Intelligent visual marinating machine

Abstract

The invention discloses an intelligent visual marinating machine. Comprising an areca nut arranging and feeding machine, a station for visually identifying and removing overturned areca nuts, a station for clamping and supplementing the areca nuts to an empty sieve plate after the areca nuts are arranged, a station for mechanically pressing and smoothing the areca nuts, a manual intervention arranging station, a station for visually identifying the volume of an areca nut accommodating cavity, a visual marinating station, an areca nut marinating liquid uniformly shaking station, a metal detector and a marinating liquid heat preservation supply barrel, the device comprises a betel nut sorting and feeding machine, a station for visually recognizing and removing overturned betel nuts, a station for clamping and supplementing the betel nuts to an empty sieve plate after the betel nuts are sorted, a station for mechanically pressing and smoothing the betel nuts, a station for manually intervening in sorting, and a station for visually recognizing the volume of a betel nut containing cavity in a 3D mode. The machine can accurately reject unqualified areca nuts and accurately measure the sizes and shapes of the areca nuts, so that the consistency of products is ensured, in addition, manual intervention is reduced through automatic operation, the operation difficulty is reduced, the operation safety is enhanced, and meanwhile raw material waste and maintenance cost are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of betel nut processing, and more specifically to an intelligent visual brine-adding machine. Background Art

[0002] In modern manufacturing, especially in the field of food processing, the application of automated machinery is becoming more and more widespread. The processing of betel nut involves many complex steps, including the selection, cleaning, processing, and seasoning of betel nut. Traditional betel nut processing methods mostly rely on manual operation, which is not only inefficient, but also difficult to ensure product quality, especially in the process of brine (seasoning) of betel nut, the unevenness of manual operation will directly affect the taste and quality of the final product.

[0003] In traditional crafts, the processing of betel nuts mainly includes manual selection of betel nuts, manual placement of betel nuts on sieve plates, and manual brine addition. This process not only consumes a lot of manpower, but also due to the different sizes and shapes of betel nuts, it is difficult to ensure the uniformity of manual selection and brine addition. In addition, workers' long-term contact with betel nuts and brine may also bring potential risks to their health.

[0004] With the development of technology, although some semi-automatic equipment has been introduced to improve production efficiency, these equipment can usually only solve some steps of betel nut processing, such as automated selection or automated brine, and cannot achieve automated control of the entire process. These equipment often require manual intervention during operation to adjust equipment parameters or handle abnormal situations, which to a certain extent limits the improvement of production efficiency and the stability of product quality.

[0005] Therefore, in view of the above technical problems, it is necessary to provide an intelligent visual halogen dispenser. Summary of the invention

[0006] The purpose of the present invention is to provide an intelligent visual halogen dispenser to solve the above-mentioned problems.

[0007] In order to achieve the above purpose, the technical solution provided by an embodiment of the present invention is as follows:

[0008] An intelligent visual brine-adding machine comprises a betel nut sorting and loading machine, a visual recognition and removal station for overturned betel nuts, a station for clamping and adding materials to an empty sieve plate after sorting betel nuts, a mechanical downward pressure and leveling station for betel nuts, a manual intervention sorting station, a 3D visual recognition station for the volume of betel nut cavities, a visual brine-adding station, a betel nut brine shaking station, a metal detector and a brine insulation supply barrel, wherein the betel nut sorting and loading machine, the visual recognition and removal station for overturned betel nuts, a station for clamping and adding materials to an empty sieve plate after sorting betel nuts, a mechanical downward pressure and leveling station for betel nuts, a manual intervention sorting station, a 3D visual recognition station for the volume of betel nut cavities, a visual brine-adding station, a betel nut brine shaking station, a metal detector and a brine insulation supply barrel are connected in sequence;

[0009] The betel nut sorting and loading machine comprises an automatic supply and stacking of empty sieve plates, a storage bin for quantitative distribution of betel nuts, a cradle for mechanically covering sieve plates with betel nuts, and a vibration and leveling flipping of sieve plates loaded with betel nuts, and the automatic supply and stacking of empty sieve plates, the storage bin for quantitative distribution of betel nuts, the cradle for mechanically covering sieve plates with betel nuts, and the vibration and leveling flipping of sieve plates loaded with betel nuts are interconnected;

[0010] The visual recognition and overturned betel nut removal station includes a suction visual recognition camera, a suction fan soundproof cover, a betel nut removal air duct blocking device, a removal XYZ manipulator, a removal vacuum air duct and a betel nut removal transfer barrel, and the suction visual recognition camera, the suction fan soundproof cover, the betel nut removal air duct blocking device, the removal XYZ manipulator, the removal vacuum air duct and the betel nut removal transfer barrel are connected to each other;

[0011] The station for clamping and feeding betel nut to the empty sieve plate after the betel nut is sorted includes a feeding visual recognition camera, a cradle visual recognition camera, a clamping claw vacuum pump, a feeding betel nut automatic feeding bin, a feeding XYZ manipulator, a feeding clamping claw and a feeding cradle, and the feeding visual recognition camera, the cradle visual recognition camera, the clamping claw vacuum pump, the feeding betel nut automatic feeding bin, the feeding XYZ manipulator, the feeding clamping claw and the feeding cradle are connected to each other;

[0012] The mechanical downward pressing and smoothing betel nut workstation comprises a smoothing XYZ manipulator and a smoothing pressure head, and the smoothing XYZ manipulator is fixedly connected to the smoothing pressure head;

[0013] The manual intervention material sorting station includes a pair, and the betel nut storage box is fixedly connected to the betel nut storage boxes at the left and right ends of the manual intervention material sorting station;

[0014] The visual halogen spotting station includes a halogen spotting XYZ robot, a cleaning control button, a parameter control panel and a host power distribution box, and the halogen spotting XYZ robot, the cleaning control button, the parameter control panel and the host power distribution box are interconnected;

[0015] The brine insulation supply barrel includes a cleaning and supply hot water barrel, a brine storage and stirring barrel, a brine pipeline control box and a brine supply and discharge insulation pipeline, and the cleaning and supply hot water barrel, the brine storage and stirring barrel, the brine pipeline control box and the brine supply and discharge insulation pipeline are interconnected.

[0016] As a further improvement of the present invention, the automatic supply and stacking of empty sieve plates includes a sieve plate stacking guide mechanical arm, a sieve plate translation rail, a stacking sieve plate, a sieve plate limit cylinder A, a sieve plate mechanical limit guide slider, a sieve plate mechanical limit plate, a sieve plate mechanical limit B plate, a sieve plate delivery to the lower station mechanical arm, a sieve plate delivery to the lower station screw module, a sieve plate mechanical limit B plate lower support plate, a sieve plate limit cylinder B, a sieve plate limit cylinder C, the quantitative distribution storage bin for betel nut includes a rotating drive motor, a stop cylinder, a stop sheet metal, a soft material barrier plate, a guide blanking plate, a fixed volume rotating discharge shaft, a barrier fast adjustment barrier plate, a hinge, and a sealing cover plate, and the betel nut mechanically covered sieve plate shaking table includes a storage hopper A, a guide slider, a betel nut stacking height detector, and a side closed three-stage Axis cylinder A, side closed mechanical plate A, feeding swing axis, side closed three-axis cylinder B, side closed mechanical plate B, guide slider, storage hopper B, screen plate end lifting cylinder B, swing eccentric arm, swing motor, swing eccentric counterweight, lifting screw, lifting drive motor, lifting assembly fixed axis, screen plate end lifting cylinder A, the betel nut screen plate vibration and flipping includes a movable guide roller group, a movable guide roller group lifting cylinder, a movable feed roller motor, a movable feed roller, a guide blocking three-axis cylinder, a guide blocking plate, a feed roller, a feed roller motor, a feed roller pushing cylinder, a fixed guide roller group, a vibration table, a screen plate detection sensor A, multiple groups of linkage downward pressure cylinders, a screen plate detection sensor B, a screw module, a paddle three-axis cylinder, a multi-layer reed, and an electromagnet.

[0017] As a further improvement of the present invention, the visual identification and removal of overturned betel nut workstation also includes a removal screen plate conveyor platform, a feeding visual identification camera, a feeding screen plate conveyor platform, a visual control touch screen, a shaking table visual identification camera, a clamp vacuum pump, a vacuum buffer tank, a feeding XYZ manipulator, a feeding clamp, a feeding shaking table, a feeding betel nut automatic feeding silo, a leveling XYZ manipulator, a leveling pressure head, a leveling screen plate conveyor platform, a program-controlled touch screen, a blocking cylinder B, a clamping cylinder B, a blocking cylinder A, and a clamping cylinder A.

[0018] As a further improvement of the present invention, the material replenishment and processing shaking table includes a swing lifting electric cylinder, a Y-axis screw module, a voice coil motor, a wire column, a screening screw motor, a shaking table box, an A side panel, a B side panel, a pit mold plate, a corresponding optical fiber, a rotating downward pressure cylinder, a swing axis, a lifting mold plate, a material replenishment lifting cylinder, and a debris blowing interface. The betel nut material replenishment and processing station for clamping the replenishment material to the empty screen plate after the betel nut material is sorted also includes a limit blocking cylinder, a material replenishment screen plate conveying platform, a constant volume chamber pushing plate, a material replenishment betel nut pushing cylinder, a straight vibration path, and a debris collection box.

[0019] As a further improvement of the present invention, the mechanical downward pressure and smoothing betel nut station also includes an X-axis screw module, an oscillating cylinder, a screen plate, a downward pressure plate, a downward pressure guide column, a downward pressure screw, a downward pressure motor, a downward pressure head, a blocking cylinder, a conveyor belt, a lifting support plate, a smoothing lifting cylinder, and a lifting guide column.

[0020] As a further improvement of the present invention, the 3D visual identification station for betel nut cavity volume includes a visual 3D detection and identification camera, a betel nut temporary storage box, a conveyor belt of a manual intervention material sorting station, a position detection sensor A, a position detection sensor B, a position detection sensor C, a side-lighting light strip, a blocking cylinder A, a blocking cylinder B, a 3D visual identification station conveyor belt, a bottom-lighting light strip, a 3D camera combination A, a 3D camera combination B, a 3D camera combination C, a shading fence, and a shading protective door.

[0021] As a further improvement of the present invention, the halogen XYZ manipulator includes an X-axis drive motor 1, a visual halogen blocking cylinder, an X-axis drive motor 2, a swinging material mixing station, an X-axis drive motor 3, a light source transparent plate, an X-axis drive motor 4, an LED lamp bead installation plate, an X-axis drive motor 5, a visual camera A, an X-axis drive motor 6, a visual camera B, a guide rail keyboard and mouse storage drawer, a screw temperature control box, an X-axis carrier platform air pressure regulating box, a Z-axis height manual adjustment handle, a control solenoid valve 1, a control solenoid valve 2, a drive screw, a Y-axis drive motor, a circuit harness pipeline, a brine supply pipeline, a brine pipeline cut-off cylinder, a brine pipeline cut-off valve body, a heating and insulation main valve body, a brine valve body maintenance port, and a pump. Brine pulling cylinder, brine pulling cylinder body, brine dispensing flow control knob, brine dispensing cylinder, brine dispensing valve body, brine dispensing outlet. The visual brine dispensing station also includes a feed pipeline, a brine dispensing head cleaning brush row, a visual brine dispensing conveyor belt, a visual brine dispensing side light strip, a visual brine dispensing bottom light strip, a visual brine dispensing position detection sensor, an X-axis drive motor 1, a visual brine dispensing blocking cylinder, an X-axis drive motor 2, a swinging material mixing station, an X-axis drive motor 3, a light source translucent plate, an X-axis drive motor 4, an LED lamp bead installation plate, an X-axis drive motor 5, a visual camera A, an X-axis drive motor 6, a visual camera B, a guide rail keyboard and mouse storage drawer, a screw temperature control box, and an X-axis carrier platform air pressure regulating box.

[0022] As a further improvement of the present invention, the betel nut brine shaking station includes a shaking blocking cylinder, a shaking position detection sensor, a synchronous belt, a drive motor, an accordion protective cover, a carrying screen plate belt, a shaking lifting shaft, a shaking swing shaft, a shaking lifting screw, and a shaking lifting motor.

