Rhizomatic Chinese herbal medicine cleaning device and cleaning method

Abstract

The invention relates to the technical field of plant rhizome cleaning, in particular to a rhizome Chinese herbal medicine cleaning device and method. The invention discloses a preprocessing mechanism, a first-stage cleaning mechanism, a second-stage cleaning mechanism and an image recognition mechanism. The four mechanisms are placed in sequence, and Chinese herbal medicine is conveyed among the four mechanisms through the pushing assembly, the first conveying belt, the second conveying belt and the third conveying belt. Meanwhile, high-pressure water jet and ultrasonic cleaning are respectively adopted, so that effective cleaning in the Chinese herbal medicine gullies is ensured, an excellent cleaning effect can be realized, rolling and friction of the Chinese herbal medicine aggregated together are avoided, and root hair winding and surface damage are effectively avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of plant rhizome cleaning, and particularly relates to a cleaning device and a cleaning method for rhizome Chinese herbal medicines. Background Art

[0002] Chinese medicinal materials are characteristic cash crops in China and also the material basis for the high-quality development of traditional Chinese medicine and the health industry. Traditional Chinese medicine refers to natural medicines and their processed substitutes that are guided by traditional Chinese medicine theory and are used for preventing and treating diseases and have the functions of rehabilitation and health care, mainly including plant medicines, animal medicines, and mineral medicines. Plant medicines are also called Chinese herbal medicines, which include rhizome, leaf, flower, bark, seed, and whole herb types.

[0003] After Chinese medicinal materials are collected, they need to be processed, and before processing, the medicinal materials need to be cleaned. A large amount of dust and soil will be attached to Chinese herbal medicines during harvesting, and cleaning is the first step in the processing of Chinese herbal medicines and an important step affecting the quality of subsequent processing. Especially for rhizome Chinese herbal medicines that are widely planted, their medicinal parts are in direct contact with the soil, the surface is relatively rough, and dirt, germs, etc. are hidden between branches and forks. They must be cleaned before subsequent processing. Moreover, the cleaning requirements for rhizome Chinese herbal medicines are more stringent. It is necessary to remove the surface and hidden dirt, and at the same time prevent the medicinal value of the medicinal materials from being affected. The cleaning effect has a great impact on the quality of subsequent processing.

[0004] In order to complete the cleaning work of Chinese herbal medicines, the existing technology uses a drum-type cleaning machine. The surface of the Chinese herbal medicines to be cleaned is washed by the water flow formed when the drum rotates. When the drum rotates, it drives the rolling and turning of the cleaning objects in the drum to make the cleaning more uniform, and the stains washed off during the rolling process will flow out of the drum through the holes on the drum. Although the drum-type cleaning machine realizes the automatic cleaning work of Chinese herbal medicines, its degree of automation is low, and it has at least the following disadvantages: 1. It is difficult to clean the stains in the grooves of rhizome Chinese herbal medicines thoroughly; 2. The root hairs of rhizome Chinese herbal medicines are easy to entangle; 3. Strong friction will occur between Chinese herbal medicines and between Chinese herbal medicines and the drum when the Chinese herbal medicines rotate with the drum. These frictions will damage the epidermis of Chinese herbal medicines and cause the loss of active ingredients of Chinese herbal medicines. Summary of the Invention

[0005] In order to solve the problem of poor cleaning effect of rhizome Chinese herbal medicines in the above background art, the present invention provides a cleaning device and a cleaning method for rhizome Chinese herbal medicines, which can achieve excellent cleaning effects and avoid the entanglement of root hairs and surface damage of Chinese herbal medicines.

[0006] In a first aspect, the present invention provides a cleaning device for rhizome Chinese herbal medicines, including: Pretreatment mechanism, the pretreatment mechanism includes a first bracket, inside which a water tank and a screen are sequentially arranged, the screen is nested in the water tank, and lifting cylinders are connected to both sides of the screen, and the lifting cylinders can drive the screen to move in the vertical direction; a feeding assembly is arranged on one side of the first bracket, and the feeding assembly can push the Chinese herbal medicine on the screen when it reaches a preset position out of the discharge port of the pretreatment mechanism. Primary cleaning mechanism, the primary cleaning mechanism includes a first conveyor belt and a jet bracket, one end of the first conveyor belt is connected to the discharge port of the pretreatment mechanism, the jet bracket is arranged on both sides of the first conveyor belt, a high-pressure jet pipe is provided at the top of the jet bracket, and nozzles are provided on the high-pressure jet pipe, and the nozzles can spray water jets towards the first conveyor belt; the pressure of the basic section of the water jet sprayed by the nozzles is 0.4MPa - 0.6MPa, and the diameter d of the nozzles, the distance L between the nozzle outlet and the landing point of the water jet on the first conveyor belt, and the diameter d1 of the Chinese herbal medicine satisfy the following relationship: ; Image recognition mechanism, the image recognition mechanism includes a third conveyor belt, one end of the third conveyor belt is connected to the other end of the second conveyor belt, a light-shielding plate is provided on the third conveyor belt, and an image recognition camera and an LED module are provided inside the light-shielding plate, and the image recognition camera can take images of Chinese herbal medicine to identify the cleaning state of the Chinese herbal medicine. Robot arm, the robot arm is arranged on one side of the image recognition mechanism. If the image recognition mechanism recognizes that the cleaning state of the Chinese herbal medicine is not clean, the robot arm will send the unclean Chinese herbal medicine onto the first conveyor belt.

