced apart on the lifting conveyor belt. The material shifting components are composed of 3 to 4 material shifting claws spaced apart along the width direction of the lifting conveyor belt. Each group of material shifting components is located on half of the width direction of the lifting conveyor belt and on the same side so that the head end of the bamboo shoot can be lifted when it is located on the material shifting component, and the tail end falls off automatically when it is located on the material shifting component.

9. The automatic bamboo shoot cutting device based on induction recognition according to claim 8 is characterized in that: The bottom of the bamboo shoot material trough is provided with an inclined bottom plate inclined downward toward one side of the lifting conveyor belt, and the lower side of the inclined bottom plate is provided with a lower yielding groove corresponding to the position of the material removing claw; the bamboo shoot material trough is symmetrically provided with a central guide plate extending obliquely to both sides of the conveyor belt on both sides of the lifting conveyor belt.

10. The automatic bamboo shoot cutting device based on induction recognition according to claim 8, characterized in that: The length of the material-discharging claws of each group of material-discharging assemblies gradually increases from the middle to the side, and the ends of the material-discharging claws are tilted upward; a material discharge chute is provided between the upper end of the lifting conveyor belt and the bamboo shoot conveying device, and an upper yielding groove corresponding to the position of the material-discharging claws is provided at the upper end of the material discharge chute.

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