[0023] As a further improvement of the present invention, the brine insulation supply barrel also includes a safety valve, a compressed air inlet, a clean water filling port, an exhaust port, a clean water outlet valve, a clean water delivery pipeline, a flexible heating plate, a control switch panel, a water bath heating water outlet, a clean water inlet, a manual discharge port, an air source pressure regulating valve, a pneumatic ball valve A, a pneumatic ball valve B, a pneumatic ball valve C, a pneumatic ball valve D, a pneumatic ball valve E, a pull-out cylinder body, a pull-out cylinder, a water bath heating water tank, a safety valve, a compressed air access valve port, a brine stirring motor, an exhaust valve, and a water bath liquid level display.

[0024] As a further improvement of the present invention, the device includes a vacuum solenoid valve group, a solenoid valve group, a material feeding lifting drive motor, a lifting drive wheel rod, a lifting table, a clamping jaw pressing cylinder, and a flexible clamping jaw.

[0025] Compared with the prior art, the advantages of the present invention are:

[0026] Through advanced visual recognition technology, the machine can accurately remove unqualified betel nuts and accurately measure their volume and shape to ensure product consistency. In addition, automated operation reduces manual intervention, lowers operational difficulty, enhances operational safety, and also reduces raw material waste and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a left structural schematic diagram of the present invention;

[0028] Figure 2 It is a schematic diagram of the top view of the structure of the present invention;

[0029] Figure 3 It is a schematic diagram of the right structure of the present invention;

[0030] Figure 4 It is a structural schematic diagram of the betel nut sorting and loading machine of the present invention;

[0031] Figure 5 This is a schematic diagram of the automatic supply and stacking structure of empty sieve plates of the present invention;

[0032] Figure 6 This is a schematic diagram of the overall structure of the betel nut quantitative distribution storage bin of the present invention;

[0033] Figure 7 It is a schematic diagram of the back structure of the betel nut quantitative distribution storage bin of the present invention;

[0034] Figure 8 It is a schematic diagram of the side structure of the betel nut quantitative distribution storage bin of the present invention;

[0035] Fig. 9 It is a schematic diagram of the overall structure of the betel nut machine covered with screen plates and a rocking table of the present invention;

[0036] Fig.10 It is a schematic diagram of the bottom structure of the betel nut machine covered with sieve plates and a rocking table of the present invention;

[0037] Fig.11 It is a schematic diagram of the overall structure of the betel nut sieve plate vibrating and flipping according to the present invention;

[0038] Fig.12 It is a schematic diagram of the back structure of the betel nut sieve plate vibrated and turned over according to the present invention;

[0039] Fig.13 It is a schematic diagram of the side structure of the betel nut sieve plate vibrating and flipping according to the present invention;

[0040] Fig.14 It is a schematic diagram of the overall structure of the rejecting and feeding machine of the present invention;

[0041] Fig.15 It is a schematic diagram of the back structure of the rejecting and feeding machine of the present invention;

[0042] Fig.16 It is a schematic diagram of the back structure of the visual recognition and removal of overturned betel nut workstation of the present invention;

[0043] Fig.17 It is a schematic diagram of the overall structure of the visual recognition and removal of overturned betel nut workstation of the present invention;

[0044] Fig.18 It is a schematic diagram of the overall structure of the supplementary food shaking table of the present invention;

[0045] Fig.19 It is a schematic diagram of the back structure of the supplementary food shaking table of the present invention;

[0046] Fig. 20 It is a schematic diagram of the feeding clamp structure of the present invention;

[0047] Fig.21 This is a schematic diagram of the structure of the food supplement shaking table of the present invention;

[0048] Fig. 22 It is a schematic diagram of the back structure of the supplementary food shaking table of the present invention;

[0049] Fig.23 It is a schematic diagram of the overall structure of the mechanical downward pressing and smoothing betel nut workstation of the present invention;

[0050] Fig.24 It is a schematic diagram of the structure of the back side of the betel nut smoothing station by mechanical downward pressing of the present invention;

[0051] Fig.25 A schematic diagram of the internal structure of the betel nut cavity volume visual recognition station of the present invention;

[0052] Fig.26 This is a schematic diagram of the overall structure of the visual recognition station for the volume of the betel nut cavity of the present invention;

[0053] Fig. 27 It is a schematic diagram of the overall structure of the visual halogen-adding station of the present invention;

[0054] Fig.28 This is a schematic diagram of the back structure of the visual halogen-adding station of the present invention;

[0055] Fig.29 This is a schematic diagram of the overall structure of the halogen XYZ manipulator of the present invention;

[0056] Fig.30 It is a schematic diagram of the side structure of the halogen XYZ robot of the present invention;

[0057] Fig.31 It is a schematic diagram of the overall structure of the betel nut brine shaking station of the present invention;

[0058] Fig.32 This is a schematic diagram of the bottom structure of the betel nut brine shaking station of the present invention;

[0059] Fig.33 It is a schematic diagram of the overall structure of the brine insulation supply barrel of the present invention.

[0060] Description of the numbers in the figure:

[0061] 1. Betel nut sorting and loading machine; 11. Automatic supply and stacking of empty sieve plates; 111. Sieve plate stacking guide mechanical arm; 112. Sieve plate translation rail; 113. Stacking sieve plates; 114. Sieve plate limit cylinder A; 115. Sieve plate mechanical limit guide slider; 116. Sieve plate mechanical limit plate; 117. Sieve plate mechanical limit B plate; 118. Sieve plate delivery to lower station mechanical arm; 119. Sieve plate delivery to lower station screw rod module; 1110. Sieve plate mechanical limit B plate lower support plate; 1111. Sieve plate limit cylinder B; 1112. Sieve plate limit cylinder C ; 12. Storage bin for quantitative distribution of betel nut; 121. Rotating drive motor; 122. Stop cylinder; 123. Stop sheet metal; 124. Soft material baffle; 125. Guide plate for dropping; 126. Constant volume rotary discharge shaft; 127. Blocking plate for quick adjustment of baffle; 128. Hinge; 129. Sealing cover; 13. Betel nut machine covered with sieve plate rocking table; 131. Storage hopper A; 132. Guide slider; 133. Betel nut stacking height detector; 134. Side-enclosed three-axis cylinder A; 135. Side-enclosed mechanical plate A; 136. Loading Swing shaft; 137, side-enclosed three-axis cylinder B; 138, side-enclosed mechanical plate B; 139, guide slider; 1310, storage hopper B; 1311, screen plate end lifting cylinder B; 1312, swing eccentric arm; 1313, swing motor; 1314, swing eccentric counterweight; 1315, lifting screw rod; 1316, lifting drive motor; 1317, lifting assembly fixed shaft; 1318, screen plate end lifting cylinder A; 14, betel nut screen plate vibration leveling and flipping; 141, movable guide roller group; 142, movable guide roller group lifting Lowering cylinder; 143, movable feeding roller motor; 144, movable feeding roller; 145, guiding and blocking three-axis cylinder; 146, guiding and blocking plate; 147, feeding roller; 148, feeding roller motor; 149, feeding roller pushing cylinder; 1410, fixed guide roller group; 1411, vibration table; 1412, sieve plate detection sensor A; 1413, multiple groups of linkage downward pressure cylinders; 1414, sieve plate detection sensor B; 1415, screw rod module; 1416, paddle three-axis cylinder; 1417, multi-layer spring; 1418, electromagnet;

[0062] 2. Visual recognition and removal of overturned betel nut station; 21. Suction visual recognition camera; 22. Suction fan soundproof cover; 23. Rejection of air duct blocking betel nut device; 24. Rejection of XYZ manipulator; 25. Rejection of vacuum air duct; 26. Rejection of betel nut transfer barrel; 27. Rejection of sieve plate conveyor platform; 28. Replenishment visual recognition camera; 29. ​​Replenishment sieve plate conveyor platform; 210. Visual control touch screen; 211. Shaking table visual recognition camera; 212. Clamp Claw vacuum pump; 213, vacuum buffer tank; 214, feeding XYZ manipulator; 215, feeding claw; 216, feeding shaking table; 217, feeding betel nut automatic feeding silo; 218, smoothing XYZ manipulator; 219, smoothing pressure head; 220, smoothing sieve plate conveyor; 221, program control touch screen; 222, blocking cylinder B; 223, clamping cylinder B; 224, blocking cylinder A; 225, clamping cylinder A;

[0063] 3. After the betel nut is sorted, the material is clamped and added to the empty sieve plate station; 31. Visual recognition camera for material addition; 32. Visual recognition camera for shaking table; 33. Vacuum pump for gripper; 34. Automatic feeding bin for betel nut addition; 35. XYZ manipulator for material addition; 36. Gripper for material addition; 361. Vacuum solenoid valve group; 362. Solenoid valve group; 363. Lifting drive motor for material addition; 364. Lifting drive wheel rod; 365. Lifting table; 366. Gripper pressing cylinder; 367. Flexible gripper; 37. Shaking table for material addition; 371. Swinging lifting electric cylinder; 372. Y-axis screw rod module; 3 73. Voice coil motor; 374. Conductor column; 375. Screen screw motor; 376. Rocker box; 377. A side panel; 378. B side panel; 379. Concave mold plate; 3710. Opposite optical fiber; 3711. Rotary downward pressure cylinder; 3712. Swing axis; 3713. Lifting mold plate; 3714. Refill lifting cylinder; 3715. Debris blowing interface; 38. Limit blocking cylinder; 39. Refill sieve plate conveyor; 310. Constant volume chamber push plate; 311. Refill betel nut push cylinder; 312. Straight vibration track; 313. Debris collection box;

[0064] 4. Mechanical downward pressure and smoothing station for betel nuts; 41. Smoothing XYZ manipulator; 42. Smoothing pressure head; 43. X-axis screw rod module; 44. Oscillating cylinder; 45. Screen plate; 46. Downward pressure plate; 47. Downward pressure guide column; 48. Downward pressure screw rod; 49. Downward pressure motor; 410. Downward pressure head; 411. Blocking cylinder; 412. Conveying belt; 413. Lifting support plate; 414. Smoothing and lifting cylinder; 415. Lifting guide column;

[0065] 5. Manual intervention material sorting station; 51. Betel nut storage box;

[0066] 6. 3D visual recognition station for volume of betel nut cavity; 61. Visual 3D detection and recognition camera; 62. Temporary storage box for betel nut; 63. Conveyor belt for manual intervention material sorting station; 64. Position detection sensor A; 65. Position detection sensor B; 66. Position detection sensor C; 67. Side-emitting light strip; 68. Blocking cylinder A; 69. Blocking cylinder B; 610. Conveyor belt for 3D visual recognition station; 611. Bottom-emitting light strip; 612. 3D camera combination A; 613. 3D camera combination B; 614. 3D camera combination C; 615. Shading fence; 616. Shading protective door;

[0067] 7. Visual brine spotting station; 71. XYZ brine spotting manipulator; 711. X-axis drive motor 1; 712. X-axis drive motor 2; 713. X-axis drive motor 3; 714. X-axis drive motor 4; 715. X-axis drive motor 5; 716. X-axis drive motor 6; 717. Guide rail; 718. Screw rod; 719. X-axis carrier; 7110. Z-axis height manual adjustment handle; 7111. Control solenoid valve 1; 7112. Control solenoid valve 2; 7113. Drive screw rod; 7114. Y-axis drive motor; 7115. Circuit harness pipeline; 7116. Brine supply pipeline; 7117. Brine pipeline cut-off cylinder; 7118. Brine pipeline cut-off valve body; 7119. Heating and insulation main valve body; 7120. Brine valve body maintenance port; 7121. Brine gas extraction Cylinder; 7122, pull-out brine cylinder; 7123, brine dispensing flow control knob; 7124, brine dispensing cylinder; 7125, brine dispensing valve body; 7126, brine dispensing outlet; 72, cleaning control button; 73, parameter control panel; 74, main engine distribution box; 75, feed pipeline; 76, brine dispensing head cleaning brush row; 77, visual brine dispensing conveyor belt; 78, visual brine dispensing side light strip; 79, visual brine dispensing bottom light strip; 710, visual brine dispensing position detection sensor; 711, visual brine dispensing blocking cylinder; 712, swinging material mixing station; 713, light source transparent plate; 714, LED lamp bead installation plate; 715, visual camera A; 716, visual camera B; 717, keyboard and mouse storage drawer; 718, temperature control box; 719, air pressure regulating box;

[0068] 8. Betel nut brine shaking station; 81. Shaking blocking cylinder; 82. Shaking position detection sensor; 83. Synchronous belt; 84. Driving motor; 85. Organ protection cover; 86. Carrying screen plate belt; 87. Shaking lifting shaft; 88. Shaking swing shaft; 89. Shaking lifting screw; 810. Shaking lifting motor;

[0069] 9. Metal detector;

[0070] 10. Brine insulation supply barrel; 101. Hot water barrel for cleaning supply; 102. Brine storage and mixing barrel; 103. Brine pipeline control box; 104. Brine supply and discharge insulation pipeline; 105. Safety valve; 106. Compressed air inlet; 107. Clean water filling port; 108. Exhaust port; 109. Clean water outlet valve; 1010. Clean water delivery pipeline; 1011. Flexible heating plate; 1012. Control switch panel; 1013. Water bath heating water outlet; 1014. Clean water inlet; 1015. Manual discharge port; 1016. Air source pressure regulating valve; 1017. Pneumatic ball valve A; 1018. Pneumatic ball valve B; 1019. Pneumatic ball valve C; 1020. Pneumatic ball valve D; 1021. Pneumatic ball valve E; 1022. Pull-out cylinder body; 1023. Pull-out cylinder; 1024. Water bath heating tank; 1025. Safety valve; 1026. Compressed air access valve port; 1027. Brine stirring motor; 1028. Exhaust valve; 1029. Water bath liquid level indicator. DETAILED DESCRIPTION

[0071] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making creative work are within the scope of protection of the present invention.

