Tea foreign matter identifying and sorting equipment and tea foreign matter identifying and sorting method

Abstract

The invention discloses a tea foreign matter recognizing and sorting device and a tea foreign matter recognizing and sorting method, and belongs to the technical field of tea foreign matter recognizing and sorting. The tea foreign matter recognizing and sorting device comprises a rack, and a workbench is fixed to the rack; the spider hand parallel robot is fixed on the machine frame; the visual recognition suction cup hand is installed at the output end of the spider hand parallel robot, and an industrial camera and a suction cup base are fixed to the visual recognition suction cup hand; and the flexible vibration disc is mounted on the working table. The flexible vibration disc can vibrate for multiple times, and the industrial camera is used for recognizing and sucking foreign matters after each time of vibration, so that the foreign matters in the tea leaves can be removed more cleanly.

Description

Technical Field

[0001] The invention belongs to the technical field of tea foreign body identification and sorting, and in particular relates to a tea foreign body identification and sorting device and a tea foreign body identification and sorting method. Background Art

[0002] Tea is one of the most common beverages today and is loved by people all over the world. Therefore, the quality of finished tea has always been widely concerned by the public. With the continuous improvement of the level of industrialization, the tea picking and production process has gradually tended to be automated. However, in this process, foreign matter often mixes in, which in turn contaminates the tea raw materials and causes quality degradation. For example, when the machine is picking tea leaves, its cutting position is difficult to accurately control in real time, which easily leads to the mixing of tea stems. Therefore, the accurate identification of tea foreign matter has become the key to automated tea production.

[0003] The patent with publication number CN222447348U discloses an infrared foreign matter detection device for raw tea processing. A conveyor belt is arranged on the base, a feed baffle is arranged on the left side of the conveyor belt, a light-proof detection box is arranged on the right side of the feed baffle, an infrared imager is arranged in the detection box, and an absorption tube is arranged on the right side of the infrared imager. The foreign matter and the tea leaves next to it are directly sucked away and stored in the absorption box by negative pressure. After the absorption box is full, the tea leaves and foreign matter in the absorption box are output through the conveyor belt.

[0004] However, some foreign objects will be blocked by the tea leaves above and cannot be removed cleanly. Summary of the invention

[0005] The purpose of the present invention is to provide a tea foreign body identification and sorting device and a tea foreign body identification and sorting method, which can cleanly remove foreign bodies in tea leaves.

[0006] To achieve the above object, the present invention provides the following technical solution: a tea foreign body identification and sorting device, comprising: A frame, on which a workbench is fixed; A spider-arm parallel robot, wherein the spider-arm parallel robot is fixed on the frame; A visual recognition suction cup hand, wherein the visual recognition suction cup hand is installed on the output end of the spider-hand parallel robot, and the visual recognition suction cup hand is fixed with an industrial camera and a suction cup seat; A flexible vibration plate, wherein the flexible vibration plate is mounted on the workbench; A laser detection device, the laser detection device includes a laser detector, a pin rod, a laser X-axis linear drive device, a laser Y-axis linear drive device and a laser Z-axis linear drive device, the laser Y-axis linear drive device is fixed to the workbench through a laser Y-axis bracket, the laser X-axis linear drive device is installed on the laser Y-axis linear drive device, the laser Z-axis linear drive device and the laser detector are installed on the laser X-axis linear drive device, the pin rod is installed on the laser Z-axis linear drive device, and the laser detector and the pin rod are located above the flexible vibration disk.

[0007] Furthermore, it also includes an angle conversion manipulator arm, the angle conversion manipulator arm is installed on the output end of the spider-arm parallel robot, and the visual recognition suction cup hand is fixed on the output end of the angle conversion manipulator arm; The visual recognition suction cup hand comprises a recognition substrate, a linear driving device and a recognition rod, wherein the recognition substrate is fixed to the output end of the angle conversion manipulator arm, the linear driving device is mounted on the recognition substrate, the recognition rod is fixedly connected to the output end of the linear driving device, two first suction cup rods are fixed on the recognition rod, and two first suction cups are fixed on each of the first suction cup rods, and the industrial camera and the suction cup seat are fixed on the recognition rod; The angle conversion robot arm drives the identification substrate to rotate, so that the visual identification suction cup hand is in a suction state and a first sorting state. In the suction state, the suction cup seat faces the material tray, and in the first sorting state, the first suction cup faces the material tray.

