Corn stigma collecting device for corn stigma tea production

Abstract

The invention relates to the technical field of corn stigma collecting devices, and particularly discloses a corn stigma collecting device for corn stigma tea production, which comprises two groups of bases, a connecting block, a vertical frame and a stigma removing assembly, the exteriors of the bases are rotatably connected with rotating rollers, the exteriors of the rotating rollers are sleeved with a conveying belt, and the conveying belt is connected with the vertical frame; the outer portion of the base is fixedly connected with a first motor, the output end of the first motor is fixedly connected with a rotating roller, the multiple sets of connecting blocks are fixedly connected to the outer portion of the conveying belt, the outer portions of the connecting blocks are fixedly connected with supporting cylinders, and the vertical frame is arranged on one side of the conveying belt. The exterior of the vertical frame is fixedly connected with a second fixing frame, and the beard removing assembly is arranged on the second fixing frame; after the method is adopted, the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of corn silk collection devices, and in particular to a corn silk collection device for the production of corn silk tea. Background Art

[0002] In the field of corn silk tea production, corn silk, as the core raw material, is crucial in the collection process. Corn silk is rich in various bioactive components such as flavonoids and polysaccharides, and has many effects such as reducing blood sugar, reducing blood lipids, and diuresis. This has led to an increasing market demand for corn silk tea. To meet the needs of large-scale production and ensure the stability and uniform quality of raw material supply, an efficient and accurate corn silk collection device is indispensable.

[0003] In the prior art, a Chinese patent with the publication number CN 208143886 U discloses a corn silk collection device, which includes a frame. A sleeve is installed at the upper end of the frame. A cutting rod is installed on the upper part of the inner wall of the sleeve. Lifting grooves are provided through the four walls of the sleeve. A guiding column is installed inside the lifting grooves. A lifting plate and a peeling spring are arranged outside the guiding column. A peeling plate is installed at the inner end of the lifting plate. A supporting vertical plate is installed at the bottom surface of the frame. A rotating shaft is installed between the supporting vertical plates. A shaving roller is installed outside the rotating shaft. A motor is installed outside any one of the supporting vertical plates. The output end of the motor is installed with a driving gear. A driven gear is installed outside any one of the rotating shafts.

[0004] In this patent, it is necessary to manually insert the corn into the sleeve for whisker removal, and then take another corn and insert it into the sleeve for processing, so the processing efficiency is not high. Summary of the Invention

[0005] Aiming at the technical problem of low processing efficiency in the patent mentioned in the background art, the present invention provides a corn silk collection device for the production of corn silk tea.

[0006] The technical solution adopted by the present invention is: a corn silk collection device for the production of corn silk tea, including: a base, a connecting block, a vertical frame, and a whisker removal component. There are two groups of bases. A rotating roller is rotatably connected to the outside of the base. A conveyor belt is sleeved outside the rotating roller. A first motor is fixedly connected to the outside of the base. The output end of the first motor is fixedly connected to the rotating roller. There are multiple groups of connecting blocks, and all are fixedly connected to the outside of the conveyor belt. A support cylinder is fixedly connected to the outside of the connecting block. The vertical frame is arranged on one side of the conveyor belt. A second fixing frame is fixedly connected to the outside of the vertical frame. The whisker removal component is arranged on the second fixing frame.

[0007] The present invention is further arranged such that a positioning strip is fixedly connected to the inner wall of the conveyor belt, and a positioning groove is provided on the outside of the rotating roller. The positioning strip and the positioning groove are used in cooperation.

[0008] The further setting of the present invention is that it further includes a support frame. Both sides of the top of the support frame are fixedly connected with support plates. The support plates abut against the bottom of the support cylinder. A plurality of spring plates are fixedly connected inside the support cylinder, and the spring plates are in an arc structure.

[0009] The further setting of the present invention is that it further includes a first fixing frame. A first cylinder is fixedly connected to the first fixing frame. The output end of the first cylinder is fixedly connected with a push head. A connecting plate is fixedly connected to the position of the push head corresponding to the support plate. A limiting plate is fixedly connected to the connecting plate, and the limiting plate abuts against the top edge of one of the support cylinders.