[0072] Embodiment 1:

[0073] See also Figure 1-4 , an intelligent visual brine-adding machine, comprising a betel nut sorting and loading machine 1, a visual recognition and removal of overturned betel nuts station 2, a betel nut sorting and feeding station 3 for clamping and replenishing materials to an empty sieve plate, a mechanical downward pressure and leveling station 4 for betel nuts, a manual intervention sorting station 5, a 3D visual recognition betel nut cavity volume station 6, a visual brine-adding station 7, a betel nut brine shaking station 8, a metal detector 9 and a brine insulation supply barrel 10, a betel nut sorting and loading machine 1, a visual recognition and removal of overturned betel nuts station 2, a betel nut sorting and feeding station 3 for clamping and replenishing materials to an empty sieve plate, a mechanical downward pressure and leveling station 4 for betel nuts, a manual intervention sorting station 5, a 3D visual recognition betel nut cavity volume station 6, a visual brine-adding station 7, a betel nut brine shaking station 8, a metal detector 9 and a brine insulation supply barrel 10 are connected in sequence;

[0074] The betel nut sorting and loading machine 1 comprises an automatic stacking and supplying of empty sieve plates 11, a storage bin 12 for quantitative distribution of betel nuts, a cradle 13 for mechanically covering sieve plates with betel nuts, and a vibrating and flipping table 14 for sieve plates loaded with betel nuts, which are connected to each other;

[0075] The visual recognition and overturned betel nut removal station 2 includes a suction visual recognition camera 21, a suction fan soundproof cover 22, a rejection air duct betel nut blocking device 23, a rejection XYZ manipulator 24, a rejection vacuum air duct 25 and a rejection betel nut transfer barrel 26, and the suction visual recognition camera 21, the suction fan soundproof cover 22, the rejection air duct betel nut blocking device 23, the rejection XYZ manipulator 24, the rejection vacuum air duct 25 and the rejection betel nut transfer barrel 26 are connected to each other;

[0076] After the betel nut is sorted, the station 3 for clamping and feeding the betel nut to the empty sieve plate includes a feeding visual recognition camera 31, a cradle visual recognition camera 32, a clamping claw vacuum pump 33, a feeding betel nut automatic feeding bin 34, a feeding XYZ manipulator 35, a feeding clamping claw 36 and a feeding cradle 37. The feeding visual recognition camera 31, the cradle visual recognition camera 32, the clamping claw vacuum pump 33, the feeding betel nut automatic feeding bin 34, the feeding XYZ manipulator 35, the feeding clamping claw 36 and the feeding cradle 37 are interconnected;

[0077] The mechanical pressing and smoothing betel nut station 4 comprises a smoothing XYZ manipulator 41 and a smoothing pressure head 42, and the smoothing XYZ manipulator 41 is fixedly connected to the smoothing pressure head 42;

[0078] The manual intervention material sorting station 5 includes a pair of betel nut storage boxes 51, and the betel nut storage boxes 51 are fixedly connected to the left and right ends of the manual intervention material sorting station 5. The machine of the manual intervention material sorting station 5 is powered on, ventilated and prepared to start automatic operation; the "manual intervention material sorting station conveyor belt" is started to wait for the arrival of the sieve plate of the previous process; after the "manual intervention material sorting station conveyor belt" carries the sieve plate to the "position detection sensor A", the "manual intervention material sorting station conveyor belt" stops running; the sieve plate stays for a certain period of time, during which time manual intervention can be performed to process the state of the sieve plate and the betel nuts on the sieve plate, and the betel nuts required for picking and replenishing materials are stored in the "betel nut temporary storage box"; after the countdown ends, the "manual intervention material sorting station conveyor belt" is started to carry the sieve plate to the next station; the steps are repeated to continuously transport the sieve plate.

[0079] The visual halogen spotting station 7 comprises a halogen spotting XYZ manipulator 71, a cleaning control button 72, a parameter control panel 73 and a mainframe power distribution box 74, and the halogen spotting XYZ manipulator 71, the cleaning control button 72, the parameter control panel 73 and the mainframe power distribution box 74 are interconnected;

[0080] The brine insulation supply barrel 10 includes a cleaning and supply hot water barrel 101, a brine storage and stirring barrel 102, a brine pipeline control box 103 and a brine supply and discharge insulation pipeline 104, and the cleaning and supply hot water barrel 101, the brine storage and stirring barrel 102, the brine pipeline control box 103 and the brine supply and discharge insulation pipeline 104 are interconnected.

[0081] The sieve plates are manually arranged and placed at the corresponding stacking position of the machine, and the betel nuts are placed in the corresponding hopper bin. After the machine is turned on and automatically runs, the machine sequentially extracts an empty sieve plate, runs to the lower side of the betel nut hopper, and after being locked and fixed, controls a certain number of betel nuts in the hopper bin to fall on the empty sieve plate, and tilts at a certain angle that can be adjusted. Driven by the eccentric wheel of the motor, it starts to reciprocate, causing the betel nuts to vibrate and fall into the pit of the empty sieve plate, and cover the entire sieve plate. The excess betel nuts are concentrated on the lower side of the shaking table and collected in the temporary storage cavity. After the timing action is completed, the shaking table is laid flat, and the next new empty sieve plate is repeated to push out the sieve plate covered with betel nuts. After locking, repeat the next certain amount of betel nuts falling on the sieve plate, and the shaking table is tilted in the opposite direction again, so that the excess betel nuts collected on the lower side of the upper plate are placed on the upper side of the shaking table, and shake together with the newly placed betel nuts to cover the sieve plate, and the excess betel nuts are collected in the temporary storage cavity on the other side. Repeat this cycle continuously, so that the betel nuts are continuously covered with the sieve plate and pushed out to the subsequent workstations. After receiving the sieve plate covered with betel nuts, the subsequent workstation drives the motor to continuously roll so that the sieve plate is fixed on the predetermined workstation. Then, the multiple cylinders move downward and lock on various parts of the sieve plate, so that the sieve plate is tightly fixed to the vibration table. Then, the electromagnet at the bottom of the vibration table is started to vibrate the entire table surface regularly, causing the betel nuts in the sieve plate on the vibration table to jump continuously. The pit shape characteristics of the sieve plate interact with the center of gravity of the betel nuts to make the cut surface of the betel nuts face upward. After the vibration stops, most of the cut surfaces of the betel nuts are facing upward. Release the compressed cylinders, use the electric slide to control the robotic arm, push the sieve plate in a 90-degree direction to transfer to the next workstation, and after returning to reset, wait for the next sieve plate to arrive, and repeat the above actions. The sieve plate covered with betel nuts facing upward is continuously processed and moves to the next workstation.

[0082] After the machine receives the sieve plate processed in the previous process, the top 2D recognition camera takes a photo to identify the betel nuts on the sieve plate to see if all the cut surfaces are facing upwards and only one betel nut is within the corresponding groove range. When unqualified betel nuts are identified, the XYZ robot is controlled to move to the corresponding position and press down the mechanical structure. The lowest stabilizing plate first presses the surrounding betel nuts that may be affected by the airflow. Under the compression of the spring, after pressing the betel nuts, the robot does not stop and continues to move downward to the vacuum air duct until it reaches the predetermined position. Affected by the vacuum airflow, the betel nuts in the groove are driven into the vacuum pipe by the airflow. After the robot returns to a certain height, it moves to the next new position and moves downward again, continuously absorbing the betel nuts that do not meet the requirements until the action is completed or the time is up, and then returns to the predetermined position, waiting for the next sieve plate, and repeats the work. The rejection station is limited by time requirements, so a sieve plate is equipped with two sets of the same vacuum rejection systems, which work simultaneously and act on two adjacent sieve plates at the same time. The internal operation process of the vacuum pipeline is as follows: the vacuum fan provides power, connects to a transfer betel nut interception box through a pipeline, and then connects to the XYZ robot to remove the betel nuts. After entering the vacuum pipeline, the betel nuts are sent to the transfer betel nut box. Because there is an interception net inside, the betel nuts are not allowed to pass through. The betel nuts are temporarily stored in the transfer box. After the XYZ robot stops working, the vacuum fan also stops working. The larger door at the bottom of the transfer box is opened mechanically, and the betel nuts fall into the customer's betel nut storage barrel under the influence of gravity. Then the lower door is closed and the machine continues to work in a cycle.

[0083] The screen plate after the rejection process is transported to the next feeding station, where the two groups of 2D recognition cameras on the upper part identify the position and number of the empty grooves of the screen plate, and independently control the 20*2=40 flexible grippers on the two groups of XYZ feeding manipulators to the upper part of the corresponding pit, and independently move the corresponding gripper downward to the geometric distance between the betel nut to be fed and the pit, and then release the flexible gripper in the air. Under the action of gravity and the pushing force of the flexible gripper, the betel nut completes the correct pit entry action, so that the cut surface is facing upward as a whole. Continuously repeating the operation allows the betel nuts to be placed in the pits in order. The feeding action can be matched with the mechanical layout through the algorithm, and 1-20 betel nuts to be fed can be placed at the same time. Due to the compact structure and layout, two sets of feeding manipulators feed a screen plate at the same time, and the algorithm calculates and automatically avoids and controls the sequence. An independent betel nut sorting system is arranged at the rear of the feeding station to provide the single betel nuts with the cut surface facing upwards required by the flexible clamps. The operation process is to manually pour the betel nuts into the betel nut hopper. Under the control of the cylinder, the fixed volume push plate starts to move, pushing a certain number of betel nuts into the subsequent straight vibration track. Under the action of the direct vibration, the betel nuts begin to be arranged and move in sequence. Because the vibration track has been specially designed, if there are dust, debris, stalks and other foreign objects in the betel nuts, they will be intercepted at the step and fall into the receiving box, and the qualified betel nuts will fall into the shaking box on the table of the shaking table. After the vibration is over, the shaking table starts to tilt and adjust, so that the betel nut is lifted to a high place, and driven by the screw rod, the whole shaking table starts to sieve back and forth quickly, and the betel nut starts to move downward from a high place under the action of the sieving force. There are 20*2=40 pit positions in the center of the shaking table box, each pit will intercept a betel nut, and the excess betel nuts are concentrated at the bottom of the shaking table. There is a detection switch on the bottom side to detect whether there are enough betel nuts in the shaking table. If not, the vibration will be replenished and unloaded in the next action cycle. After the shaking is completed, the shaking table returns to the horizontal level, and then the two rotating cylinders are released, so that the whole shaking table rises a certain distance under the elastic force of the voice coil spiral motor, and then the voice coil motor is turned on to control a certain frequency and intensity. The whole shaking table starts to jump up and down, so that the betel nuts in the pits also jump up and down, and the shape of the pits and the characteristics of the center of gravity of the betel nuts are used to make the cut surface of the betel nuts face up and arrange them in order. After the voice coil motor is turned off, the rotating cylinder is pressed down and locked again, and the voice coil motor spring is compressed and tightened after the mechanical structure is limited, and the cradle no longer shakes. After it is in place, the 2D visual camera on the top of the cradle starts to take pictures, identifies a single betel nut with the cut surface facing up in a pit, and provides the data to the host. After that, the lifting cylinder at the bottom of the cradle starts to move, so that the lifting plate on the lifting plate pushes out the betel nut in the groove, waiting for the flexible gripper on the XYZ manipulator of the feeding to be in place and clamped. After the host provides the data signal, the two sets of XYZ manipulators retreat to both sides of the cradle at the same time, and after reducing a certain height, the excess betel nuts clamped in the last cycle are discarded. Then move to the betel nut position for clamping action, and at the same time lower the flexible gripper suitable for clamping the corresponding position according to the host data, and the flexible gripper that is not clamped does not move, so as to clamp qualified betel nuts and carry out the feeding operation.After the clamping is completed, the lifting cylinder is reset, the cradle tilts in the opposite direction, and starts to sieve back and forth. The action principle is the same as above, so that the excess betel nuts move to the other side. At the same time, a certain number of new betel nuts begin to be replenished in the vibration channel and continuously fall onto the cradle, and the replenishment of the feeding is stopped before the cradle stops screening. After the cradle returns to the horizontal level, the action logic is the same as above, until the betel nuts are lifted up for the flexible clamp to clamp. And this logic is repeated continuously. The flexible clamp is powered by vacuum when clamping, so a set of power source and control components are required. The power source is provided by a vacuum pump, and the vacuum solenoid valve is logically controlled. The sieve plate that has completed the material replenishment flows to the next station.