[0007] Further, the feeding assembly includes: a push plate bracket, the push plate bracket is arranged on the side of the first bracket away from the first conveyor belt, a push plate hydraulic cylinder is connected to the top of the push plate bracket, and a push plate is connected to the end of the push plate hydraulic cylinder. When the push plate extends, it can push the Chinese herbal medicine on the screen when it reaches a preset position onto the first conveyor belt of the primary cleaning mechanism.

[0008] Further, the cleaning device further includes: a secondary cleaning mechanism, the secondary cleaning mechanism includes a second conveyor belt and an ultrasonic cleaning tank for containing an ultrasonic cleaning medium. One end of the first conveyor belt is connected to one end of the second conveyor belt, the middle part of the second conveyor belt is recessed into the ultrasonic cleaning tank, and several groups of ultrasonic transducers are respectively arranged on both sides of the ultrasonic cleaning tank.

[0009] Further, a drain port and a cylinder are arranged at the bottom of the water tank, a bottom cover is provided on the drain port, and the bottom cover is connected to the end of the piston rod of the cylinder, and the cylinder is used to control the opening and closing of the bottom cover.

[0010] Furthermore, the angle between the central axis of the nozzle and the plane of the first conveyor belt is 45° to 75°, and the diameter change rate of the water jet within the basic section is less than 10%.

[0011] Furthermore, the pressure of the basic section of the water jet is 0.5 MPa.

[0012] Furthermore, the water jet ejected from the nozzle is perpendicular to the first conveyor belt.

[0013] Furthermore, the cleaning device further includes: An alarm system, which includes several groups of infrared photoelectric sensors arranged in the ultrasonic cleaning tank for judging the sediment content of the ultrasonic cleaning medium. The infrared photoelectric sensor includes a transmitter and a receiver. The transmitter is used to emit infrared light, and the receiver is used to receive the infrared light passing through the cleaning medium. The alarm system further includes an analysis module, which is used to analyze and compare the infrared light intensities received by multiple receivers with a preset threshold to obtain an analysis result. If the analysis result shows that the sediment content of the cleaning medium exceeds the standard, an over-standard signal is sent to the alarm system, and the alarm system issues an alarm prompt according to the over-standard signal.

[0014] Furthermore, the deployment positions of the transmitter and the receiver include the bottom and the top inside the ultrasonic cleaning tank, and / or the parts where the second conveyor belt enters and leaves the ultrasonic cleaning tank; Analyzing and comparing the infrared light intensities received by multiple receivers with a preset threshold to obtain an analysis result, including: If the infrared light intensity received by more than half of the receivers is less than the preset threshold, the analysis result is that the sediment content of the cleaning medium exceeds the standard; If the infrared light intensity received by a certain preset receiver and / or the receiver deployed at the part where the second conveyor belt leaves the ultrasonic cleaning tank is less than the preset value, the analysis result is that the sediment content of the cleaning medium exceeds the standard.

[0015] Furthermore, a tray is provided at the execution end of the robotic arm, and a linear motion track is provided at the bottom of the robotic arm. One end of the linear motion track is provided at the head end of the first conveyor belt, and the other end of the linear motion track is provided at the tail end of the third conveyor belt. When the image recognition mechanism recognizes that the cleaning state of the Chinese herbal medicine is not clean, the robotic arm receives a signal from the image recognition mechanism or the cloud, moves along the linear motion track to the end of the third conveyor belt, collects the unclean Chinese herbal medicine into a tray, and then moves along the linear motion track to the head of the first conveyor belt to send the unclean Chinese herbal medicine onto the first conveyor belt.

[0016] In a second aspect, the present invention provides a cleaning method for rhizome Chinese herbal medicines, using the rhizome Chinese herbal medicine cleaning device of any of the above embodiments, including the following steps: Set the screen in the pretreatment mechanism to the starting position, and place the Chinese herbal medicine to be cleaned on the screen for pretreatment of the Chinese herbal medicine; Lift the screen containing the Chinese herbal medicine to a preset position, and use the pusher assembly to push the Chinese herbal medicine in the screen into the primary cleaning mechanism; The first conveyor belt transports the pretreated Chinese herbal medicine under the high-pressure jet pipe for high-pressure water jet washing. After washing, the Chinese herbal medicine leaves the water jet area under the drive of the first conveyor belt and is sent to the second conveyor belt of the secondary cleaning mechanism; The second conveyor belt sends the Chinese herbal medicine into the ultrasonic cleaning tank for ultrasonic cleaning. Subsequently, the second conveyor belt takes the Chinese herbal medicine out of the ultrasonic cleaning tank and sends it to the third conveyor belt of the image recognition mechanism; The image recognition camera collects the image of the Chinese herbal medicine on the third conveyor belt, uploads the collected image to the cloud server for image processing. The image processing includes at least one or more of denoising, brightness adjustment, contrast adjustment, and normalization processing, and analyzes and compares the processed image to determine whether the Chinese herbal medicine after cleaning is clean. If it is not clean, real-time feedback is performed, and the Chinese herbal medicine corresponding to the collected image is sent back to the primary cleaning mechanism for secondary cleaning.