[0010] The further setting of the present invention is that the whisker removing assembly includes clamping plates, a second motor and a second cylinder. The output end of the second motor is fixedly connected with a threaded rod. A nut block is threadedly connected to the outside of the threaded rod. A guide rod is fixedly connected to the outside of the second fixing frame. A guide sleeve is slidably connected to the outside of the guide rod. The nut block and the guide sleeve are jointly fixedly connected with a moving frame. An installation frame is connected below the moving frame. The second cylinder is fixedly connected to the installation frame. Two inclined plates are slidably connected inside the connecting frame. A chute is provided on the outside of the inclined plates. The output end of the second cylinder is fixedly connected with a sliding plate. Guide wheels are rotatably connected to both sides of the bottom of the sliding plate, and the guide wheels are slidably connected in the chute. There are two clamping plates, which are symmetrically slidably connected to the outside of the installation frame. A sliding frame is fixedly connected to the outside of the clamping plates, and the sliding frame is slidably sleeved on the outside of the installation frame. The sliding frame is fixedly connected with the inclined plates.

[0011] The further setting of the present invention is that a rotating rod is rotatably connected in the moving frame. The installation frame is fixedly connected with the rotating rod. A third motor is fixedly connected to the outside of the moving frame, and the output end of the third motor is fixedly connected with the rotating rod.

[0012] The further setting of the present invention is that a return spring is connected between the inclined plates.

[0013] The further setting of the present invention is that a slide rail is fixedly connected to the outside of the installation frame. A slider is slidably connected in the slide rail, and the slider is fixedly connected with the clamping plate.

[0014] The further setting of the present invention is that an installation frame is further fixedly connected to the outside of the support plate. A rotating shaft is rotatably connected in the installation frame. A torsion spring is sleeved on the outside of the rotating shaft. A contact plate is fixedly connected to the outside of the rotating shaft. A limiting strip is fixedly connected to the outside of the installation frame. A roller is rotatably connected to one end of the contact plate. A contact frame is fixedly connected to the position of the roller corresponding to the moving frame, and the contact frame is in an inclined structure.

[0015] The further setting of the present invention is that it further includes a control and management system, and the control and management system includes a control unit, an intelligent conveying and dynamic positioning unit, a bionic whisker-removing execution unit, and an adaptive stability and discharging unit;

[0016] The intelligent conveying and dynamic positioning unit includes a conveyor belt adaptive drive module and a vision servo fine positioning sub-module;

[0017] The conveyor belt adaptive drive module calculates the speed of the conveyor belt and the start-stop delay compensation, and the specific formula is as follows:

[0018]

[0019] In the formula: n is the rotational speed of the first motor, D is the diameter of the roller, and v is the speed of the conveyor belt;

[0020] Among them, the start-stop delay compensation calculation formula is as follows:

[0021]

[0022] In the formula, L is the distance between adjacent support cylinders, v is the speed of the conveyor belt, ε is the elastic slip coefficient, and the start-stop delay compensation time (Δt) of the first motor is calculated;

[0023] Among them, the vision servo fine positioning sub-module includes a structured light projector and an industrial camera installed on both sides of the vertical frame;

[0024] Based on the structured light projector and the industrial camera, the vision servo fine positioning sub-module constructs a three-dimensional coordinate measurement model of the corn ear;

[0025] Among them, the bionic whisker-removing execution unit includes a spiral-inclined plane compound motion module and a flexible vibration whisker-removing sub-module;

[0026] The spiral-inclined plane compound motion module calculates the rotation angle based on the linkage of the threaded rod and the inclined plate, and the calculation formula is as follows:

[0027]

[0028] n t is the number of revolutions of the threaded rod, S is the lead of the spiral groove, and θ is the rotation angle of the mounting frame;

[0029] Among them, the clamping force of the clamping plate is calculated as follows:

[0030] F = F 气缸 ·tanθ·(1 - μ·cotθ);

[0031] F 气缸 is the output force of the second cylinder, θ is the inclination angle of the inclined plate, μ is the friction coefficient, and the actual clamping force F of the clamping plate is calculated;

[0032] The flexible vibration beard removal module integrates the swing action on the output shaft of the third motor and calculates the vibration acceleration. The formula is as follows:

[0033] a=A·ω 2 sin(ωt);

[0034] In the formula, A is the amplitude, ω is the angular frequency, and a is the instantaneous acceleration;

[0035] The adaptive stabilization and unloading unit includes a dynamic stabilization module and an elastic reset module;

[0036] The dynamic stability module utilizes the cooperation between the resistance frame and the resistance plate to realize the torque calculation when the corn is desilked. The formula is as follows:

[0037] M=k s ·Δα+F f ·r;

[0038] In the formula, k s is the elastic coefficient of the torsion spring, Δα is the torsion angle of the contact plate, and F f r is the friction torque between the contact plate and the contact frame;

[0039] Among them, the elastic reset module calculates the pushing force of the first cylinder:

[0040] F 推料 =p·Ak·x (push force calculation)

[0041] In the formula, p is the air pressure, A is the piston area, and k is the spring force. Calculate the actual thrust F of the push head. 推料 ;

[0042] The control unit uses a cascade PID control algorithm to control the first motor, the second motor, the third motor, the first cylinder and the second cylinder based on a multi-axis collaborative PID control algorithm;

[0043] The PID control equation calculation formula is as follows:

[0044]

[0045] In the formula, the ratio (K p ), integral(K i ), differential (K d ) coefficient adjusts the speed of the first motor, the second motor, the third motor, and the pressure of the first cylinder and the second cylinder to eliminate system lag.

[0046] The beneficial effects of the present invention are:

[0047] 1. In the present invention, the base serves as the stable foundation of the device. The roller rotatably connected thereto drives the conveyor belt sleeved outside to operate continuously and evenly under the drive of the strong power output of the first motor. Multiple connecting blocks fixedly connected to the conveyor belt and the support cylinders connected to the connecting blocks form an orderly arranged corn carrying unit, which can accurately and stably hold the corn, realizing the orderly positioning and efficient transmission of the corn during the conveying process, improving the production efficiency. The vertical frame and the second fixing frame in the device form a stable support structure for the beard-removing assembly. The beard-removing assembly is accurately installed on the second fixing frame, and its position precisely matches the running track of the corn on the conveyor belt. When the corn moves to a specific station along with the conveyor belt, the beard-removing assembly can quickly and accurately operate on the corn whiskers, successively completing the removal and collection of the corn whiskers. During this process, the various components of the device cooperate closely and operate in coordination, seamlessly connecting multiple links such as the conveying and positioning of the corn and the removal and collection of the corn whiskers. Moreover, through the continuous conveying of the conveyor belt and then the removal by the beard-removing assembly, the production efficiency is improved.

[0048] 2. In the present invention, the corn with husk is inserted onto the support cylinder. The first motor is started to drive the roller to rotate, the roller drives the conveyor belt to drive, and the conveyor belt drives the support cylinder to move. When one of the support cylinders is conveyed above the clamping plate, the second motor drives the threaded rod to rotate until the clamping plate is located below the corn whiskers. Subsequently, the third motor drives the rotating rod to rotate, and the rotating rod drives the mounting frame to rotate. After the mounting frame rotates, the clamping plate rotates upward, so that the clamping plate is located on both sides of the corn whiskers. The second cylinder pushes the slide plate to slide, so that the corn whiskers can be clamped and fixed by the clamping plate. By reversing the third motor, the rotating rod drives the mounting frame to rotate downward, so that the clamping plate can be driven to rotate downward, and the corn whiskers are pulled out downward by the clamping plate. When the second motor drives the threaded rod to move the moving frame, the moving frame will also drive the abutting frame to abut under the roller, causing the abutting plate to flip, so as to abut and fix the corn on the support cylinder, keeping the corn stable when the corn whiskers are being pulled out. In summary, through the coordinated operation of multiple components, the present invention realizes the automatic removal of corn whiskers. The driving components such as motors and cylinders cooperate with the transmission structures such as threaded rods and rotating rods to accurately control the clamping plate to position, clamp and remove the corn whiskers; at the same time, the moving frame is linked with the abutting frame and the abutting plate to effectively fix the corn on the support cylinder, avoiding the shaking and displacement of the corn during the removal process. The whole device significantly improves the working efficiency of removing corn whiskers, ensures the operation stability and continuity, reduces the labor cost, and provides an efficient and reliable technical solution for corn pretreatment.