[0084] After the sieve plate is in place, the cylinders on both sides of the conveying device are first activated to continuously oscillate the sieve plate to keep the betel nuts in the sieve plate in the center position, and then the smoothing XYZ robot drives the smoothing pressure head to work. The operating principle is that each pressure head floats freely under the spring. After the robot presses down, the pressure head adapts to the height of the betel nuts, and the lower part of the pressure head always remains horizontal. Through mechanical linkage, it continuously presses back and forth on the upper surface of the betel nuts, forcing each betel nut to make the cut surface all horizontal and upward. Because there are too many betel nuts on each sieve plate and there is ample time for pressing down and smoothing, the number of betel nuts on the sieve plate is several times the number of pressure heads. After each smoothing action is completed, the XYZ robot switches to a different position again and repeats the smoothing action until the smoothing work of the entire sieve plate is completed, and finally returns to its position to wait for the next cycle. After the smoothing action is completed, the sieve plate flows to the next station.

[0085] This station is reserved for manual intervention, mainly used for manual process control, checking the pass rate, and manual intervention to further improve the success rate. Several betel nut temporary storage boxes are reserved for manual use.

[0086] This workstation is a combination of several 3D cameras, which perform three-dimensional recognition of the sieve plate carrying betel nuts.

[0087] Driven by the conveyor belt, the sieve plate enters the workstation, collects three-dimensional data of half of the betel nut on the sieve plate, and moves half of the sieve plate again to collect three-dimensional data of the remaining betel nut. After the volume data collection is completed, the sieve plate flows to the next workstation.

[0088] After the sieve plate carrying betel nuts is delivered to the place, the top 2D camera starts to take pictures and identify the brine location and brine trajectory of the betel nuts, and combines the cavity data of the previous station to calculate the running speed of each node on the brine trajectory. After the identification is completed, the 6 independently running brine gun heads start to run according to the calculated trajectory. When running on the upper part of the betel nut cavity, the brine gun discharges brine, and when leaving, the brine gun is closed, and it moves quickly on the upper part of each betel nut to be brine in turn, and the brine gun is continuously opened and closed to complete the customized brine trajectory processing for each betel nut. Because different brine betel nuts have different speeds, there is a risk of mechanical collision if they are not adjusted. Therefore, each betel nut is set as a node. After all 6 rows complete a row of processing, they will switch to the next one together until the next one is completed together, and then switch together until the left and right betel nuts complete the brine operation. After the brine gun completes the brine, it retreats to the waiting position and moves to the brush of the action to brush the brine head to prevent the brine head from sticking and affecting the brine spray curve of the next brine. Because brine is special, it solidifies at low temperatures and has certain corrosive properties, so all brine supply pipelines need to be heated and insulated. The brine injection action is very fast and the control is complex. Each shift needs to be thoroughly and quickly cleaned. The requirements for each structure are very high. Many auxiliary control components and huge operation display screens are configured to improve interactivity. After the brine injection is completed, the screen plate flows to the next station.

[0089] After the betel nut is brined, due to the characteristics of the brine, it is not easy to flow inside the betel nut. It needs to be physically shaken at a certain angle to evenly distribute the brine on the betel nut. Therefore, this station is to deflect and stop at an angle after clamping to promote the even distribution of the brine. After the brine is evenly distributed, the screen plate flows to the next station.

[0090] After all the processing steps of betel nut are completed, a metal detector is added to inspect the sieve plate for food safety reasons to ensure that no metal foreign matter enters during all the processing steps.

[0091] Because of its inherent characteristics, brine raw materials require special equipment to maintain its optimal brine state. After the brine is prepared, it is manually transferred to the supply barrel. A stirring device is set in the barrel to continuously stir the brine. A heating belt is set outside the barrel to keep the temperature in the barrel stable. When the brine is working, a power is needed to ensure that the brine supply is stable when the end brine head is opened. Therefore, a volume pull-out cylinder barrel is provided. Through the opening and closing of each pipeline, the brine in the brine barrel is controlled to be drawn into the volume pull-out cylinder barrel. After that, a stable pressure is applied to the cylinder barrel by the cylinder to ensure the stability of the brine supply pressure. When the brine in the pull-out cylinder barrel is almost used up, when the sieve plate is switched after the brine is finished, the pull-out barrel starts to draw materials, and then starts to supply materials after completion. During each shift cleaning, it is necessary to connect to the high-temperature clean water tank and pass the gas source to make the clean water have power, and complete the cleaning of the brine supply pipeline by controlling each valve.

[0092] Manual intervention process during operation:

[0093] Loading: Manually ensure the regular supply of hollow sieve plates and betel nuts in the "betel nut sorting and loading machine". Manually ensure the regular supply of brine in the "brine insulation supply barrel";

[0094] Unloading: Manually ensure the smooth and continuous storage of the sieve plates in the "metal detector";

[0095] Monitor the safety of the whole machine: manually inspect the operation of the machine to ensure the safety of the whole machine and control the risks of each component;

[0096] Cleaning during each shift: Before the manual shift change, connect the clean water tank and introduce compressed air, start the machine to automatically clean the brine pipeline, manually use a container to catch the brine outlet, continuously complete the cleaning of each pipeline, and then manually clean the inside of the brine tank, stains on the surface of the machine, betel nut debris, etc.

[0097] See also Figure 5-10, the automatic supply and stacking of empty sieve plates 11 includes a sieve plate stacking guiding mechanical arm 111, a sieve plate translation rail 112, a stacking sieve plate 113, a sieve plate limiting cylinder A114, a sieve plate mechanical limiting guiding slider 115, a sieve plate mechanical limiting plate 116, a sieve plate mechanical limiting B plate 117, a sieve plate sending plate to the lower station mechanical arm 118, a sieve plate sending plate to the lower station screw module 119, a sieve plate mechanical limiting B plate lower support plate 1110, a sieve plate limiting cylinder B1111, and a sieve plate limiting cylinder C1 112; Empty sieve plates are automatically supplied for stacking 11 The machine is powered on, ventilated, and reset; the sieve plates are manually stacked at the predetermined position, and the machine arm is guided to quickly tidy up the sieve plate stacking to start automatic operation; the "sieve plate limit cylinder B" and "sieve plate limit cylinder C" are lifted up, driving the "sieve plate mechanical limit B lower support plate" to move up, so that the "sieve plate mechanical limit B" lifts all the stacked sieve plates for a certain distance, and then the "sieve plate limit cylinder A" arranged symmetrically on both sides work together to push out , through the "sieve plate mechanical limit guide slider", the "sieve plate mechanical limit A" is moved out to the outside of the lowest sieve plate; the "sieve plate limit cylinder B" cylinder retracts to make the sieve plate drop a distance of one sieve plate, and the "sieve plate limit cylinder A" retracts to allow the "sieve plate mechanical limit A" to be reinserted into the preset insertion position of the second sieve plate; the "sieve plate limit cylinder C" cylinder retracts, and the "sieve plate mechanical limit B" begins to move downward to the bottom, driving the bottom sieve plate to start to drop a large distance, and It stops at the sieve plate translation position halfway, and the remaining sieve plates are blocked by the "sieve plate mechanical limit A" and stop after moving down only one sieve plate; the "sieve plate delivery to the lower station screw module" starts to move forward, driving the "sieve plate delivery to the lower station mechanical arm" to push the lowermost sieve plate to the next station; the above steps are repeated, and an empty sieve plate is regularly delivered to the next station according to the control requirements; the sieve plates are constantly consumed, and need to be replenished regularly by humans without stopping the machine. If the sieve plates are used up, the machine stops automatically.

[0098] The quantitative distribution storage bin 12 for betel nuts comprises a rotating drive motor 121, a material stopping cylinder 122, a material stopping sheet metal 123, a soft material barrier plate 124, a guiding blanking plate 125, a fixed volume rotating discharge shaft 126, a blocking fast adjustment material stopping plate 127, a hinge 128, and a sealing cover plate 129; after the machine preparation and power-on of the betel nut quantitative distribution storage bin 12 is completed, a certain amount of betel nuts are poured in, and then the "sealing cover plate" is covered, and after the feeding machine is started, when the empty sieve plate at the bottom of the machine enters the predetermined position, the hopper starts to move under the control of the control computer; the "material stopping cylinder" moves to eject, driving the "material stopping sheet metal" downward; the "rotating drive motor" moves to control the "fixed volume rotating discharge shaft" to rotate a certain angle, forcing the betel nuts in the hopper bin to squeeze through the "soft material barrier plate" and then be guided by the "guiding blanking plate". The betel nuts fall onto the lower empty sieve plate; due to the material characteristics of the "soft material barrier plate", it cannot guarantee that the betel nuts will not fall after the "constant volume rotary discharge shaft" stops, so the "stop cylinder" moves and retracts again, driving the "stop sheet metal" to reset, and pressing against the "soft material barrier plate" and the lower part of the "constant volume rotary discharge shaft" to ensure that the betel nuts will not fall again; repeat the steps to complete the cycle processing; the betel nuts are constantly consumed, and it is necessary to manually open the cover regularly and add materials without stopping the machine; after the machine stops running, there are still betel nuts in the hopper, which can be controlled by software logic and continuously rotated with the "constant volume rotary discharge shaft" to complete the material removal of most of the betel nuts. There is also a problem that some betel nuts cannot fall and be taken out, so it is necessary to manually pull the "blocking quick-adjusting blocking plate" to force the betel nuts to fall from the other side. After letting go, the "blocking quick-adjusting blocking plate" is reset under the action of the spring.