[0017] Beneficial effects Compared with the prior art, the advantages of the present invention are: 1. The device of the present invention has multiple cleaning processes, using high-pressure water jet and ultrasonic cleaning respectively, ensuring effective cleaning inside the grooves of the Chinese herbal medicine, achieving excellent cleaning effects, and avoiding the Chinese herbal medicines from aggregating and rolling and rubbing against each other, effectively avoiding root entanglement and surface damage; 2. The device of the present invention soaks the Chinese herbal medicine in water using the pretreatment mechanism, enabling the soil on the surface of the Chinese herbal medicine to absorb water into the pores between the soil particles, weakening the viscosity between the soil particles, increasing the porosity, and enlarging the gaps between the soils, making the whole soil become loose, facilitating the removal of the large pieces of soil on the surface of the Chinese herbal medicine during the next stage of cleaning; 3. The pretreatment mechanism of the present invention uses a pushing plate to slowly push the Chinese herbal medicines in the sieve into the primary cleaning mechanism, eliminating the need for manual transportation, with a high degree of automation, improving the cleaning efficiency, reducing the labor intensity of the staff, and preventing the accumulation of Chinese herbal medicines; 4. The present invention preliminarily cleans the surface of Chinese herbal medicines by spraying high-pressure water jets. By precisely controlling the water jet pressure and the distance between the nozzle and the Chinese herbal medicines, most of the soil can be removed; 5. The present invention uses ultrasonic waves to generate cavitation bubbles to destroy surface pollutants. And because the physical size of the bubbles is small enough, they can reach the grooves on the surface of Chinese herbal medicines, effectively removing the stains in the grooves on the surface of Chinese herbal medicines; 6. By setting the LED module and the light-shielding plate, the present invention can avoid the problem that the images captured by the image recognition camera are unclear due to too weak external light intensity, ensuring the cleanliness of the Chinese herbal medicines put into use; 7. The present invention uses a robotic arm to achieve the transportation between the image recognition mechanism and the cleaning mechanism, eliminating the need for manual transportation, with a high degree of automation, improving the cleaning efficiency, and reducing the labor intensity of the staff. Description of the Drawings

[0018] Figure 1 is a schematic diagram of the cleaning device for rhizome Chinese herbal medicines provided by an embodiment of the present invention; Figure 2 is a schematic diagram of the pretreatment mechanism provided by an embodiment of the present invention in one direction; Figure 3 is a schematic diagram of the pretreatment mechanism provided by an embodiment of the present invention in another direction; Figure 4 is Figure 3 a partial enlarged schematic diagram of part A in; Figure 5 is a schematic diagram of the structure of the sieve provided by an embodiment of the present invention; Figure 6 is a schematic diagram of the primary cleaning mechanism provided by an embodiment of the present invention in one direction; Figure 7 is a schematic diagram of the primary cleaning mechanism provided by an embodiment of the present invention in another direction; Figure 8 is Figure 7 a partial enlarged schematic diagram of part B in; Figure 9 is a schematic diagram of the high-pressure jet pipe provided by an embodiment of the present invention; Figure 10 is a schematic diagram of the secondary cleaning mechanism provided by an embodiment of the present invention; Figure 11 is an exploded schematic diagram of the secondary cleaning mechanism provided by an embodiment of the present invention; Figure 12 isFigure 11 Partial enlarged schematic diagram at position C Figure 13 Schematic diagram of the force analysis of Chinese herbal medicines provided by an embodiment of the present invention Figure 14 Schematic diagram of the image recognition mechanism provided by an embodiment of the present invention Figure 15 is Figure 14 Partial enlarged schematic diagram at position D

[0019] Figure 1 - Figure 15 In: 10. Pretreatment mechanism; 110. First bracket; 120. Water tank; 130. Screen; 140. Lifting cylinder; 150. Cylinder bracket; 160. Bottom cover; 170. Drainage cylinder; 20. Pushing component; 210. Pushing plate bracket; 220. Pushing plate hydraulic cylinder; 230. Pushing plate; 30. Primary cleaning mechanism; 310. First conveyor belt; 311. First motor; 312. First small pulley; 313. First belt; 314. First large pulley; 320. Jet bracket; 321. Jet fixing ring; 330. High-pressure jet pipe; 340. Nozzle; 40. Secondary cleaning mechanism; 410. Second conveyor belt; 411. Second motor; 412. Second small pulley; 413. Second belt; 414. Second large pulley; 420. Ultrasonic cleaning tank; 430. Ultrasonic transducer; 440. Protective cover; 50. Image recognition mechanism; 510. Third conveyor belt; 511. Third small pulley; 512. Third motor; 513. Third belt; 514. Third large pulley; 520. Light-shielding plate; 530. Image recognition camera; 540. LED module Detailed implementation manners

[0020] The accompanying drawings are only for illustrative purposes and should not be construed as limiting the present invention; it should be clear that the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope protected by the embodiments of the present application