[0049] 3. In the present invention, the control management system realizes intelligent and automatic operation through the collaboration of multiple units. The control unit is the core, which accurately processes the sensor signals and coordinates the actions of each unit. The intelligent conveying and dynamic positioning unit uses the conveyor belt adaptive transmission module and the visual servo precision positioning submodule. The former calculates the speed and delay compensation based on the mathematical model to ensure the stable conveying and precise docking of corn; the latter uses structured light and industrial cameras to build a three-dimensional model to achieve high-precision positioning of corn. The bionic beard removal execution unit simulates manual action, the spiral-inclined composite motion module realizes the composite motion of the splint, adaptively removes corn silk, and the flexible vibration beard removal submodule improves the beard removal efficiency through resonance. In addition, the adaptive stabilization and unloading unit ensures the safety of corn processing. The modular design facilitates maintenance and functional expansion. The device greatly improves the efficiency and quality of corn silk collection, reduces manual intervention, and provides reliable technical support for the large-scale production of corn silk tea. The flexible vibration beard removal submodule simulates the manual shaking action through the swinging action of the output shaft of the third motor, so that the corn silk resonates during the extraction process, further improving the extraction efficiency and integrity of the corn silk. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a schematic diagram of the structure of the present invention;

[0051] Figure 2 It is a structural schematic diagram of the conveyor belt in the present invention;

[0052] Figure 3 It is a structural schematic diagram of the base in the present invention;

[0053] Figure 4 It is a side structural schematic diagram of the present invention;

[0054] Figure 5 It is a three-dimensional structural schematic diagram of the base and the conveyor belt in the present invention;

[0055] Figure 6 yes Figure 1 Schematic diagram of the enlarged structure of the A area in the middle;

[0056] Figure 7 yes Figure 1 Schematic diagram of the enlarged structure of the middle B area;

[0057] Figure 8 It is a schematic diagram of the structure of the abutment plate in the present invention;

[0058] Figure 9 yes Figure 5 Schematic diagram of the enlarged structure of the middle C area;

[0059] Figure 10 It is a structural schematic diagram of the movable frame and the clamping plate of the present invention;

[0060] Figure 11It is a schematic structural diagram of the clamping plate and the threaded rod in the present invention;

[0061] Figure 12 It is a schematic structural diagram of the clamping plate and the inclined plate in the present invention.

[0062] The markings in the figure are:

[0063] 1. Base; 2. First motor; 3. Roller; 4. Conveyor belt; 5. Positioning groove; 6. Positioning strip; 7. Support frame; 8. Support plate; 9. First fixing frame; 10. First cylinder; 11. Pushing head; 12. Limiting plate; 13. Connecting plate; 14. Connecting block; 15. Support cylinder; 16. Spring piece; 17. Mounting frame; 18. Contact plate; 19. Roller; 20. Rotating shaft; 12. Torsion spring; 22. Storage box; 23. Upright frame; 24. Second fixing frame; 25. Second motor; 26. Threaded rod; 27. Guide rod; 28. Moving frame; 29. Nut block; 30. Guide sleeve; 31. Mounting frame; 32. Rotating rod; 33. Third motor; 34. Second cylinder; 35. Slide plate; 36. Guide wheel; 37. Chute; 38. Inclined plate; 39. Sliding frame; 40. Slide rail; 41. Slide block; 42. Clamping plate; 43. Return spring; 44. Contact frame; 45. Limiting strip. Detailed implementation manners

[0064] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "front", "upper", "lower", "left", "right", "vertical", "horizontal", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0065] The following is a further description of the present invention in conjunction with the attached Figure 1-12 figures.