[0099] The betel nut machine is covered with a sieve plate cradle 13, which includes a storage hopper A131, a guide slider 132, a betel nut stacking height detector 133, a side-enclosed three-axis cylinder A134, a side-enclosed mechanical plate A135, a feeding swing shaft 136, a side-enclosed three-axis cylinder B137, a side-enclosed mechanical plate B138, a guide slider 139, a storage hopper B1310, a sieve plate end lifting cylinder B1311, a swing eccentric arm 1312, a swing motor 1313, a swing eccentric counterweight 1314, a lifting screw rod 1315, a lifting drive motor 1316, a lifting assembly fixed shaft 1317, and a sieve plate end lifting cylinder A1318; the betel nut machine is covered with a sieve plate cradle 13, and the machine is powered on, ventilated, and ready to start operation. ; The "side-enclosed three-axis cylinder A" and "side-enclosed three-axis cylinder B" are retracted, driving the "side-enclosed mechanical plate A" and "side-enclosed mechanical plate B" to move up, waiting for the upper process screen plate to be delivered to the position; after the screen plate is in place, the "side-enclosed three-axis cylinder A" and "side-enclosed three-axis cylinder B" are extended, driving the "side-enclosed mechanical plate A" and "side-enclosed mechanical plate B" to move down, pressing the two sides of the screen plate; waiting for the "discharging assembly" installed on the screen plate to complete the discharging action; the "lifting drive motor" starts to drive the "lifting screw" to rise, and tilts along the "swing axis" as the center, and at the same time the "swing motor" starts to work, relying on the cooperation of the mechanically configured "swing eccentric arm" and "swing eccentric counterweight block", so that the entire swing table is adjusted to a certain It oscillates back and forth quickly and regularly; after the "lifting screw" is in place, the "screen plate end lifting cylinder A" rises the "storage hopper A" through the guiding action of the "guide slider", the machine is in place, and the betel nuts temporarily stored in A and the betel nuts dropped by the "discharging assembly" go down together, continuously filling the cavity of the screen plate, and the excess betel nuts begin to accumulate in the "storage hopper B"; after a certain period of swaying, the "lifting drive motor" moves to restore the plane to the level, and the "storage hopper A" is reset; the "betel nut accumulation height detector" on the upper part of the "storage hopper B" detects the number of betel nuts, and the data is fed back to the "discharging assembly" to control the number of new betel nuts next time; the side-enclosed three-axis cylinder A" and the "side-enclosed three-axis cylinder B" move to retract, bringing The "side-sealed mechanical plate A" and "side-sealed mechanical plate B" are moved upward, waiting for the sieve plate of the previous process to be pushed into place, and the processed sieve plate is pushed out to the next station; after the new sieve plate is in place, the "side-sealed three-axis cylinder A" and "side-sealed three-axis cylinder B" are extended to drive the "side-sealed mechanical plate A" and "side-sealed mechanical plate B" to move downward, pressing the two sides of the sieve plate; waiting for the "discharging assembly" installed on the sieve plate to complete the discharging action; the "lifting drive motor" starts to drive the "lifting screw" to descend, tilting along the "swing axis" as the center, and at the same time the "swing motor" starts to work, relying on the cooperation of the mechanically configured "swing eccentric arm" and "swing eccentric counterweight block", so that the entire swing table surface oscillates back and forth rapidly according to a certain rule;After the "lifting screw" is in place, the "screen plate end lifting cylinder B" makes the "storage hopper B" rise through the guiding action of the "guide slider", the machine is in place, and the betel nuts temporarily stored in B and the betel nuts dropped by the "discharging assembly" go down together, and are continuously filled into the cavity of the screen plate, and the excess betel nuts begin to accumulate in the "storage hopper A"; after a certain period of swinging, the "lifting drive motor" moves to restore the plane to the level, and the "storage hopper B" is reset; the "betel nut accumulation height detector" on the upper part of the "storage hopper A" detects the number of betel nuts, and the data is fed back to the "discharging assembly" to control the number of new betel nuts next time; repeat the steps to complete batch processing. ;

[0100] See also Figure 11-13The betel nut sieve plate vibrating and flipping device 14 includes a movable guide roller group 141, a movable guide roller group lifting cylinder 142, a movable feeding roller motor 143, a movable feeding roller 144, a guide blocking three-axis cylinder 145, a guide blocking plate 146, a feeding roller 147, a feeding roller motor 148, a feeding roller pushing cylinder 149, a fixed guide roller group 1410, a vibration table 1411, a sieve plate detection sensor A1412, multiple groups of linkage pressing cylinders 1413, a sieve plate detection sensor B1414, a screw rod module 1415, a paddle three-axis cylinder 1416, a multi-layer reed 1417, and an electromagnet 1418; the betel nut sieve plate vibrating and flipping device 14 is powered on and ventilated After the preparation is completed, it starts to run; the "guide and block three-axis cylinder" moves downward, driving the "guide and block plate" downward to guide, and the "feed roller pushing cylinder" moves out to push the "feed roller motor" out, and the "feed roller motor" and "active feed roller motor" start to run, driving the "feed roller" and "active feed roller" to rotate, waiting for the previous process to be completed, and pushing the screen plate over; when the screen plate pushes and contacts the "feed roller" and "active feed roller", the "feed roller pushing cylinder" is subjected to a certain reverse thrust by the mechanical action of the screen plate width, and adapts to the screen plate width to ensure that the screen plate continues to be forced forward; because of the restrictions of the "fixed guide roller group" and the "active guide roller group" , the sieve plate will maintain the direction and continue to move forward until it is in place, and will be detected by the "sieve plate detection sensor A" and the sieve plate detection sensor B" at the same time; the "guide and block three-axis cylinder" will reset and extend, driving the "guide and block plate" upward to block the sieve plate at the predetermined position; the "active feed roller motor" and the "feed roller motor" will stop running; the "multi-group linkage downward pressure cylinders" will press down at the same time, so that the sieve plate and the "vibration table" are tightly attached together; the "electromagnet" will start to switch on and off under the control of the signal, and through the elastic effect of the "multi-layer reeds" arranged in various places, the "vibration table" will vibrate rapidly up and down, and after multi-band time vibration control, the betel nut on the sieve plate will be moved in the shape of the pit and the betel nut. Under the action of the center of gravity, most of the betel nuts are arranged with the cut surface facing upwards; after the vibration is completed, release the "multi-group linkage downward pressure cylinder"; the "movable guide roller group lifting cylinder" starts to move, causing the "movable guide roller group" and the "movable feed roller motor" to move downward together; the "paddle plate three-axis cylinder" moves and extends, pressing against one side of the screen plate, and the "screw module" then starts to move, constrained by the "guide blocking plate" and mechanical limit, pushing the screen plate into the next workstation; after delivery, the "screw module" and the "paddle plate three-axis cylinder" are reset; the "movable guide roller group lifting cylinder" is reset and extended, driving the "movable guide roller group" and the "movable feed roller motor" to reset; repeat the steps to complete continuous operation processing.

[0101] Please refer to 14-17, the visual recognition and removal of overturned betel nut station 2 also includes a rejection screen plate conveyor 27, a replenishment visual recognition camera 28, a replenishment screen plate conveyor 29, a visual control touch screen 210, a shaking table visual recognition camera 211, a clamping claw vacuum pump 212, a vacuum buffer tank 213, a replenishment XYZ manipulator 214, a replenishment clamp 215, a replenishment material shaking table 216, a replenishment betel nut automatic feeding silo 217, a leveling XYZ manipulator 218, a leveling pressure head 219, a leveling screen plate conveyor 220, a program control touch screen 221, a blocking cylinder B222, a clamping cylinder B223, a blocking cylinder A224, and a clamping cylinder A225; the visual recognition and removal of overturned betel nut station 2. The whole machine After electrical preparation is completed, it starts to run automatically; the sieve plate is transported from the previous process into the "rejection sieve plate conveyor platform A", which has its own load-bearing and conveying function, and continuously carries the sieve plate forward; after being transported to the predetermined detection position range, the "blocking cylinder A" moves out to block the sieve plate; the "clamping cylinder A" moves out to fix the sieve plate in the "rejection sieve plate conveyor platform A"; the "suction visual recognition camera A" starts to take a picture of half a sieve plate, and the visual module starts to calculate whether there is only one betel nut in the sieve plate pit and whether the cut surface of the betel nut is facing up. If it does not meet the requirements, the position where the betel nut exists in the pit is counted as the position to be sucked; the suction fan in the "suction fan soundproof cover" starts to start, and is connected to the rejection air duct to block the betel nut through the "rejection vacuum pipeline". betel nut device, and then connected to the suction head; the program controls the "rejection XYZ robot" to move to the position to be sucked, and press down the mechanical structure, the lowest stabilizing plate first presses the surrounding betel nuts that may be affected by the airflow, and under the compression of the spring, after pressing the betel nuts, the robot does not stop and continues to move downward to the vacuum air duct outlet until it reaches the predetermined position, under the influence of the vacuum airflow, the betel nuts in the groove are driven into the vacuum pipe by the airflow, and after the robot returns to a certain height, it moves to the next suction position, and then moves downward to continuously absorb the betel nuts that do not meet the requirements; after the betel nuts enter the vacuum pipe, they are blocked by the blocking screen in the "rejection air duct blocker A", and stay in the "rejection air duct blocker A"; all are sucked or the countdown is completed. After that, the "rejection XYZ robot" is reset; the fan stops working, the vacuum in the "rejection vacuum air duct" disappears, the cylinder on the "rejection air duct betel nut blocking device A" moves, and pulls out the baffle plate at the bottom, so that all the rejected betel nuts fall into the "rejection betel nut transfer barrel" at the bottom, and then the cylinder is closed to reset the baffle plate; at the same time, the "clamping cylinder A" and the "blocking cylinder A" are reset, and then the self-carrying conveying function of the "rejection screen plate conveyor platform A" is started, and the conveying screen plate enters the "rejection screen plate conveyor platform B"; repeat the steps to complete the rejection work of half of the screen plate; similarly, the half of the rejected screen plate is in the "rejection screen plate conveyor platform B", completing the same rejection operation as the "rejection screen plate conveyor platform A", so that the entire screen plate completes all the rejection operations.

[0102] See also Figure 18-22, 36 includes a vacuum solenoid valve group 361, a solenoid valve group 362, a feeding lifting drive motor 363, a lifting drive wheel rod 364, a lifting table 365, a clamping jaw pressing cylinder 366, and a flexible clamping jaw 367. 36 is installed on the material picking and feeding machine for matching use; the equipment is connected, ventilated, and the vacuum air source is ventilated. After the equipment is prepared, it starts to run; it relies on the XY axis of the feeding to perform various horizontal movements; when the shaking table is finished sorting the betel nuts, it first goes to the two sides of the shaking table; after arriving at the position, the "lifting drive motor" is activated, through The "lifting drive screw" controls the "lifting table" to move downward for a certain distance, and the flexible clamps are fully opened under the control of the vacuum solenoid valve, and the unused betel nuts from the last cycle of feeding are thrown into the shaking table; then it continues to move horizontally on the XY axis of the feeding, and comes to the top of the pit-sorting betel nuts; through visual algorithm calculation and control, the flexible clamps above the qualified betel nuts are controlled by the corresponding "solenoid valve group" to control the "clamp pressing cylinder" to move downward for a certain distance; the lifting table continues to move downward, so that the flexible clamps are close to the pit mold plate; By controlling the "vacuum solenoid valve group", all the flexible clamps of the "claw pressing cylinder" are clamped to clamp the betel nut; after the "lifting drive motor" returns to the position, it cooperates with the "XY axis for feeding" to leave the shaking table and come to the waiting position for feeding, waiting for the signal to perform feeding operation; when the new sieve plate is in place and recognized; the "lifting drive motor" cooperates with the "XY axis for feeding" to move to the position of the sieve plate to be fed; the "lifting table" moves downward, pressing the "claw pressing cylinder" corresponding to the groove to be fed. ", so that the flexible clamp is close to the feeding position, and 1-all the nuts can be placed at the same time according to the algorithm; then release the "flexible clamp" to make the betel nut fall into the lower groove; the corresponding "clamp down cylinder" is reset to drive the "flexible clamp" upward; according to the visual control logic, it is repeated until the required feeding is completed or the countdown is over; the "lifting drive motor" cooperates with the "XY axis of feeding" to move to the position of the screen plate to be fed; repeat the steps to continuously feed the screen plate to complete the processing; each machine has two sets of independent feeding systems working together.