[0008] Further, the linear pushing device is configured as an identification cylinder, identification parallel rods are fixed at both ends of the identification substrate, an identification guide rail is fixed on each of the identification parallel rods, an identification slide groove is provided on the identification guide rail, the shell of the identification cylinder is hinged to the identification substrate, an identification bracket is fixed on the air rod of the identification cylinder, identification sliders plugged into the identification slide groove are fixed at both ends of the identification bracket, and the first suction cup rod is fixedly connected to the identification bracket.

[0009] Furthermore, two second suction cup rods are fixed on the identification rod, and the second suction cup rods are fixedly connected to the identification bracket, and two second suction cups are fixed on each of the second suction cup rods, and the spacing between the two second suction cups is different from the spacing between the two first suction cups, and the opening direction of the first suction cup is opposite to the opening direction of the second suction cup. The visual identification suction cup hand also includes a second sorting state, in which the second suction cup faces the material tray.

[0010] Furthermore, two suction cup seats are provided, and the suction cup holes of the two suction cup seats have different apertures.

[0011] Furthermore, the angle conversion manipulator arm comprises: An angle conversion motor mounting seat, wherein the angle conversion motor mounting seat is fixedly connected to an output end of the spider-arm parallel robot; An angle conversion motor, the angle conversion motor is fixed on the angle conversion motor mounting seat; An angle conversion output seat, the angle conversion output seat is fixed on the rotating shaft of the angle conversion motor, the angle conversion output seat is fixedly connected to the identification substrate, when the visual recognition suction cup hand is in the suction state, the angle between the axis of the rotating shaft of the angle conversion motor and the moving direction of the linear driving device is 145°.

[0012] Furthermore, it also includes a first conveyor belt device, which is used to transport the material tray that needs to be sorted out of foreign objects to the bottom of the visual recognition suction cup hand.

[0013] A method for identifying and sorting tea foreign bodies is also disclosed. Based on the above-mentioned tea foreign body identification and sorting device, the method comprises the following steps: Tray conveying and identification: The tray is conveyed to the bottom of the visual recognition sucker through the first conveyor belt device. At this time, the visual recognition sucker is in the suction state. The industrial camera identifies the size of the tray and determines whether to use the first sucker or the second sucker to suck the tray. Tray suction and placement: The angle conversion robot arm rotates the visual recognition suction cup hand to the first sorting state or the second sorting state, and the first suction cup or the second suction cup moves the tray to the flexible vibration plate; Foreign matter suction and sorting: The angle conversion manipulator arm turns the visual recognition suction cup hand to the suction state, the industrial camera recognizes the foreign matter in the tray, the spider hand parallel robot drives the suction cup hand's suction cup hole to move to the top of the foreign matter, the recognition cylinder drives the suction cup seat downward to absorb the foreign matter and place it on the workbench outside the flexible vibration plate. The laser detection device is started to conduct a comprehensive detection and identification of foreign matter in the three-dimensional spatial coordinates of the material tray. If it is found that the tea blocks inorganic foreign matter, the laser X-axis linear drive device, the laser Y-axis linear drive device and the laser Z-axis linear drive device drive the ejector rod to push the Pu'er tea apart, and then use the visual recognition suction cup hand to absorb the foreign matter. The flexible vibration plate starts vibrating for the first time. If the industrial camera recognizes organic foreign matter, or the vibration laser detection device recognizes inorganic foreign matter, a second round of sorting is carried out and the above process is repeated. If no foreign matter is found in three consecutive tests, the foreign matter identification and sorting process of the material tray is terminated.

[0014] Compared with the prior art, the present invention has the following beneficial effects: (1) The flexible vibration plate can vibrate multiple times. After each vibration, the industrial camera is used to identify and absorb foreign matter, which can remove foreign matter from the tea leaves more cleanly. (2) When working, the industrial camera first identifies the size of the material tray. If the size of the material tray is suitable for the first suction cup to suck, the visual recognition suction cup hand switches to the first sorting state. If the size of the material tray is suitable for the second suction cup to suck, the visual recognition suction cup hand switches to the second sorting state. The visual recognition suction cup hand can suck up foreign objects while also sucking up material trays of different sizes; (3) The laser X-axis linear drive device, the laser Y-axis linear drive device and the laser Z-axis linear drive device can drive the ejector pin to move in the X, Y and Z directions, so that the ejector pin can push the tea leaves away, and can also drive the laser detector to move. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of the tea foreign body identification and sorting equipment; Figure 2 It is a schematic diagram of the structure of the visual recognition suction cup hand and the angle conversion robot arm; Figure 3 A schematic diagram of the structure of the suction cup hand for visual recognition; Figure 4 It is a schematic diagram of the results of the laser detection device and the flexible vibration plate; Figure 5 It is a structural schematic diagram of the angle conversion robot arm; Figure 6 It is a structural schematic diagram of the angle conversion robot arm when it is in another state; Figure 7 for Figure 5 Side view of.