[0021] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the embodiments of the present application. The singular forms of "a", "the" and "said" used in the embodiments of the present application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more of the associated listed items

[0022] When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims. In the description of the present application, it should be understood that the terms "first", "second", "third", etc. are only used to distinguish similar objects and do not have to be used to describe a specific order or sequence, nor can they be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0023] In addition, in the description of the present application, unless otherwise specified, "a plurality of" means two or more. "And / or" describes the association relationship of associated objects and indicates that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after. The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0024] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0025] In a first aspect, as Figure 1 shown, this embodiment discloses a cleaning device for rhizome Chinese herbal medicines, including a pretreatment mechanism 10, a primary cleaning mechanism 30, a secondary cleaning mechanism 40, and an image recognition mechanism 50; the four mechanisms are placed in sequence in order, and Chinese herbal medicines are transferred between them through a feeding component 20, a first conveyor belt 310, a second conveyor belt 410, and a third conveyor belt 510. This production line can use the feeding component 20 and the conveyor belts to achieve the transportation between the cleaning mechanisms at all levels, without manual transportation, with a high degree of automation, improving the cleaning efficiency and reducing the labor intensity of the staff. At the same time, high-pressure water jets and ultrasonic cleaning are respectively used to ensure the effective cleaning of the Chinese herbal medicines in the grooves, achieving excellent cleaning effects, and avoiding the Chinese herbal medicines from agglomerating and rolling and rubbing together, effectively avoiding root entanglement and surface damage.

[0026] As Figure 2 and Figure 3As shown in the figure, the pretreatment mechanism 10 includes a first support 110, a water tank 120, a screen 130, a lifting cylinder 140, a cylinder support 150, a bottom cover 160, and a drainage cylinder 170. The pushing component 20 includes a push plate support 210, a push plate hydraulic cylinder 220, and a pushing plate 230. Among them, both sides of the screen 130 are connected to the cylinder support 150 through the lifting cylinder 140. The screen 130 is nested in the water tank 120, and the lifting cylinder 140 can control the lifting of the screen 130 in the vertical direction. The water tank 120 is fixedly connected inside the first support 110. The water tank 120 is filled with water to soak the Chinese herbal medicines that have not been cleaned. The cylinder support 150 is placed outside the first support 110, and the pushing component 20 is placed at the rear. The top of the push plate support 210 is fixedly connected to the push plate hydraulic cylinder 220. The end of the push plate hydraulic cylinder 220 is fixedly connected to the pushing plate 230. The movement of the pushing plate 230 is controlled by the push plate hydraulic cylinder 220. When the push plate extends, it can push the pre-treated Chinese herbal medicines on the screen 130 at the highest position into the primary cleaning mechanism 30.

[0027] The dirt on the surface of rhizome Chinese herbal medicines is mainly mud. The pretreatment mechanism 10 is used to soak the Chinese herbal medicines in water. When soaking in water, the mud on the surface of the Chinese herbal medicines absorbs water into the pores between the soil particles. The viscosity between the soil particles weakens, the porosity increases, and the gaps between the soils become larger. The mud as a whole becomes loose, which is convenient for removing the large part of the mud on the surface of the Chinese herbal medicines during the next stage of cleaning. Moreover, the pushing plate 230 is used to slowly push the Chinese herbal medicines in the screen 130 into the primary cleaning mechanism 30, eliminating the need for manual transportation, with high automation, improving the cleaning efficiency, reducing the labor intensity of the staff, and avoiding the accumulation of Chinese herbal medicines.

[0028] As Figure 4 shown in the figure, a drainage port and a drainage cylinder 170 are provided at the bottom of the water tank 120. A bottom cover 160 corresponding to the drainage port at the bottom of the water tank 120 is also provided. The bottom cover 160 is fixedly connected to the end of the piston rod of the drainage cylinder 170. The opening and closing of the bottom cover 160 are controlled by the drainage cylinder 170. The cooperation of the drainage port and the drainage cylinder 170 can quickly drain the sewage, ensuring the soaking effect of the Chinese herbal medicines.

[0029] As Figure 5 shown in the figure, the screen 130 is U-shaped to facilitate the pushing plate to push the pre-treated Chinese herbal medicines into the primary cleaning mechanism 30.

[0030] As Figure 6 and Figure 7As shown in the figure, the primary cleaning mechanism 30 includes a first conveyor belt 310, a jet bracket 320, a high-pressure jet pipe 330, a nozzle 340, a first motor 311, a first small pulley 312, a first belt 313, a first large pulley 314, bolts, a jet fixing ring 321, and nuts; the first motor 311, the first small pulley 312, the first belt 313, and the first large pulley 314 are the power mechanism that provides power for the first conveyor belt 310; the head end of the first conveyor belt 310 is connected to the discharge port of the pretreatment mechanism 10, and the jet brackets 320 are fixedly connected to both sides of the first conveyor belt 310. The high-pressure jet pipe 330 is fixedly connected to the top of the jet bracket 320. The high-pressure jet pipe 330 is provided with nozzles 340. High-pressure water is passed through the high-pressure jet pipe 330. The nozzles 340 can spray water jets towards the first conveyor belt 310, and can initially clean the surface of Chinese herbal medicines by spraying high-pressure water jets. Moreover, during the cleaning process, the Chinese herbal medicines can move forward under the action of the first conveyor belt 310, reducing the working intensity of the operators.