[0103] The feeding and processing shaking table 37 includes a swing lifting electric cylinder 371, a Y-axis screw module 372, a voice coil motor 373, a wire column 374, a sieve screw motor 375, a shaking table box 376, an A side plate 377, a B side plate 378, a pit mold plate 379, a shooting optical fiber 3710, a rotary pressing cylinder 3711, a swing axis 3712, a lifting mold plate 3713, a feeding lifting cylinder 3714, and a debris blowing interface 3715. After the betel nut is sorted, the feeding material is clamped to the empty sieve plate station 3, which also includes a limit blocking cylinder 38, a feeding sieve plate conveying platform 39, a constant volume cavity pushing plate 310, a feeding betel nut pushing cylinder 311, a straight vibration path 312, and a debris collection box 313. The feeding and processing shaking table 37 is powered on and ventilated, and the preparation is completed. Add betel nuts into the "automatic feeding silo for replenishing betel nuts", and after completion, close the cover and start automatic operation; the "replenishing betel nut pushing cylinder" moves to push out, driving the "fixed volume chamber pushing plate" to move, pushing a certain number of betel nuts at the bottom of the "replenishing betel nut automatic feeding silo" into the "straight vibration track", and the "straight vibration" is turned on at the same time; in the "straight vibration track", the betel nuts are affected by the "straight vibration" and begin to jump forward, and are affected by the shape of the vibration track, and gradually become arranged in an orderly state and move forward; the "straight vibration track" is provided with an up and down falling step in appearance, and there is a pit at the bottom of the step. When vibrating, the betel nuts will cross this pit and fall into the "replenishing material shaking table" at the bottom, and the debris, impurities, and stems carried by them will fall into the pit, the betel nut is placed in the feeding cradle and the betel nut is placed in the feeding cradle, and the betel nut is placed in the feeding cradle. Above the lifted betel nut, according to the data provided by the visual algorithm, the independent telescopic cylinder on each flexible clamp only moves above the qualified betel nut that meets the clamping conditions, and after all the flexible clamps go down together for a distance, the flexible clamps that meet the conditions move to clamp the betel nut; "feeding clamp A" and "feeding clamp B" move to the waiting feeding working position and stay, waiting for the "feeding sieve plate conveyor platform" to give a signal to allow feeding; "feeding shaking table" and its accessories repeat steps 4-10 and wait for the next clamping; "feeding sieve plate conveyor platform" starts the conveyor belt and waits for the arrival of the sieve plate of the previous process; the sieve plate arrives and moves on the conveyor belt, and after running to the sensor position, the "limit blocking cylinder" moves out to block the sieve plate, and the conveyor belt stops running;The "feeding visual recognition camera" on the upper part of the screen plate starts to take pictures, automatically calculates and identifies the position of the empty groove on the screen plate; the "feeding jaw A" and "feeding jaw B" start to run to the corresponding position according to the data provided by the vision; the cylinder on the flexible jaw at the corresponding position starts to move, pushes out the flexible jaw, and then the flexible jaw releases the betel nut, drops the betel nut into the pit, and then the cylinder resets; the "feeding jaw A" and "feeding jaw B" place the betel nut in the required position in sequence and logic until the feeding is completed or the countdown ends; the "feeding jaw A" and "feeding jaw B" move to the working position to be fed and stay, waiting for the shaking table to be shaken; the "limit blocking cylinder" moves back, the conveyor belt continues to run, and the screen plate is moved to the next station; repeat the steps to continuously feed the empty pits on the screen plate. ;

[0104] The feeding gripper is installed on the material picking and feeding machine for supporting use; the equipment is connected, ventilated, and the vacuum air source is turned on, and the equipment starts to run after preparation; it relies on the XY axis of the feeding to perform various horizontal movements; when the betel nut sorting on the shaking table is completed, it first goes to the two sides of the shaking table; after arriving at the position, the "lifting drive motor" is activated, and the "lifting table" is controlled to move downward for a certain distance through the "lifting drive screw", and the flexible gripper is fully opened under the control of the vacuum solenoid valve, and the unused betel nut in the last cycle of feeding is thrown into the shaking table; then it continues to rely on the XY axis of the feeding to perform horizontal movements, and comes to the top of the pit-sorting betel nut; through visual algorithm calculation and control, the flexible gripper above the qualified betel nut is controlled by the corresponding "electromagnetic valve group" to control the "grip pressing cylinder" to move downward for a certain distance; the lifting table continues to move downward, so that the flexible gripper is close to the pit mold plate; by controlling the "vacuum solenoid valve group", the flexible gripper of all "grip pressing cylinder" actions is clamped, Grab the betel nut; after the "lifting drive motor" returns to the position, it cooperates with the "XY axis for feeding" to leave the shaking table and come to the waiting position for feeding, waiting for the signal to feed; when the new sieve plate is in place and recognized; the "lifting drive motor" cooperates with the "XY axis for feeding" to move to the position of the sieve plate to be fed; the "lifting table" goes down, and presses the "claw pressing cylinder" corresponding to the groove to be fed, so that the flexible claw is close to the feeding position, and 1-all the nuts can be placed at the same time according to the algorithm; then release the "flexible claw" to make the betel nut fall into the lower groove; the corresponding "claw pressing cylinder" is reset, driving the "flexible claw" upward; according to the visual control logic, repeat 13-16 continuously until the required feeding is completed or the countdown ends; the "lifting drive motor" cooperates with the "XY axis for feeding" to move to the position of the sieve plate to be fed; repeat the steps to continuously feed the sieve plate to complete the processing; each machine has two sets of independent feeding systems working together.

[0105] The feeding shaker is used in conjunction with the main machine for picking and feeding, and the power and ventilation are completed; the "Y-axis screw module" is started to carry the upper parts backward and move to the corresponding vibration track and vibrating screen unloading position; wait for the vibration track to drop the material, so that the betel nut enters the A side area of ​​the "shaking table box"; after the vibration track stops running, the "Y-axis screw module" carries the upper parts forward a certain distance; the "swinging jacking electric cylinder" starts the lifting action, rotates the angle around the "swinging axis", tilts the "shaking table box", and places the A side area at a high place; the "screening screw motor" starts to make a reciprocating rapid reversing motion, so that the "shaking table box" performs a screening action, forcing the A side betel nut to start moving to the B side; the betel nut passes through the "pit mold plate" during the screening, and because of the effect of the pit, the betel nut is intercepted in the pit, so that the pit is filled Betel nuts, excess betel nuts are piled up on side B; after a certain period of time, the "screening screw motor" stops working, the "swinging jacking electric cylinder" returns to the horizontal level, and the "opposite optical fiber" starts to detect. If there is a betel nut isolation opposite signal, it means that the number of betel nuts in the "shaking table box" is sufficient, and there is no need to vibrate the material next time; if the "opposite optical fiber" signal is received, it means that the number of betel nuts in the "shaking table box" is insufficient, and vibrating the material next time is required; the "rotating downward pressure cylinders" on both sides start to move and rise, releasing the downward pressure on the "pit mold plate", so that it is affected by the spring of the "voice coil motor" and floats a certain distance, only contacting the "voice coil motor"; under the control of the control board, the "voice coil motor" performs high-frequency vibration on the "pit mold plate", so that the betel nuts in the pit are in the double shape of the pit and the center of gravity of the betel nuts. Under the action of weight, the cut surface of the betel nut is automatically turned upward; after a certain period of time, the vibration stops, and the "rotating downward pressure cylinders" on both sides reset and descend, pressing the "pit mold plate" to compress the "voice coil motor x4" spring and contact with the mechanical limit on the lower side, stabilizing the pressure on the lower side; then the "lifting cylinder" is activated, and guided by the "wire column x4", the "lifting mold plate" rises horizontally, and the top column originally embedded and inserted in the "pit mold plate" lifts the betel nut in the pit; the visual camera on the upper side of the "pit mold plate" takes a picture of the mold plate to collect data; wait for the flexible gripper XYZ manipulator to clamp the betel nut; after the clamping is completed and the flexible gripper XYZ manipulator leaves, the "swinging lifting electric cylinder" moves downward and rotates around the "swinging axis" to tilt the "rocking table box" , the B side area is placed at a high place; the "screening screw motor" starts to make a reciprocating rapid reversing motion, so that the "shaking table box" performs a screening action, forcing the betel nuts on the B side to start moving to the A side; at the same time, according to the last "opposite optical fiber" signal status, start or skip the vibration channel to replenish the "shaking table box"; if started, the "Y-axis screw module" needs to move back to the vibration channel vibration and screening unloading position; the betel nuts pass through the "pit mold plate" during the screening movement, and because of the pit effect, the betel nuts are intercepted in the pit, so that the pit is covered with betel nuts, and the excess betel nuts are accumulated on the A side; after a certain period of time, the vibration channel stops in advance; the "screening screw motor" stops working, and the "swing jacking electric cylinder" returns to the horizontal level; repeat the steps; wait for the flexible gripper XYZ robot to clamp the betel nuts; repeat the steps and perform the cycle work.

[0106] Please refer to 23-24, the mechanical downward pressing and smoothing betel nut station 4 also includes an X-axis screw module 43, an oscillating cylinder 44, a sieve plate 45, a downward pressing plate 46, a downward pressing guide column 47, a downward pressing screw 48, a downward pressing motor 49, a downward pressing head 410, a blocking cylinder 411, a conveying belt 412, a lifting support plate 413, a smoothing lifting cylinder 414, and a lifting guide column 415; the mechanical downward pressing and smoothing betel nut station 4 machine is installed on the material removal and feeding machine for use; the machine is powered on and ventilated. Preparation is completed; the "conveyor belt" starts to run, waiting for the arrival of the upper sieve plate; after the upper sieve plate arrives at the sensor detection, the "blocking cylinder" moves out to intercept the sieve plate and position it, and then stops the "conveyor belt"; the symmetrically arranged "oscillation cylinder" starts to move back and forth, pushing the sieve plate back and forth, causing the betel nut inside the sieve plate to flow to the center of the groove; after a certain period of time, the "oscillation cylinder" stops working; the "lifting cylinder" moves, and through the guiding effect of the "lifting guide column", The "lifting support plate" is lifted up horizontally and fits under the sieve plate to support the sieve plate horizontally; the "downward pressure motor" is activated, and through the "downward pressure screw rod", the "downward pressure guide column x4" is used as a guide to make the "downward pressure plate" press down horizontally until it presses down to a certain extent on the betel nut; the "downward pressure head" is close to the cut surface of the betel nut, and each pressure head floats freely under the spring. After pressing down, the pressure head adapts to the height of the betel nut, and the lower part of the pressure head always remains horizontal. Through the linkage action with the "X-axis screw rod module", it continuously presses back and forth on the upper surface of the betel nut, forcing each betel nut to make the cut surface all horizontally facing upward; after completing the smoothing process of the lower part of the pressure head, the "X-axis screw rod module" moves a certain distance and switches to the workstation that has not been smoothed; repeat the steps until all the betel nuts are smoothed; the "X-axis screw rod module", "downward pressure plate" and "lifting support plate" are all reset; the "blocking cylinder" is reset and retracted; the "conveyor belt" is restarted to carry the sieve plate to the next workstation; repeat the steps to continuously smooth each sieve plate.

[0107] See also Figure 25-26, the 3D visual recognition betel nut cavity volume station 6 includes a visual 3D detection and recognition camera 61, a betel nut temporary storage box 62, a manual intervention material sorting station conveyor belt 63, a position detection sensor A64, a position detection sensor B65, a position detection sensor C66, a side light strip 67, a blocking cylinder A68, a blocking cylinder B69, a 3D visual recognition station conveyor belt 610, a bottom light strip 611, a 3D camera combination A612, a 3D camera combination B613, a 3D camera combination C614, a shading fence 615, and a shading protective door 616; the 3D visual recognition betel nut cavity volume station 6 machine is powered on, ventilated, and prepared to start automatic operation; the "3D visual recognition station conveyor belt" is started, waiting for the arrival of the sieve plate of the previous process; after the "3D visual recognition station conveyor belt" carries the sieve plate and runs to the "position detection sensor B", the "blocking cylinder A" moves to push it out until the sieve plate runs in place, and the "3D visual recognition station conveyor belt" stops Stop running; the sieve plate stays for a certain time, waiting for the "3D camera combination A", "3D camera combination B" and "3D camera combination C" on the top to take pictures and record data in turn according to the logic, and perform three-dimensional recognition operation on half of the betel nuts on the sieve plate; after the photo is taken, the "blocking cylinder A" retracts, and the "3D visual recognition station conveyor belt" starts to run; after the "3D visual recognition station conveyor belt" carries the sieve plate to the "position detection sensor C", the "blocking cylinder B" moves to push out, until the sieve plate is in place, and the "3D visual recognition station conveyor belt" stops running; the sieve plate stays for a certain time, waiting for the "3D camera combination A", "3D camera combination B" and "3D camera combination C" on the top to take pictures and record data in turn according to the logic, and perform three-dimensional recognition operation on the other half of the betel nuts on the sieve plate; after the photo is taken, the "blocking cylinder B" retracts, and the "3D visual recognition station conveyor belt" starts to run; repeat the steps to continuously take pictures and identify the sieve plate.