[0016] In the figure: 1, rack; 2, workbench; 3, spider-arm parallel robot; 4, flexible vibration plate; 5, first conveyor belt device; 100, visual recognition suction cup hand; 101, industrial camera; 102, suction cup seat; 103, recognition substrate; 104, recognition rod; 105, linear push device; 106, first suction cup rod; 107, first suction cup; 108, recognition parallel rod; 109, recognition guide rail; 110, recognition slide; 111, recognition bracket; 112, recognition slider; 113 , second suction cup rod; 114, second suction cup; 115, suction cup hole; 200, laser detection device; 201, laser detector; 202, ejector rod; 203, laser X-axis linear drive device; 204, laser Y-axis linear drive device; 205, laser Z-axis linear drive device; 206, laser Y-axis bracket; 207, irradiation lamp; 300, angle conversion manipulator arm; 301, angle conversion motor mounting seat; 302, angle conversion motor; 303, angle conversion output seat. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] See also Figure 1-Figure 7 The present invention provides a technical solution for tea foreign body identification and sorting equipment and a tea foreign body identification and sorting method.

[0019] A tea foreign body identification and sorting device, comprising: A frame 1, on which a workbench 2 is fixed; The spider-arm parallel robot 3 is fixed on the frame 1; A visual recognition suction cup hand 100 is installed on the output end of the spider-hand parallel robot 3, and the visual recognition suction cup hand 100 is fixed with an industrial camera 101 and a suction cup seat 102; A flexible vibration plate 4 is installed on the workbench 2 .

[0020] When in use, the tea tray with foreign matter can be placed on the flexible vibration tray 4, the industrial camera 101 identifies the foreign matter in the tray, the spider-arm parallel robot 3 drives the suction cup seat 102 of the suction cup hand to move to the top of the foreign matter, the suction cup seat 102 absorbs the foreign matter and places it on the workbench 2 outside the flexible vibration tray 4. The flexible vibration tray 4 can vibrate multiple times, and the industrial camera 101 is used to identify and absorb foreign matter after each vibration, so that foreign matter in the tea can be removed more cleanly.

[0021] The spider-arm parallel robot 3 and the flexible vibration plate 4 are existing devices, and their specific structures are not described in detail.

[0022] The tea foreign body identification and sorting equipment also includes an angle conversion manipulator arm 300, which is installed on the output end of the spider hand parallel robot 3, and the visual recognition sucker hand 100 is fixed on the output end of the angle conversion manipulator arm 300; The visual recognition suction cup hand 100 includes a recognition substrate 103, a linear push device 105 and a recognition rod 104. The recognition substrate 103 is fixed to the output end of the angle conversion manipulator arm 300. The linear push device 105 is installed on the recognition substrate 103. The recognition rod 104 is fixedly connected to the output end of the linear push device 105. Two first suction cup rods 106 are fixed on the recognition rod 104. The two first suction cup rods 106 are arranged in parallel. Two first suction cups 107 are fixed on each first suction cup rod 106. The line formed by the four first suction cups 107 is a rectangle. The industrial camera 101 and the suction cup seat 102 are fixed on the recognition rod 104. The angle conversion robot arm 300 drives the identification substrate 103 to rotate, so that the visual recognition suction cup hand 100 is in a suction state and a first sorting state. In the suction state, the suction cup seat 102 faces the material tray, and in the first sorting state, the first suction cup 107 faces the material tray.