[0031] As Figure 8 shown, the high-pressure jet pipe 330 is constrained to the top of the jet bracket 320 by the jet fixing ring 321, and both ends of the jet fixing ring 321 are fixed using bolts and nuts.

[0032] When cleaning with high-pressure water jets, the jets impact the dirt on the surface of Chinese herbal medicines in the forward or tangential direction. The surface of Chinese herbal medicines is subjected to the water wedge effect, impact effect, pulsed load fatigue effect, cavitation effect, dynamic pressure effect, and grinding effect of the water jets, resulting in the breaking, shearing, penetration, erosion, and peeling of the scale layer, and may cause crack propagation and water wedge effects. The water jet is divided into three stages along the length direction of the jet: the initial stage, the basic stage, and the dissipation stage. Among them, the cleaning effect of the basic stage is the best, and the optimal cleaning effect can be obtained when the nozzle of the high-pressure jet pipe is perpendicular to the conveyor belt. Assuming that the diameter of the water jet at the outlet of the nozzle 340 is d, the distance between the basic stage and the nozzle 340 is between 90d - 600d; As Figure 9 shown, the diameter of the nozzle 340 in the high-pressure jet pipe 330 is d, the distance between the outlet of the nozzle 340 and the landing point of the water jet on the first conveyor belt 310 is L, and the diameter of the Chinese herbal medicine is d1. In order to ensure that the Chinese herbal medicine can be located within the basic stage of the water jet, the following relationship needs to be satisfied among the three: . Preferably, the pressure of the basic stage of the water jet is 0.4 MPa - 0.6 MPa.

[0033] In addition, to enhance the cleaning effect on the outer surfaces of different Chinese herbal medicines, for example, when the outer surfaces of Chinese herbal medicines are wrinkled or wavy and the vertical direct injection of the water jet is not fully adaptable, the angle between the central axis of the nozzle 340 and the plane of the first conveyor belt 310 is adjusted to 45° to 75°. At this time, the height of the nozzle 340 needs to be lowered to ensure that the distance between the outlet of the nozzle 340 and the landing point of the water jet on the first conveyor belt 310 satisfies the above formula. At the same time, the diameter change rate of the water jet in the basic section is less than 10%. Since changing the inclination angle alone will directly affect the cleaning effect, in order to achieve the same cleaning effect as the above vertical direct injection, the diameter change rate of the water jet in the basic section needs to be adjusted and controlled, and finally tends to be the same as the vertical direct injection effect of the water jet.

[0034] As Figure 10 and Figure 11 shown, the secondary cleaning mechanism 40 includes a second conveyor belt 410, an ultrasonic cleaning tank 420, a shield 440, a second motor 411, a second small pulley 412, a second belt 413, a second large pulley 414, ultrasonic transducers 430, and screws; the second motor 411, the second small pulley 412, the second belt 413, and the second large pulley 414 are power mechanisms that provide power for the second conveyor belt 410; the head end of the second conveyor belt 410 is connected to the tail end of the first conveyor belt 310, and the middle concave part of the second conveyor belt 410 is placed in the ultrasonic cleaning tank 420. The ultrasonic cleaning tank 420 is filled with an ultrasonic cleaning medium, and several groups of ultrasonic transducers 430 are symmetrically fixed and connected on both sides in an array. The shield 440 is fixed outside the ultrasonic cleaning tank 420 to protect the ultrasonic transducers 430. As Figure 12 shown, the ultrasonic transducers 430 are connected to the outside of the ultrasonic cleaning tank 420 by means of bonding, and the shield 440 is connected by screws.

[0035] The ultrasonic transducers 430 convert the acoustic energy of the power ultrasonic frequency source into mechanical vibration and radiate the ultrasonic waves into the water in the tank through the outer wall of the ultrasonic cleaning tank 420. This high-frequency vibration will cause the microbubbles in the water to vibrate, grow, and continuously accumulate the sound field energy. The cavitation bubbles grow rapidly. When the energy reaches the critical value, the cavitation bubbles suddenly break, generating a huge shock wave at the moment of breaking, which destroys the surface contaminants. When the vibration frequency is between 20 - 28 kHz, it can also have a certain sterilization and disinfection effect to a certain extent. And because the physical size of the bubbles is small enough, they can reach the grooves on the surface of the Chinese herbal medicines and effectively remove the stains in the grooves on the surface of the Chinese herbal medicines. However, ultrasonic cleaning cannot remove stains with a relatively large physical volume, and it is necessary to manually replace the water in the ultrasonic cleaning tank 420. Therefore, a primary cleaning mechanism 30 is added before the secondary cleaning mechanism 40 to roughly clean the large chunks of dirt on the surface.