[0108] See also Figure 27-30The halogen XYZ manipulator 71 includes an X-axis drive motor 1, a visual halogen blocking cylinder 711, an X-axis drive motor 2, a swinging material mixing station 712, an X-axis drive motor 3, a light source transparent plate 713, an X-axis drive motor 4, an LED lamp bead installation plate 714, an X-axis drive motor 5, a visual camera A715, an X-axis drive motor 6, a visual camera B716, a guide rail keyboard and mouse storage drawer 717, a screw temperature control box 718, an X-axis carrier platform air pressure adjustment box 719, a Z-axis height manual adjustment handle 7110, a control solenoid valve 17111, and a control electric Magnetic valve 27112, driving screw rod 7113, Y-axis driving motor 7114, circuit harness pipe 7115, brine supply pipe 7116, brine pipeline shut-off cylinder 7117, brine pipeline shut-off valve body 7118, heating and insulation main valve body 7119, brine valve body maintenance port 7120, pull-out brine cylinder 7121, pull-out brine cylinder body 7122, brine dispensing and glue discharge flow control knob 7123, brine dispensing and glue discharge cylinder 7124, brine dispensing and glue discharge valve body 7125, brine dispensing and glue discharge port 7126; this component belongs to the brine dispensing host structure module.The main unit of the brine-pointing XYZ manipulator 71 is powered on, ventilated, and connected to the brine supply. After preparation, the heating operation is started; all modules with heating function are started, and the modules are heated according to the preset temperature range until all reach the preset set temperature; the brine supply operation is started, and the brine passes through the brine pressure supply system, connected to the "brine supply pipeline heating and insulation coating", and then connected to the "brine pipeline stop valve body"; the "brine pipeline stop cylinder" is retracted, and the "brine pipeline stop valve body" is opened, allowing the brine to flow to the "heating and insulation main valve body"; the "brine pulling cylinder" begins to retract, driving the internal piston of the "brine pulling cylinder body" to move up, and the "heating and insulation main valve body" is turned on. The brine in the cylinder is extracted until the "brine water extraction and pulling cylinder" is in place; the "brine pipeline cut-off cylinder" is reset to close the "brine pipeline cut-off valve body" and cut off the brine pipeline; the "brine water extraction and pulling cylinder" is reset to drive the piston in the "brine water extraction and pulling cylinder body" to move downward, squeezing the brine in the cylinder. Because the pipeline is sealed, the internal brine is constantly kept at a certain pressure; the "brine point glue discharge cylinder" retracts, and the internal channel of the "brine point glue discharge valve body" is opened. The brine is subjected to pressure and ejected through the "brine point glue discharge port". The ejection flow is adjusted by the "brine point glue discharge flow control knob" to adjust the opening amplitude, thereby achieving the control of the glue discharge amount; when the "brine water extraction and pulling cylinder" descends to the cylinder detection position, the valve is closed. Close the "brine-adding and glue-discharging cylinder"; cycle the steps to fill the cavity with brine; start the automatic brine-adding function, and fill the "brine-drawing cylinder" with pressurized brine; according to the data provided by the supporting visual recognition system, each set of "X-axis drive motor" and "Y-axis drive motor" moves according to a certain logic, and the six systems work independently, combined with the visual logic algorithm, to automatically avoid collision with each other; when moving to the top of the trajectory of the brine-adding position, the "brine-adding and glue-discharging cylinder" opens quickly, and brine comes out of the "brine-adding and glue-discharging port", and when it leaves the top of the brine-adding position trajectory, the "brine-adding and glue-discharging cylinder" closes quickly; the "brine-adding and glue-discharging cylinder" is continuously turned on and off to complete the brine-adding operation inside each betel nut below the trajectory. ; After completing the brine spotting operation on the sieve plate, return to the predetermined stop position, let the brush drive the cylinder to drive the brush to brush the "brine spotting glue outlet" to ensure that the brine will not stick; the operation step step is to replenish the brine in the "brine extraction cylinder"; the cycle step is to perform brine spotting operations on each sieve plate; when the pipeline needs to be thoroughly cleaned during each shift, high-pressure hot water is introduced into the inlet of the brine supply pipeline, and each set of "X-axis drive motor" and "Y-axis drive motor" are combined to move to the preset position; according to the steps, it automatically moves non-stop, and manual cooperation is used to identify whether the inside of each set of brine supply pipelines has been completely cleaned; after cleaning, turn off the hot water supply, and only supply compressed air to blow out all the clean water in the pipeline, and all pipelines are closed to complete the cleaning.

[0109] The visual halogen spot station 7 also includes a feed pipe 75, a halogen spot head cleaning brush row 76, a visual halogen spot conveyor belt 77, a visual halogen spot side light strip 78, a visual halogen spot bottom light strip 79, a visual halogen spot position detection sensor 710, an X-axis drive motor 1, a visual halogen spot blocking cylinder 711, an X-axis drive motor 2, a swinging material mixing station 712, an X-axis drive motor 3, a light source transparent plate 713, an X-axis drive motor 4, an LED lamp bead installation plate 714, an X-axis drive motor 5, a visual camera A715, and an X-axis drive motor Machine 6 visual camera B716, rail keyboard and mouse storage drawer 717, screw temperature control box 718, X-axis carrier air pressure adjustment box 719; visual halogen station 7, the whole machine is powered on, ventilated and prepared to start automatic operation; the "halogen delivery station" starts the "conveyor belt" and waits for the arrival of the sieve plate of the previous process; after the "conveyor belt" carries the sieve plate to the "position detection sensor", the "blocking cylinders" on both sides start to move and extend; after the sieve plate is in place, the "conveyor belt" stops running; the top "visual camera A" and the "visual phase" are connected. Machine B uses the "LED lamp bead installation plate" light source configured on the top, and the light shines on the sieve plate through the "light source transparent plate", as well as the "bottom light strip" and "side light strip" configured at the bottom, which together illuminate the sieve plate without blind spots, and take multiple photos to identify the sieve plate; the visual algorithm controller, based on the data collected this time and the data collected in the previous process, calculates the trajectory and corresponding speed that the "XYZ brining robot" needs to walk, and transmits the calculated data to the "XYZ brining robot" control system; the "XYZ brining robot" The "manipulator" begins to extend according to the data provided by the visual algorithm to perform the halogen spotting operation until the processing is completed; after the halogen spotting is completed, the "XYZ halogen spotting robot" is reset, and the "halogen spotting head cleaning brush exhaust cylinder" is reset after the action is in place, driving the "halogen spotting head cleaning brush row" to run, so that the brushes installed on the "halogen spotting head cleaning brush row" brush the halogen spotting glue outlet to prevent the brine from sticking to the glue outlet; the "blocking cylinder" is reset and retracted; the "conveyor belt" continues to run and is transferred to the next station. Repeat the steps and continuously process each screen plate.

[0110] See also Figure 31-32The betel nut brine shaking station 8 includes a shaking blocking cylinder 81, a shaking position detection sensor 82, a synchronous belt 83, a driving motor 84, an accordion protective cover 85, a carrying screen plate belt 86, a shaking lifting shaft 87, a shaking swing shaft 88, a shaking lifting screw 89, and a shaking lifting motor 810; this component of the betel nut brine shaking station 8 belongs to the supporting mechanism of the brine-making host; the equipment is powered on, ventilated, and prepared to start automatic operation; the "driving motor" runs, and through the "synchronous belt", it drives the "carrying screen plate belt" to rotate, waiting for the arrival of the sieve plate of the previous process; after the sieve plate of the previous process runs to the "position detection sensor", the "blocking cylinders" on the left and right sides act to push it out; when the sieve plate is blocked by the "blocking cylinder" and stops at the predetermined position, the "carrying screen plate belt" driven by the "driving motor" stops; the "lifting motor" moves The "lifting shaft" is lifted up around the "swinging shaft" through the "lifting screw" to raise the B side of the screen plate and lower the A side; the betel nuts inside the screen plate are restricted by the pits and will not slide, but the brine that has just been brined inside begins to flow along the pits inside the betel nuts; due to the characteristics of the brine formula, it has a certain viscosity and is not easy to flow. After staying for a preset time, the "lifting motor" is reversed to raise the A side of the screen plate and lower the B side; the betel nuts inside the screen plate are also restricted by the pits and will not slide, but the brine that has just been brined inside begins to flow in the opposite direction along the pits inside the betel nuts; after staying for a preset time, the "lifting motor" is reset and the screen plate is restored to a horizontal level; the "blocking cylinders" on both sides are reset; the "driving motor" drives the "screen plate conveyor belt" to continue to operate and moves the screen plate to the next station; repeat the steps to evenly distribute the materials on each screen plate.

[0111] See also Fig.33, the brine insulation supply barrel 10 also includes a safety valve 105, a compressed air inlet 106, a clean water filling port 107, an exhaust port 108, a clean water outlet valve 109, a clean water delivery pipeline 1010, a flexible heating plate 1011, a control switch panel 1012, a water bath heating water outlet 1013, a clean water inlet 1014, a manual discharge port 1015, an air source pressure regulating valve 1016, a pneumatic ball valve A 1017, a pneumatic ball valve B 1018, a pneumatic ball valve C 1019, a pneumatic ball valve D 1020, a pneumatic ball valve E 1021, a pull-out cylinder body 1022, a pull-out cylinder 1023, a water bath heating water tank 1024, a safety valve 1025, a compressed air inlet 1026, a brine stirring motor 102 ... Air valve 1028, water bath level indicator 1029; the brine insulation supply barrel 10 is used as a supporting brine host; the host is powered on, ventilation and preparation are completed, and all heating switches are turned on; the "flexible heating plate" begins to heat the cylinder, and after heating the outer wall of the "water bath heating tank", the water inside reaches and stabilizes at the preset temperature, and the temperature of this water is used to water-bath heat the materials in the tank; the heating belts in an array are wrapped around the outer wall of the brine flow pipeline to heat and insulate the corresponding pipeline; until the temperature of all preset temperature controllers remains stable; open the "brine storage stirring barrel" cover, add brine, close the cover and start automatic operation; the "brine stirring motor" is running, and the brine in the barrel is continuously stirred and heated through the stirring blade shaft connected at the bottom. Heat to keep the brine uniform and stable; the pipeline at the bottom of the brine barrel is connected to the "pneumatic ball valve A". Due to the flow direction of the mechanical structure pipeline inside the "pneumatic ball valve A", the brine flows to the "pneumatic ball valve D" and is intercepted; the "pneumatic ball valve D" is turned on, and the "pull-pull cylinder" moves synchronously, driving the piston inside the "pull-pull cylinder body" to move upward, so that the liquid is drawn into the "pull-pull cylinder body" until the "pull-pull cylinder" is in place; the "pneumatic ball valve D" resets and intercepts, and the "pull-pull cylinder" resets and moves downward, driving the piston inside the "pull-pull cylinder body" to move downward, so that the liquid in the "pull-pull cylinder body" has a certain pressure; the "pneumatic ball valve E" is opened, so that the pressurized liquid is pumped into the "brine supply pipeline" until it is supplied to the brine pouring heads at various points; when the "pull-pull cylinder" is in operation, the pressure of the pressurized liquid is pumped into the "brine supply pipeline" until it is supplied to the brine pouring heads at various points. After reaching the lower limit, the "pneumatic ball valve E" is closed; the brine is pumped to ensure the normal operation of the brine main unit; when the production is completed and the scheduled brine cleaning phase is entered, the lid of the "cleaning supply hot water bucket" is opened in advance to manually add hot water, or add water through the "clean water filling port"; compressed air is introduced into the "compressed air inlet" to fill the hot water inside the "cleaning supply hot water bucket" with pressure, and the "clean water outlet valve" is manually opened to allow the hot water to pass through the "clean water delivery pipeline" to reach the "pneumatic ball valve B", which is intercepted and blocked on one side by the "pneumatic ball valve B"; when the production is completed and the scheduled brine cleaning phase is entered, the "pneumatic ball valve A" is activated to connect the brine in the bucket with the "manual discharge port", and the pipeline between the "pneumatic ball valve B" and the "pneumatic ball valve D" is connected;"Pneumatic ball valve B" is opened, and the heated clean water enters the front pipe of "Pneumatic ball valve D"; according to the program logic control, the brine enters the brine discharge state, repeat the steps with manual intervention, and complete the cleaning of all brine supply pipes; manually control the switch, "Pneumatic ball valve B" is cut off, "Pneumatic ball valve C" is opened, and compressed air replaces hot water to enter the pipeline to blow out all the water inside the pipeline; after manual observation that the clean water is completely discharged, close the corresponding switch, and the brine supply pipeline stops resetting; manually open the lid of the "brine storage and mixing barrel", manually use clean water to clean the inner wall of the barrel, mixing blades, etc., and open and close the "manual discharge port" in time to make the brine in the pipeline completely clean; after using an air gun to blow off the clean water, close the lid of the "brine storage and mixing barrel", open the valve of the "compressed air access valve port", let in compressed air, and use air to blow out the clean water remaining in the bottom pipeline; reset all valves and switches and wait for the next use. ;

[0112] It can be seen from the above technical solutions that the present invention has the following beneficial effects:

[0113] Through advanced visual recognition technology, the machine can accurately remove unqualified betel nuts and accurately measure their volume and shape to ensure product consistency. In addition, automated operation reduces manual intervention, lowers operational difficulty, enhances operational safety, and also reduces raw material waste and maintenance costs.