[0023] The material tray is transported to the bottom of the visual recognition suction cup. After the industrial camera 101 recognizes the material tray, the angle conversion robot arm 300 drives the recognition substrate 103 to rotate, so that the visual recognition suction cup hand 100 is in the first sorting state, and the first suction cup 107 faces the material tray. The spider arm parallel robot 3 drives the first suction cup 107 to suck up the material tray and place it in the flexible vibration plate 4. Then the angle conversion robot arm 300 drives the recognition substrate 103 to rotate, so that the visual recognition suction cup hand 100 is in the suction state. After the industrial camera 101 recognizes the foreign object, the linear push device 105 drives the recognition rod 104 to move downward, so that the suction cup seat 102 moves the foreign object out and picks it up.

[0024] The linear push device 105 is configured as an identification cylinder, and identification parallel rods 108 are fixed at both ends of the identification substrate 103, and an identification guide rail 109 is fixed on each identification parallel rod 108, and an identification slide groove 110 is provided on the identification guide rail 109. The shell of the identification cylinder is hinged with the identification substrate 103, and an identification bracket 111 is fixed on the gas rod of the identification cylinder. Both ends of the identification bracket 111 are fixed with identification sliders 112 plugged into the identification slide groove 110, and the first suction cup rod 106 is fixedly connected to the identification bracket 111. When the gas rod of the identification cylinder is extended, it drives the identification bracket 111 to move away from the identification substrate 103. At this time, the identification slider 112 moves in the identification slide groove 110, and the identification bracket 111 drives the identification rod 104 to move downward through the first suction cup rod 106 to absorb foreign matter.

[0025] Two second suction cup rods 113 are also fixed on the identification rod 104, and the two second suction cup rods 113 are arranged in parallel. Two second suction cups 114 are fixed on each second suction cup rod 113. The line formed by the four second suction cups 114 forms a rectangle. The second suction cup rod 113 is fixedly connected to the identification bracket 111. The spacing between the two second suction cups 114 is different from the spacing between the two first suction cups 107. The opening direction of the first suction cup 107 is opposite to the opening direction of the second suction cup 114. The visual identification suction cup hand 100 also includes a second sorting state. In the second sorting state, the second suction cup 114 faces the material tray.

[0026] When working, the industrial camera 101 first identifies the size of the material tray. If the size of the material tray is suitable for the first suction cup 107 to suck, the visual recognition suction cup hand 100 switches to the first sorting state. If the size of the material tray is suitable for the second suction cup 114 to suck, the visual recognition suction cup hand 100 switches to the second sorting state. The visual recognition suction cup hand 100 can suck foreign objects and trays of different sizes at the same time.

[0027] like Figure 3 As shown, two suction cup seats 102 are provided, and the apertures of the suction cup holes 115 of the two suction cup seats 102 are different. The four-hole large-diameter suction cup seat 102 is used to absorb larger foreign objects (such as small branches, small bamboo pieces, and paper scraps), and the four-hole small-diameter suction cup seat 102 is used to absorb smaller foreign objects (such as rice, small yellow pieces, and small glass).

[0028] The angle conversion robot arm 300 comprises: An angle conversion motor mounting seat 301, the angle conversion motor mounting seat 301 is fixedly connected to the output end of the spider-arm parallel robot 3; An angle conversion motor 302, the angle conversion motor 302 is fixed on the angle conversion motor mounting seat 301; The angle conversion output seat 303 is fixed on the rotating shaft of the angle conversion motor 302, and the angle conversion output seat 303 is fixedly connected to the recognition substrate 103, and the visual recognition suction cup hand 100 is in the suction state (such as Figure 2 As shown in FIG. 1 , the angle between the axis of the rotating shaft of the angle conversion motor 302 and the moving direction of the linear driving device 105 is 145°.

[0029] The tea foreign body identification and sorting equipment further comprises a first conveyor belt device 5 , which is used to transport the material trays that need to be sorted for foreign bodies to the bottom of the visual identification suction cup hand 100 .

[0030] In the first sorting state and the second sorting state, the length direction of the first suction cup rod 106 is parallel to the conveyor belt of the first conveyor belt device 5, so that it can be used to suck the material tray.

[0031] The tea foreign body identification and sorting equipment also includes a laser detection device 200, which includes a laser detector 201, a pin rod 202, a laser X-axis linear drive device 203, a laser Y-axis linear drive device 204 and a laser Z-axis linear drive device 205. The laser Y-axis linear drive device 204 is fixed to the workbench 2 through a laser Y-axis bracket 206, the laser X-axis linear drive device 203 is installed on the laser Y-axis linear drive device 204, the laser Z-axis linear drive device 205 and the laser detector 201 are installed on the laser X-axis linear drive device 203, the pin rod 202 is installed on the laser Z-axis linear drive device 205, and the laser detector 201 and the pin rod 202 are located above the flexible vibration disk 4.