[0036] The rhizome Chinese herbal medicine cleaning device is also equipped with an alarm system. The alarm system includes several groups of infrared photoelectric sensors arranged in the ultrasonic cleaning tank 420. The positions where the infrared photoelectric sensors are deployed include the bottom and top inside the ultrasonic cleaning tank 420, as well as the parts where the second conveyor belt 410 enters and exits the ultrasonic cleaning tank 420. The infrared photoelectric sensors judge the sediment content by analyzing the transparency of the cleaning medium in the ultrasonic cleaning tank 420. Specifically, the infrared photoelectric sensor includes a transmitter and a receiver. The transmitter works continuously and emits infrared light passing through the cleaning medium. The receiver is used to receive the infrared light passing through the cleaning medium, convert the received optical signal into an electrical signal, and transmit it to the control system. The control system processes the received electrical signal. The alarm system also includes an analysis module, which is used to analyze and compare the infrared light intensity received by all receivers with a preset threshold, judge the transparency of the medium, and determine the sediment content in the medium through the transparency of the medium. The comprehensive analysis method includes: when the infrared light intensity received by more than half of the receivers is less than the preset value, it is considered that the sediment content of the cleaning medium exceeds the standard, and the alarm system issues a prompt; when the infrared light intensity received by a certain preset receiver and / or the receiver deployed at the part where the second conveyor belt 410 exits the ultrasonic cleaning tank 420 is less than the preset value, it is considered that the sediment content of the cleaning medium exceeds the standard, and an over-standard signal is sent to the alarm system. The alarm system issues an alarm prompt according to the over-standard signal. The part where the second conveyor belt 410 exits the ultrasonic cleaning tank 420 generally has the least sediment content, so it has the highest priority. The receiver with the highest priority can also be set according to the actual situation.

[0037] Taking licorice as an example, since the density of licorice is 1.43 g / cm 3 , and the density of water is 1 g / cm 3 , so licorice in the secondary cleaning mechanism 40 can overcome the buoyancy generated by water, completely immerse in the ultrasonic cleaning tank 420 along with the second conveyor belt 410, and ensure a certain frictional force with the second conveyor belt 410. The force analysis of Chinese herbal medicine in the rising stage is as Figure 13 shown, where G1 and G2 are the components of the gravity of Chinese herbal medicine in two directions parallel / perpendicular to the conveyor belt, and F 浮1 and F 浮2 are the components of the buoyancy of Chinese herbal medicine in two directions parallel / perpendicular to the conveyor belt. Assuming the density of water is ρ, the volume of Chinese herbal medicine is V1, and the density is ρ1, then there are:

[0038]

[0039]

[0040]

[0041]

[0042]

[0043] According to Newton's third law, we have:

[0044] The maximum friction that the second conveyor belt 410 can generate on the Chinese herbal medicine is:

[0045] If the Chinese herbal medicine can be lifted by the second conveyor belt 410 to the image recognition mechanism 50, the following conditions should be met:

[0046] After arrangement, the relationship between the friction coefficient and the angle between the inclined part of the second conveyor belt 410 and the horizontal plane is:

[0047] In the formula: ɑ is the angle between the inclined part of the second conveyor belt and the horizontal plane; ρ is the density of water; ρ1 is the density of the Chinese herbal medicine; μ is the friction coefficient between the second conveyor belt and the Chinese herbal medicine.

[0048] As Figure 14 and Figure 15 shown, the image recognition mechanism 50 includes a third conveyor belt 510, a third small pulley 511, a third motor 512, a third belt 513, a third large pulley 514, an LED module 540, an image recognition camera 530, and a light shield 520; the third small pulley 511, the third motor 512, the third belt 513, and the third large pulley 514 are the power mechanism, providing power for the third conveyor belt 510; the head end of the third conveyor belt 510 is connected to the tail end of the second conveyor belt 410, a light shield 520 is fixed to the outside of the third conveyor belt 510 with screws, an LED module 540 and an image recognition camera 530 are fixed above the inside of the light shield 520, the light shield 520 can block external light, the LED module 540 and the image recognition camera 530 are separated by a certain distance to prevent overexposure, and the LED module 540 and the light shield 520 can avoid the problem that the image captured by the image recognition camera 530 is not clear due to too weak external light intensity, ensuring the cleanliness of the Chinese herbal medicine put into use.

[0049] In this embodiment, a robotic arm is further included. The robotic arm is arranged on one side of the image recognition mechanism 50. A tray is arranged at the execution end of the robotic arm, and a linear motion track is arranged at the bottom of the robotic arm. One end of the linear motion track is arranged at the head end of the first conveyor belt 310, and the other end of the linear motion track is arranged at the tail end of the third conveyor belt 510. A signal receiver and an STM32 single-chip microcomputer are integrated in the robotic arm control system. The signal receiver is used to receive the signals fed back by the cloud processor or the image recognition mechanism 50. When receiving the signal of "there are Chinese herbal medicines not cleaned cleanly" fed back by the cloud processor, the STM32 single-chip microcomputer will control the robotic arm to work. First, the robotic arm moves along the linear motion track to the discharge port of the image recognition mechanism 50, collects a batch of Chinese herbal medicines that feedback "there are Chinese herbal medicines not cleaned cleanly" into the tray at the execution end, and then the robotic arm moves to the feeding area of the primary cleaning mechanism 30 and puts the collected Chinese herbal medicines not cleaned cleanly into the first conveyor belt 310 for secondary cleaning.