[0066] Embodiment 1:

[0067] In order to solve the problems existing in the background technology, the present application proposes the following technical solution: A corn silk tea production corn silk collection device, comprising: a base 1, a connecting block 14, an upright frame 23, and a whisker removing component;

[0068] In this embodiment, there are two sets of bases 1. A roller 3 is rotatably connected to the outside of the base 1. A conveyor belt 4 is sleeved on the outside of the roller 3. A first motor 2 is fixedly connected to the outside of the base 1. The output end of the first motor 2 is fixedly connected to the roller 3. A positioning strip 6 is fixedly connected to the inner wall of the conveyor belt 4. A positioning groove 5 is provided on the outside of the roller 3. The positioning strip 6 and the positioning groove 5 are used in cooperation. There are multiple sets of connecting blocks 14, and they are all fixedly connected to the outside of the conveyor belt 4. A support cylinder 15 is fixedly connected to the outside of the connecting block 14. An upright frame 23 is arranged on one side of the conveyor belt 4. A second fixing frame 24 is fixedly connected to the outside of the upright frame 23; a whisker-removing component is arranged on the second fixing frame 24; in the production process of corn silk tea, efficiently and stably collecting corn silk is a key link to ensure the raw material quality and production efficiency. The roller 3 rotatably connected to the outside of the base 1 and the conveyor belt 4 form a conveying system. The first motor 2 serves as a power source, outputting a stable torque to drive the roller 3 to rotate, thereby driving the conveyor belt 4 to run at a constant speed. Compared with manual handling of corn, the conveying efficiency of corn is greatly improved, and the labor input is reduced. The positioning strip 6 on the inner wall of the conveyor belt 4 and the positioning groove 5 on the outside of the roller 3 are closely matched, effectively preventing the conveyor belt 4 from shifting during operation, ensuring the stability and reliability of the conveying process, and avoiding the dropping of corn or the interruption of the collection process due to the deviation of the conveyor belt 4. Multiple sets of connecting blocks 14 are evenly fixed to the outside of the conveyor belt 4. The support cylinders 15 fixed on the connecting blocks 14 are used to carry corn, providing a positioning basis for subsequent corn silk collection. The upright frame 23 and the second fixing frame 24 provide an installation platform for the whisker-removing component. Their stable structural design can ensure that the whisker-removing component remains stable during operation and will not be displaced due to vibration or force, ensuring the accuracy of the whisker-removing operation. The entire structural design is compact and reasonably arranged. Each component cooperates with each other to form a complete and efficient corn conveying and positioning system.

[0069] In this embodiment, a support frame 7 is further included. Both sides of the top of the support frame 7 are fixedly connected with support plates 8. The support plates 8 abut against the bottom of the support cylinder 15. Multiple sets of spring pieces 16 are fixedly connected inside the support cylinder 15. The spring pieces 16 are of an arc structure; the setting of the support frame 7 and its related structures further enhances the stability and reliability of the corn during the collection process. The support frame 7 adopts a solid frame structure and is made of high-strength metal materials, which can withstand the pressure and vibration generated during the placement of corn in the support cylinder 15 and the whisker-removing process, ensuring that the entire device will not shake or deform during operation. The support plates 8 on both sides of the top are in close contact with the bottom of the support cylinder 15, forming a stable support surface, effectively dispersing the weight of the corn, avoiding the inclination or damage of the support cylinder 15 due to uneven stress, and ensuring that the corn always remains vertical during the conveying and whisker-removing processes, providing good preconditions for the whisker-removing component to accurately grab the corn silk.

[0070] Among them, the spring sheet 16 is made of a metal material with excellent elasticity and has good flexibility and resilience. When the corn is inserted into the support tube 15, the spring sheet 16 will be elastically deformed due to the extrusion of the corn, tightly wrap the corn, and use the elastic force of the spring sheet 16 to firmly fix the corn in the support tube 15. Even if vibration occurs during the operation of the conveyor belt 4, the corn will not easily loosen or fall. The elastic clamping of the spring sheet 16 can avoid damage to the corn, ensure the integrity of the corn, and thus ensure that the quality of the subsequent corn silk is not affected. At the same time, the arc structure of the spring sheet 16 can also guide the corn to be smoothly inserted into the support tube 15, which is convenient for the operator to quickly and accurately place the corn, thereby improving work efficiency. Through the synergistic effect of the support frame 7, the support plate 8 and the spring sheet 16, the device realizes stable support and reliable fixation of the corn, providing a strong guarantee for the efficient collection of corn silk.