[0114] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0115] In addition, it should be understood that although the present specification is described according to embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that those skilled in the art can understand.

Claims

1. Intelligent visual halogen dispenser, characterized by: include: A betel nut sorting and loading machine (1), a visual recognition and removal of overturned betel nuts station (2), a betel nut sorting and feeding station (3) for clamping and adding materials to an empty sieve plate after sorting the betel nuts, a mechanical downward pressure and leveling station (4), a manual intervention sorting station (5), a 3D visual recognition betel nut cavity volume station (6), a visual brine addition station (7), a betel nut brine shaking station (8), a metal detector (9) and a brine insulation supply barrel (10), wherein the betel nut sorting and loading machine (1), a visual recognition and removal of overturned betel nuts station (2), a betel nut sorting and feeding station (3) for clamping and adding materials to an empty sieve plate after sorting the betel nuts, a mechanical downward pressure and leveling station (4), a manual intervention sorting station (5), a 3D visual recognition betel nut cavity volume station (6), a visual brine addition station (7), a betel nut brine shaking station (8), a metal detector (9) and a brine insulation supply barrel (10) are connected in sequence; The betel nut sorting and loading machine (1) comprises an automatic stacking device for supplying empty sieve plates (11), a storage bin for quantitatively distributing betel nuts (12), a cradle for mechanically spreading sieve plates with betel nuts (13), and a vibrating and flipping device for sieve plates loaded with betel nuts (14), and the automatic stacking device for supplying empty sieve plates (11), the storage bin for quantitatively distributing betel nuts (12), the cradle for mechanically spreading sieve plates with betel nuts (13), and a vibrating and flipping device for sieve plates loaded with betel nuts (14) are connected to each other; The visual recognition and overturned betel nut removal station (2) comprises a suction visual recognition camera (21), a suction fan soundproof cover (22), a rejection air duct blocking betel nut device (23), a rejection XYZ robot (24), a rejection vacuum air duct (25) and a rejection betel nut transfer barrel (26), and the suction visual recognition camera (21), the suction fan soundproof cover (22), the rejection air duct blocking betel nut device (23), the rejection XYZ robot (24), the rejection vacuum air duct (25) and the rejection betel nut transfer barrel (26) are connected to each other; The betel nut feeding and feeding station (3) for clamping and feeding the betel nut after the material is sorted includes a feeding visual recognition camera (31), a shaking table visual recognition camera (32), a clamping claw vacuum pump (33), a feeding betel nut automatic feeding bin (34), a feeding XYZ manipulator (35), a feeding clamping claw (36) and a feeding shaking table (37), wherein the feeding visual recognition camera (31), the shaking table visual recognition camera (32), the clamping claw vacuum pump (33), the feeding betel nut automatic feeding bin (34), the feeding XYZ manipulator (35), the feeding clamping claw (36) and the feeding shaking table (37) are connected to each other; The mechanical downward pressing and smoothing betel nut workstation (4) comprises a smoothing XYZ manipulator (41) and a smoothing pressure head (42), and the smoothing XYZ manipulator (41) is fixedly connected to the smoothing pressure head (42); The manual intervention material handling station (5) comprises a pair of betel nut storage boxes (51), and the betel nut storage boxes (51) are fixedly connected to the betel nut storage boxes (51) at the left and right ends of the manual intervention material handling station (5); The visual halogen spotting station (7) comprises a halogen spotting XYZ robot (71), a cleaning control button (72), a parameter control panel (73) and a main engine distribution box (74), and the halogen spotting XYZ robot (71), the cleaning control button (72), the parameter control panel (73) and the main engine distribution box (74) are interconnected; The brine insulation supply barrel (10) comprises a cleaning and supply hot water barrel (101), a brine storage and stirring barrel (102), a brine pipeline control box (103) and a brine supply and discharge insulation pipeline (104); the cleaning and supply hot water barrel (101), the brine storage and stirring barrel (102), the brine pipeline control box (103) and the brine supply and discharge insulation pipeline (104) are interconnected.

2. The intelligent visual halogen dispenser according to claim 1, characterized in that: The automatic empty sieve plate supply stacking (11) comprises a sieve plate stacking guiding mechanical arm (111), a sieve plate translation rail (112), a stacking sieve plate (113), a sieve plate limiting cylinder A (114), a sieve plate mechanical limiting guiding slider (115), a sieve plate mechanical limiting plate (116), a sieve plate mechanical limiting B plate (117), a sieve plate feeding to a lower station mechanical arm (118), a sieve plate feeding to a lower station screw rod module (119), a sieve plate mechanical limiting B plate lower support plate (1110), a sieve plate limiting cylinder B (1111), and a sieve plate limiting cylinder C (1112). The betel nut is quantitatively distributed The storage bin (12) includes a rotating drive motor (121), a material stopping cylinder (122), a material stopping sheet metal (123), a soft material blocking plate (124), a guiding material dropping plate (125), a fixed volume rotating material discharge shaft (126), a blocking fast adjustment material blocking plate (127), a hinge (128), and a sealing cover plate (129). The betel nut mechanically spreads the screen plate rocking platform (13) includes a storage hopper A (131), a guide slider (132), a betel nut stacking height detector (133), a side-sealed three-axis cylinder A (134), a side-sealed mechanical plate A (135), a feeding rocking shaft (136), and a storage hopper A (131). ), side-enclosed three-axis cylinder B (137), side-enclosed mechanical plate B (138), guide slider (139), storage hopper B (1310), screen plate end lifting cylinder B (1311), swing eccentric arm (1312), swing motor (1313), swing eccentric counterweight (1314), lifting screw (1315), lifting drive motor (1316), lifting assembly fixed shaft (1317), screen plate end lifting cylinder A (1318), the betel nut screen plate vibration and flipping (14) includes a movable guide roller group (141), a movable guide roller group lifting cylinder (1 42), a movable feeding roller motor (143), a movable feeding roller (144), a guiding and blocking three-axis cylinder (145), a guiding and blocking plate (146), a feeding roller (147), a feeding roller motor (148), a feeding roller pushing cylinder (149), a fixed guide roller group (1410), a vibration table (1411), a sieve plate detection sensor A (1412), multiple groups of linkage downward pressure cylinders (1413), a sieve plate detection sensor B (1414), a screw rod module (1415), a paddle three-axis cylinder (1416), a multi-layer spring sheet (1417), and an electromagnet (1418).

3. The intelligent visual halogen dispenser according to claim 1, characterized in that: The visual recognition and overturned betel nut removal station (2) also includes a removal screen plate conveyor platform (27), a feed visual recognition camera (28), a feed screen plate conveyor platform (29), a visual control touch screen (210), a shaking table visual recognition camera (211), a clamping claw vacuum pump (212), a vacuum buffer tank (213), a feed XYZ manipulator (214), a feed clamping claw (215), a feed shaking table (216), a feed betel nut automatic feeding bin (217), a leveling XYZ manipulator (218), a leveling pressure head (219), a leveling screen plate conveyor platform (220), a program control touch screen (221), a blocking cylinder B (222), a clamping cylinder B (223), a blocking cylinder A (224), and a clamping cylinder A (225).

4. The intelligent visual halogen dispenser according to claim 1, characterized in that: The material replenishing and processing shaking table (37) comprises a swinging and lifting electric cylinder (371), a Y-axis screw rod module (372), a voice coil motor (373), a wire rod (374), a sieve screw rod motor (375), a shaking table box (376), an A side plate (377), a B side plate (378), a pit mold plate (379), a corresponding optical fiber (3710), a rotary downward pressure cylinder (3711), a swing axis (3712), a lifting mold plate (3713), a material replenishing and lifting cylinder (3714), and a debris blowing interface (3715). The betel nut material replenishing and processing station (3) for clamping and replenishing the material after the betel nut material is sorted also comprises a limit blocking cylinder (38), a material replenishing sieve plate conveying platform (39), a constant volume cavity pushing plate (310), a material replenishing betel nut pushing cylinder (311), a straight vibration path (312), and a debris collection box (313).

5. The intelligent visual halogen dispenser according to claim 1, characterized in that: The mechanical downward pressing and smoothing betel nut station (4) also includes an X-axis screw module (43), an oscillating cylinder (44), a screen plate (45), a downward pressing plate (46), a downward pressing guide column (47), a downward pressing screw (48), a downward pressing motor (49), a downward pressing head (410), a blocking cylinder (411), a conveying belt (412), a lifting support plate (413), a smoothing lifting cylinder (414), and a lifting guide column (415).

6. The intelligent visual halogen dispenser according to claim 1, characterized in that: The 3D visual recognition betel nut cavity volume workstation (6) comprises a visual 3D detection and recognition camera (61), a betel nut temporary storage box (62), a conveyor belt of a manual intervention material sorting workstation (63), a position detection sensor A (64), a position detection sensor B (65), a position detection sensor C (66), a side-emitting light strip (67), a blocking cylinder A (68), a blocking cylinder B (69), a 3D visual recognition workstation conveyor belt (610), a bottom-emitting light strip (611), a 3D camera assembly A (612), a 3D camera assembly B (613), a 3D camera assembly C (614), a light-shielding enclosure (615), and a light-shielding protective door (616).

7. The intelligent visual halogen dispenser according to claim 1, characterized in that: The halogen spot XYZ manipulator (71) comprises an X-axis drive motor 1, a visual halogen spot blocking cylinder (711), an X-axis drive motor 2, a swing material mixing station (712), an X-axis drive motor 3, a light source transparent plate (713), an X-axis drive motor 4, an LED lamp bead installation plate (714), an X-axis drive motor 5, a visual camera A (715), an X-axis drive motor 6, a visual camera B (716), a guide rail keyboard and mouse storage drawer (717), a screw rod temperature control box (718), an X-axis carrier gas Pressure regulating box (719), Z-axis height manual adjustment handle (7110), control solenoid valve 1 (7111), control solenoid valve 2 (7112), drive screw (7113), Y-axis drive motor (7114), circuit harness pipeline (7115), brine supply pipeline (7116), brine pipeline shut-off cylinder (7117), brine pipeline shut-off valve body (7118), heating and insulation main valve body (7119), brine valve body maintenance port (7120), brine extraction The visual halogen point station (7) further comprises a feed pipe (75), a halogen point head cleaning brush row (76), a visual halogen point conveying belt (77), a visual halogen point side luminous light strip (78), a visual halogen point bottom luminous light strip (79), and a visual halogen point position detection sensor. Device (710), X-axis drive motor 1 visual point halogen blocking cylinder (711), X-axis drive motor 2 swing material mixing station (712), X-axis drive motor 3 light source transparent plate (713), X-axis drive motor 4 LED lamp bead installation plate (714), X-axis drive motor 5 visual camera A (715), X-axis drive motor 6 visual camera B (716), guide rail keyboard mouse storage drawer (717), screw rod temperature control box (718), X-axis carrier platform air pressure regulating box (719).

8. The intelligent visual halogen dispenser according to claim 1, characterized in that: The betel nut brine shaking station (8) comprises a shaking blocking cylinder (81), a shaking position detection sensor (82), a synchronous belt (83), a driving motor (84), an organ protection cover (85), a carrying screen plate belt (86), a shaking lifting shaft (87), a shaking swing shaft (88), a shaking lifting screw rod (89), and a shaking lifting motor (810).

9. The intelligent visual halogen dispenser according to claim 1, characterized in that: The brine insulation supply barrel (10) further comprises a safety valve (105), a compressed air inlet (106), a clean water filling port (107), an exhaust port (108), a clean water outlet valve (109), a clean water delivery pipeline (1010), a flexible heating plate (1011), a control switch panel (1012), a water bath heating water outlet (1013), a clean water inlet (1014), a manual discharge port (1015), and an air source pressure regulating valve (1016). , pneumatic ball valve A (1017), pneumatic ball valve B (1018), pneumatic ball valve C (1019), pneumatic ball valve D (1020), pneumatic ball valve E (1021), pull-out cylinder body (1022), pull-out cylinder (1023), water bath heating tank (1024), safety valve (1025), compressed air inlet valve port (1026), brine stirring motor (1027), exhaust valve (1028), water bath liquid level indicator (1029).

10. The intelligent visual halogen dispenser according to claim 1, characterized in that: The (36) comprises a vacuum solenoid valve group (361), a solenoid valve group (362), a feeding lifting drive motor (363), a lifting drive wheel rod (364), a lifting table (365), a clamping jaw pressing cylinder (366), and a flexible clamping jaw (367).

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