[0050] It should be noted that calculate the time of a series of actions of the image recognition mechanism 50 collecting data, uploading to the cloud processor, the cloud processor processing and recognizing the image, the robotic arm mechanism receiving the feedback signal, and the robotic arm reaching the specified station, and then set the distance from the Chinese herbal medicines leaving the shooting area of the image recognition camera 530 to the discharge to ensure that the Chinese herbal medicines can be accurately collected by the robotic arm.

[0051] Second, this embodiment also discloses a cleaning method for rhizome Chinese herbal medicines, which uses the aforementioned rhizome Chinese herbal medicine cleaning device. The steps include: S1: Set the screen in the pretreatment mechanism to the starting position, and place the Chinese herbal medicines to be cleaned in the screen for pretreatment of the Chinese herbal medicines; S2: Lift the screen containing the Chinese herbal medicines to the preset position, and use the pushing plate to slowly push the Chinese herbal medicines in the screen onto the first conveyor belt of the primary cleaning mechanism; S3: The first conveyor belt conveys the pretreated Chinese herbal medicines to the lower part of the high-pressure jet pipe for high-pressure water jet flushing. After flushing, the Chinese herbal medicines leave the water jet area driven by the first conveyor belt and are sent to the second conveyor belt of the secondary cleaning mechanism; S4: The second conveyor belt sends the Chinese herbal medicines into the ultrasonic cleaning tank for ultrasonic cleaning. Subsequently, the second conveyor belt takes the Chinese herbal medicines out of the ultrasonic cleaning tank and sends them to the third conveyor belt of the image recognition mechanism; S4: The image recognition camera collects the images of the Chinese herbal medicines on the third conveyor belt, uploads the collected images to the cloud server for image processing. The image processing includes at least one or more of denoising, adjusting brightness, contrast, and normalization processing, and analyzes and compares the processed images to determine whether the Chinese herbal medicines after cleaning are cleaned cleanly. If it is not cleaned thoroughly, real-time feedback is given, and the Chinese herbal medicine corresponding to the collected image is sent back to the primary cleaning mechanism 30 by the robotic arm for secondary cleaning.

[0052] The above embodiments are only illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A cleaning device for rhizome Chinese herbal medicines, characterized in that, Comprising: A pretreatment mechanism (10), the pretreatment mechanism (10) includes a first bracket (110), inside the first bracket (110) there are sequentially arranged a water tank (120) and a screen (130), the screen (130) is nested in the water tank (120), both sides of the screen (130) are connected with lifting cylinders (140), and the lifting cylinders (140) can drive the screen (130) to move in the vertical direction; on one side of the first bracket (110) there is a pushing component (20), and the pushing component (20) can push the Chinese herbal medicines on the screen (130) when reaching the preset position out of the discharge port of the pretreatment mechanism (10). The primary cleaning mechanism (30), the primary cleaning mechanism (30) includes a first conveyor belt (310) and a jet bracket (320), one end of the first conveyor belt (310) is connected to the discharge port of the pretreatment mechanism (10), the jet bracket (320) is arranged on both sides of the first conveyor belt (310), a high-pressure jet pipe (330) is provided at the top of the jet bracket (320), a nozzle (340) is provided on the high-pressure jet pipe (330), and the nozzle (340) can spray water jets towards the first conveyor belt (310); the pressure of the basic section of the water jets sprayed by the nozzle (340) is 0.4 MPa - 0.6 MPa, and the diameter d of the nozzle (340), the distance L between the outlet of the nozzle (340) and the landing point of the water jets on the first conveyor belt (310), and the diameter d1 of the Chinese herbal medicine satisfy the following relationship: ; An image recognition mechanism (50), the image recognition mechanism (50) includes a third conveyor belt (510), one end of the third conveyor belt (510) is connected to the other end of the second conveyor belt (410), the third conveyor belt (510) is provided with a light shielding plate (520), inside the light shielding plate (520) there are an image recognition camera (530) and an LED module (540), and the image recognition camera (530) can take images of Chinese herbal medicines to identify the cleaning state of the Chinese herbal medicines. A robotic arm, the robotic arm is arranged on one side of the image recognition mechanism (50), if the image recognition mechanism (50) recognizes that the cleaning state of the Chinese herbal medicines is not clean, the robotic arm will send the uncleaned Chinese herbal medicines onto the first conveyor belt (310).

2. The rhizome Chinese herbal medicine cleaning device according to claim 1, characterized in that, The pushing component (20) includes: a push plate bracket (210), the push plate bracket (210) is arranged on the side of the first bracket (110) away from the first conveyor belt (310), the top of the push plate bracket (210) is connected with a push plate hydraulic cylinder (220), the end of the push plate hydraulic cylinder (220) is connected with a push plate (230), and when the push plate (230) extends, it can push the Chinese herbal medicines on the screen (130) when reaching the preset position onto the first conveyor belt (310) of the primary cleaning mechanism (30).

3. The rhizome Chinese herbal medicine cleaning device according to claim 1, characterized in that, The cleaning device further includes: a secondary cleaning mechanism (40), the secondary cleaning mechanism (40) includes a second conveyor belt (410) and an ultrasonic cleaning tank (420) for containing an ultrasonic cleaning medium, one end of the first conveyor belt (310) is connected to one end of the second conveyor belt (410), the middle part of the second conveyor belt (410) is recessed into the ultrasonic cleaning tank (420), and on both sides of the ultrasonic cleaning tank (420) there are respectively arranged several groups of ultrasonic transducers (430).