[0071] In this embodiment, a first fixed frame 9 is also included, on which a first cylinder 10 is fixedly connected, a pusher head 11 is fixedly connected to the output end of the first cylinder 10, a connecting plate 13 is fixedly connected to the position of the pusher head 11 on the support plate 8, and a limiting plate 12 is fixedly connected to the connecting plate 13, and the limiting plate 12 abuts against the top edge of one of the support tubes 15; the first fixed frame 9 and its matching cylinder, pusher head 11, connecting plate 13 and limiting plate 12 and other components constitute an automatic unloading system in the corn collection process, which greatly improves the automation and work efficiency of the corn silk collection device. The first fixed frame 9 is used as a supporting base, made of high-strength metal material, and is firmly installed in a suitable position of the device by bolts or welding, providing reliable support for the first cylinder 10. The first cylinder 10, as a power actuator, can quickly and accurately extend and retract according to the instructions of the control system, driving the pusher head 11 to move in a straight line. When the corn silk is removed by the de-shaving assembly, the first cylinder 10 is started, and the pusher head 11 moves upward under the drive of the cylinder, pushing out the corn that has been de-shaving in the support tube 15, so that it is separated from the support tube 15 and automatically falls into the collection container below. This automatic unloading method does not require manual intervention, which greatly saves manpower and time costs compared to traditional manual unloading, and improves production efficiency. The connecting plate 13 and the limiting plate 12 on the support plate 8 play the role of auxiliary positioning and limiting. The connecting plate 13 is used to fix the limiting plate 12 to ensure the accuracy and stability of its position. The limiting plate 12 contacts the top edge of the support tube 15 to limit the support tube 15 to prevent the support tube 15 from moving or tilting during the process of pushing the corn by the pusher head 11, ensuring that the pusher head 11 can accurately push the corn out, avoiding the failure of unloading or the corn falling to the wrong position due to the displacement of the support tube 15. At the same time, the limiting plate 12 can also perform preliminary positioning of the support tube 15 during the placement of the corn, so that the operator can insert the corn accurately into the support tube 15.

[0072] In this embodiment, the whisker-removing assembly includes clamping plates 42, a second motor 25 and a second cylinder 34. The output end of the second motor 25 is fixedly connected to a threaded rod 26. A storage box 22 is arranged below the clamping plates 42 for collecting the removed corn whiskers. The threaded rod 26 is externally threadedly connected to a nut block 29. A guide rod 27 is fixedly connected to the outside of the second fixing frame 24. A guide sleeve 30 is slidably connected to the outside of the guide rod 27. The nut block 29 and the guide sleeve 30 are jointly fixedly connected to a moving frame 28. An installation frame 31 is connected below the moving frame 28. The second cylinder 34 is fixedly connected to the installation frame 31. Two groups of inclined plates 38 are slidably connected in the connecting frame. A return spring 43 is connected between the inclined plates 38. A chute 37 is arranged on the outside of the inclined plates 38. The output end of the second cylinder 34 is fixedly connected to a sliding plate 35. Guide wheels 36 are rotatably connected to both sides of the bottom of the sliding plate 35. The guide wheels 36 are slidably connected in the chute 37. There are two clamping plates 42, which are symmetrically and slidably connected to the outside of the installation frame 31. A sliding frame 39 is fixedly connected to the outside of the clamping plates 42. The sliding frame 39 is slidably sleeved on the outside of the installation frame 31. The sliding frame 39 is fixedly connected to the inclined plates 38; the whisker-removing assembly is the core part of the entire corn whisker collection device. The second motor 25 serves as the driving source and drives the threaded rod 26 to rotate through the output shaft. Using the principle of screw transmission, the rotational motion is converted into the linear motion of the nut block 29. In this process, the guide rod 27 and the guide sleeve 30 on the second fixing frame 24 play a key guiding role. The surface of the guide rod 27 is processed with high precision, and the clearance between it and the guide sleeve 30 is extremely small, which can effectively limit the movement track of the nut block 29, enabling it to move linearly only along the direction of the guide rod 27, avoiding the offset or shaking of the nut block 29 caused by the lateral force generated when the threaded rod 26 rotates, and ensuring the accurate and stable movement of the moving frame 28. The nut block 29 and the guide sleeve 30 jointly fixedly connect the moving frame 28, enabling the moving frame 28 to achieve precise position adjustment in the horizontal direction under the drive of the second motor 25, thereby driving the installation frame 31 to accurately move below the corn whiskers. Components such as the second cylinder 34, the inclined plates 38, the sliding plate 35 and the guide wheels 36 on the installation frame 31 constitute the clamping and releasing mechanism of the clamping plates 42. When the second cylinder 34 is started, its output end pushes the sliding plate 35 to slide downward. The guide wheels 36 at the bottom of the sliding plate 35 roll in the chute 37 of the inclined plates 38. Due to the inclined design of the chute 37, the rolling of the guide wheels 36 will drive the inclined plates 38 to slide towards each other. The inclined plates 38 are connected to the clamping plates 42 through the sliding frame 39, and thus the two clamping plates 42 move synchronously towards the middle to tightly clamp the corn whiskers. The return spring 43 between the inclined plates 38 plays a role when the clamping plates 42 are released. When the second cylinder 34 retracts and the sliding plate 35 moves upward, under the elastic force of the return spring 43, the inclined plates 38 drive the clamping plates 42 to automatically reset and release the clamping of the corn whiskers.This design can not only achieve the adaptive clamping of corn silk with different thicknesses, but also has uniform and stable clamping force, neither will the corn silk fall off due to too small clamping force, nor will the corn silk be damaged due to too large clamping force, ensuring the integrity and quality of corn silk collection. Through the close cooperation of each component, the silk-removing component can quickly and accurately complete the clamping, pulling out and releasing operations of corn silk. Compared with the traditional manual or simple mechanical silk-removing methods, it greatly improves the collection efficiency and quality of corn silk, reduces the labor intensity, and meets the high-efficiency and accurate requirements of raw material collection for corn silk tea production.