[0032] The laser X-axis linear drive device 203, the laser Y-axis linear drive device 204 and the laser Z-axis linear drive device 205 can drive the ejector pins to move in the X, Y and Z directions, so that the ejector pins can push the tea leaves aside, and can also drive the laser detector 201 to move.

[0033] like Figure 3 As shown, an illumination lamp 207 is also fixed on the identification rod 104, and the illumination lamp 207 plays a role of illumination for better identification and sorting.

[0034] The irradiation lamp is a WR63HW ring light, the model of the industrial camera is FCXZSM588, and the model of the spider-arm parallel robot 3 is FANUC M-1iA / 0.5.

[0035] A method for identifying and sorting tea foreign bodies is also disclosed. Based on the above-mentioned tea foreign body identification and sorting device, the method comprises the following steps: Tray conveying and identification: The tray is conveyed to the bottom of the visual recognition sucker hand 100 by the first conveyor belt device 5. At this time, the visual recognition sucker hand 100 is in the suction state ( Figure 1 state), the industrial camera 101 identifies the size of the tray and determines whether to use the first suction cup 107 or the second suction cup 114 to suck the tray; Tray suction and placement: The angle conversion manipulator arm 300 rotates the visual recognition suction cup hand 100 to the first sorting state or the second sorting state, and the first suction cup 107 or the second suction cup 114 moves the tray to the flexible vibration plate 4; Foreign matter suction and sorting: The angle conversion manipulator arm 300 rotates the visual recognition suction cup hand 100 to the suction state, the industrial camera 101 recognizes the foreign matter in the tray, the spider hand parallel robot 3 drives the suction cup hole 115 of the suction cup hand to move above the foreign matter, and the recognition cylinder drives the suction cup seat 102 downward to suck the foreign matter and place it on the workbench 2 outside the flexible vibration plate 4. The laser detection device 200 is started to conduct a comprehensive detection and identification of foreign matter in the three-dimensional space coordinates of the material tray. If it is found that the tea blocks inorganic foreign matter, the laser X-axis linear drive device 203, the laser Y-axis linear drive device 204 and the laser Z-axis linear drive device 205 drive the ejector rod 202 to push the Pu'er tea away, and then use the visual recognition suction cup hand 100 to absorb the foreign matter. The flexible vibration plate 4 starts vibrating for the first time. If the industrial camera 101 identifies organic foreign matter, or the vibration laser detection device 200 identifies inorganic foreign matter, a second round of sorting is performed and the above process is repeated. If no foreign matter is detected for three consecutive times, the foreign matter identification and sorting process of the tray is terminated.

[0036] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A tea foreign body identification and sorting device, characterized in that: include: A frame, on which a workbench is fixed; A spider-arm parallel robot, wherein the spider-arm parallel robot is fixed on the frame; A visual recognition suction cup hand, wherein the visual recognition suction cup hand is installed on the output end of the spider-hand parallel robot, and the visual recognition suction cup hand is fixed with an industrial camera and a suction cup seat; A flexible vibration plate is installed on the workbench.

2. The tea foreign body identification and sorting device according to claim 1, characterized in that: It also includes an angle conversion manipulator arm, which is mounted on the output end of the spider-arm parallel robot, and the visual recognition sucker hand is fixed on the output end of the angle conversion manipulator arm; The visual recognition suction cup hand comprises a recognition substrate, a linear driving device and a recognition rod, wherein the recognition substrate is fixed to the output end of the angle conversion manipulator arm, the linear driving device is mounted on the recognition substrate, the recognition rod is fixedly connected to the output end of the linear driving device, two first suction cup rods are fixed on the recognition rod, and two first suction cups are fixed on each of the first suction cup rods, and the industrial camera and the suction cup seat are fixed on the recognition rod; The angle conversion robot arm drives the identification substrate to rotate, so that the visual identification suction cup hand is in a suction state and a first sorting state. In the suction state, the suction cup seat faces the material tray, and in the first sorting state, the first suction cup faces the material tray.