4. The rhizome Chinese herbal medicine cleaning device according to claim 1, characterized in that, At the bottom of the water tank (120) there are a drain port and a drain cylinder (170), on the drain port there is a bottom cover (160), and the bottom cover (160) is connected to the end of the piston rod of the drain cylinder (170), and the drain cylinder (170) is used to control the opening and closing of the bottom cover (160).

5. The rhizome Chinese herbal medicine cleaning device according to claim 1, characterized in that, The water jet sprayed by the nozzle (340) is perpendicular to the first conveyor belt (310).

6. The rhizome Chinese herbal medicine cleaning device according to claim 1, characterized in that The included angle between the central axis of the nozzle (340) and the plane of the first conveyor belt (310) is 45° to 75°, and the diameter change rate of the water jet within the basic section is less than 10%.

7. The rhizome Chinese herbal medicine cleaning device according to claim 1, characterized in that The cleaning device further includes: An alarm system, which includes several groups of infrared photoelectric sensors arranged in the ultrasonic cleaning tank (420) for judging the sediment content of the ultrasonic cleaning medium. The infrared photoelectric sensors include a transmitter and a receiver. The transmitter is used to emit infrared light, and the receiver is used to receive the infrared light passing through the cleaning medium. The alarm system further includes an analysis module, which is used to analyze and compare the infrared light intensities received by multiple receivers with a preset threshold to obtain an analysis result. If the analysis result shows that the sediment content of the cleaning medium exceeds the standard, an over-standard signal is sent to the alarm system, and the alarm system issues an alarm prompt according to the over-standard signal.

8. The rhizome Chinese herbal medicine cleaning device according to claim 7, characterized in that, The positions where the transmitter and the receiver are deployed include the bottom and the top inside the ultrasonic cleaning tank (420) and / or the parts where the second conveyor belt (410) enters and exits the ultrasonic cleaning tank (420). Analyzing and comparing the infrared light intensities received by multiple receivers with a preset threshold to obtain an analysis result includes: If the infrared light intensity received by more than half of the receivers is less than the preset threshold, the analysis result is that the sediment content of the cleaning medium exceeds the standard. If the infrared light intensity received by a preset receiver and / or the receiver deployed at the part where the second conveyor belt (410) exits the ultrasonic cleaning tank (420) is less than the preset threshold, the analysis result is that the sediment content of the cleaning medium exceeds the standard.

9. The rhizome Chinese herbal medicine cleaning device according to claim 1, characterized in that, The execution end of the robotic arm is provided with a tray, and the bottom of the robotic arm is provided with a linear motion track. One end of the linear motion track is arranged at the head end of the first conveyor belt (310), and the other end of the linear motion track is arranged at the tail end of the third conveyor belt (510). When the image recognition mechanism (50) recognizes that the cleaning state of the Chinese herbal medicine is not clean, the robotic arm receives a signal from the image recognition mechanism (50) or the cloud server, moves along the linear motion track to the tail end of the third conveyor belt (510), collects the uncleaned Chinese herbal medicine into the tray, and then moves along the linear motion track to the head end of the first conveyor belt (310) to send the uncleaned Chinese herbal medicine into the first conveyor belt (310).

10. A cleaning method for rhizome Chinese herbal medicines, which uses the rhizome Chinese herbal medicine cleaning device described in any one of claims 1 to 9, and is characterized in that, Including the following steps: Set the sieve (130) in the pretreatment mechanism (10) to the starting position, and place the Chinese herbal medicine to be cleaned in the sieve (130) for pretreatment of the Chinese herbal medicine. Lift the sieve (130) containing the Chinese herbal medicine to a preset position, and use the pushing component (20) to push the Chinese herbal medicine in the sieve (130) onto the first conveyor belt (310) of the primary cleaning mechanism (30). The first conveyor belt (310) conveys the pre-treated Chinese herbal medicines under the high-pressure jet pipe (330) for high-pressure water jet cleaning. After cleaning, the Chinese herbal medicines are driven by the first conveyor belt (310) to leave the water jet area and are sent to the second conveyor belt (410) of the secondary cleaning mechanism (40). The second conveyor belt (410) sends the Chinese herbal medicines into the ultrasonic cleaning tank (420) for ultrasonic cleaning. Subsequently, the second conveyor belt (410) takes the Chinese herbal medicines out of the ultrasonic cleaning tank (420) and sends them to the third conveyor belt (510) of the image recognition mechanism (50). The image recognition camera (530) collects the images of the Chinese herbal medicines on the third conveyor belt (510), uploads the collected images to the cloud server for image processing. The image processing includes at least one or more of denoising, brightness adjustment, contrast adjustment, and normalization processing, and analyzes and compares the processed images to determine whether the Chinese herbal medicines after cleaning are clean. If they are not clean, real-time feedback is given, and the Chinese herbal medicines corresponding to the collected images are sent back to the primary cleaning mechanism (30) for secondary cleaning by the robotic arm.

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