[0073] In this embodiment, a rotating rod 32 is rotatably connected in the moving frame 28, the mounting frame 31 is fixedly connected to the rotating rod 32, a third motor 33 is fixedly connected to the outside of the moving frame 28, the output end of the third motor 33 is fixedly connected to the rotating rod 32, a slide rail 40 is fixedly connected to the outside of the mounting frame 31, a slider 41 is slidably connected in the slide rail 40, and the slider 41 is fixedly connected to the clamping plate 42; the settings of components such as the moving frame 28, the rotating rod 32, the third motor 33, as well as the slide rail 40 and the slider 41 further enrich the functions of the silk-removing component, enabling it to complete the collection work of corn silk more flexibly and efficiently. The moving frame 28 serves as the carrier of the mounting frame 31 and realizes horizontal movement under the drive of the second motor 25, while the rotational connection of the rotating rod 32 provides the mounting frame 31 with the freedom of rotation. The third motor 33 is fixed to the outside of the moving frame 28. When it is necessary to adjust the angle of the clamping plate 42 to adapt to corn silk in different postures, the third motor 33 is started, and its output end drives the rotating rod 32 to rotate, thereby enabling the mounting frame 31 to rotate around the axis of the rotating rod 32. This rotational function enables the clamping plate 42 to adjust its position in three-dimensional space. Whether it is upright corn silk or corn silk inclined due to irregular placement of corn, the clamping plate 42 can be rotated to an appropriate angle through rotation and accurately located on both sides of the corn silk for clamping, greatly improving the adaptability of the silk-removing component to different corn silk forms and effectively avoiding the situation of collection omission or failure caused by various postures of corn silk. The slide rail 40 and the slider 41 on the outside of the mounting frame 31 constitute the auxiliary movement structure of the clamping plate 42. The slider 41 is fixedly connected to the clamping plate 42. When the clamping plate 42 performs the clamping or loosening action driven by the inclined plate 38, the slider 41 can freely slide in the slide rail 40, providing guidance and support for the linear movement of the clamping plate 42.