3. The tea foreign body identification and sorting device according to claim 2, characterized in that: The linear pushing device is configured as an identification cylinder, identification parallel rods are fixed at both ends of the identification substrate, an identification guide rail is fixed on each of the identification parallel rods, an identification slide groove is provided on the identification guide rail, the shell of the identification cylinder is hinged to the identification substrate, an identification bracket is fixed on the gas rod of the identification cylinder, identification sliders plugged into the identification slide groove are fixed at both ends of the identification bracket, and the first suction cup rod is fixedly connected to the identification bracket.

4. The tea foreign body identification and sorting device according to claim 3, characterized in that: Two second suction cup rods are also fixed on the identification rod, and the second suction cup rods are fixedly connected to the identification bracket, and two second suction cups are fixed on each of the second suction cup rods, and the spacing between the two second suction cups is different from the spacing between the two first suction cups, and the opening direction of the first suction cup is opposite to the opening direction of the second suction cup. The visual identification suction cup hand also includes a second sorting state, in which the second suction cup faces the material tray.

5. The tea foreign body identification and sorting device according to claim 1, characterized in that: Two suction cup seats are provided, and the suction cup holes of the two suction cup seats have different apertures.

6. The tea foreign body identification and sorting device according to claim 2, characterized in that: The angle conversion manipulator arm comprises: An angle conversion motor mounting seat, wherein the angle conversion motor mounting seat is fixedly connected to an output end of the spider-arm parallel robot; An angle conversion motor, the angle conversion motor is fixed on the angle conversion motor mounting seat; An angle conversion output seat, the angle conversion output seat is fixed on the rotating shaft of the angle conversion motor, the angle conversion output seat is fixedly connected to the identification substrate, when the visual recognition suction cup hand is in the suction state, the angle between the axis of the rotating shaft of the angle conversion motor and the moving direction of the linear driving device is 145°.

7. The tea foreign body identification and sorting device according to claim 1, characterized in that: It also includes a first conveyor belt device, which is used to transport the material tray that needs to be sorted of foreign objects to the bottom of the visual recognition suction cup hand.

8. The tea foreign body identification and sorting device according to claim 1, characterized in that: It also includes a laser detection device, which includes a laser detector, a pin rod, a laser X-axis linear drive device, a laser Y-axis linear drive device and a laser Z-axis linear drive device. The laser Y-axis linear drive device is fixed to the workbench through a laser Y-axis bracket, the laser X-axis linear drive device is installed on the laser Y-axis linear drive device, the laser Z-axis linear drive device and the laser detector are installed on the laser X-axis linear drive device, the pin rod is installed on the laser Z-axis linear drive device, and the laser detector and the pin rod are located above the flexible vibration disk.

9. The tea foreign body identification and sorting device according to claim 3, characterized in that: An irradiation lamp is also fixed on the identification rod.

10. A method for identifying and sorting foreign matter in tea leaves, characterized in that: The tea foreign body identification and sorting device according to any one of claims 1 to 9 comprises the following steps: Tray conveying and identification: The tray is conveyed to the bottom of the visual recognition sucker through the first conveyor belt device. At this time, the visual recognition sucker is in the suction state. The industrial camera identifies the size of the tray and determines whether to use the first sucker or the second sucker to suck the tray. Tray suction and placement: The angle conversion robot arm rotates the visual recognition suction cup hand to the first sorting state or the second sorting state, and the first suction cup or the second suction cup moves the tray to the flexible vibration plate; Foreign matter suction and sorting: The angle conversion manipulator arm turns the visual recognition suction cup hand to the suction state, the industrial camera recognizes the foreign matter in the tray, the spider hand parallel robot drives the suction cup hand's suction cup hole to move to the top of the foreign matter, the recognition cylinder drives the suction cup seat downward to absorb the foreign matter and place it on the workbench outside the flexible vibration plate. The laser detection device is started to conduct a comprehensive detection and identification of foreign matter in the three-dimensional spatial coordinates of the material tray. If it is found that the tea blocks inorganic foreign matter, the laser X-axis linear drive device, the laser Y-axis linear drive device and the laser Z-axis linear drive device drive the ejector rod to push the Pu'er tea apart, and then use the visual recognition suction cup hand to absorb the foreign matter. The flexible vibration plate starts vibrating for the first time. If the industrial camera recognizes organic foreign matter, or the vibration laser detection device recognizes inorganic foreign matter, a second round of sorting is carried out and the above process is repeated. If no foreign matter is found in three consecutive tests, the foreign matter identification and sorting process of the material tray is terminated.

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