[0074] In this embodiment, an installation frame 17 is further fixedly connected to the outside of the support plate 8. A rotating shaft 20 is rotatably connected in the installation frame 17. A torsion spring 12 is sleeved on the outside of the rotating shaft 20. A contact plate 18 is fixedly connected to the outside of the rotating shaft 20. A limiting strip 45 is fixedly connected to the outside of the installation frame 17. A roller 19 is rotatably connected to one end of the contact plate 18. A contact frame 44 is fixedly connected to the position of the corresponding roller 19 on the moving frame 28. The contact frame 44 is of an inclined structure. Components such as the installation frame 17, the rotating shaft 20, the torsion spring 12, the contact plate 18, the roller 19, the limiting strip 45, and the contact frame 44 together constitute a clever corn fixing assistance system, further ensuring the stability of the corn during the whisker removal process and the smooth progress of the whisker removal operation. The installation frame 17, as the basic support component, is made of a strong metal material and is firmly installed outside the support plate 8 by welding or bolt connection, providing reliable support for the entire assistance system. The rotating shaft 20 is rotatably connected in the installation frame 17, and the torsion spring 12 sleeved on its outside endows the contact plate 18 with the function of automatic reset. When the moving frame 28 moves under the drive of the second motor 25, the inclined contact frame 44 on the moving frame 28 will gradually approach and contact the roller 19. Due to the inclined structure of the contact frame 44, as the moving frame 28 moves, the contact frame 44 will push the roller 19 upward, thereby driving the contact plate 18 to rotate around the rotating shaft 20. The other end of the contact plate 18 will rotate downward and tightly contact the top of the corn on the support cylinder 15, firmly fixing the corn. This design can effectively prevent the corn from shaking or shifting due to force when the whisker removal component clamps and removes the corn whiskers, ensuring that the corn whiskers can be completely and smoothly removed. The setting of the limiting strip 45 limits the rotation range of the contact plate 18, preventing the contact plate 18 from rotating excessively and damaging or affecting the normal operation of other components, ensuring the safety and reliability of the operation of the entire assistance system. When the whisker removal operation is completed and the moving frame 28 drives the contact frame 44 away from the roller 19, under the elastic force of the torsion spring 12, the contact plate 18 will automatically rotate upward and reset, preparing for the next fixation of the corn.

[0075] The usage method of this embodiment is as follows:

[0076] Insert the corn with husk into the support cylinder 15, start the first motor 2 to drive the rotating roller 3 to rotate, the rotating roller 3 drives the conveyor belt 4 to drive, the conveyor belt 4 drives the support cylinder 15 to move. When one of the support cylinders 15 is conveyed above the clamping plate 42, the first motor 2 pauses working;

[0077] The second motor 25, the second motor 25, the third motor 33 and the second cylinder 34 operate. The second motor 25 drives the threaded rod 26 to rotate, causing the nut block 29 to drive the moving frame 28 to move. The moving frame 28 drives the mounting frame 31 to move until the clamping plate 42 is located below the corn silk. Subsequently, the third motor 33 drives the rotating rod 32 to rotate, and the rotating rod 32 drives the mounting frame 31 to rotate. After the mounting frame 31 rotates, the clamping plate 42 rotates upward, so that the clamping plate 42 is located on both sides of the corn silk. The second cylinder 34 pushes the sliding plate 35 to slide, and the sliding plate 35 drives the guide wheel 36 to abut against the chute 37, causing the two inclined plates 38 to slide towards each other. The inclined plates 38 drive the clamping plate 42 to slide, so that the corn silk can be clamped and fixed by the clamping plate 42. By reversing the third motor 33, the rotating rod 32 drives the mounting frame 31 to rotate downward, so that the clamping plate 42 can be driven to rotate downward, and the corn silk is pulled out downward through the clamping plate 42. Control the second cylinder 34 to drive the sliding plate 35 not to abut against the inclined plate 38, so that the clamping plate 42 is loosened, and the clamped corn silk falls into the storage box 22 for storage;

[0078] In addition, it should be noted that when the second motor 25 drives the threaded rod 26 to move the moving frame 28, the moving frame 28 will also drive the abutting frame 44 to abut below the roller 19, causing the abutting plate 18 to flip, so as to abut and fix the corn on the support cylinder 15, so that the corn remains stable when the corn silk is removed;

[0079] And when the clamping plate 42 removes the corn silk, the first cylinder 10 will also be started synchronously. The first cylinder 10 drives the push head 11 to move upward. The push head 11 can push the corn that has had its corn silk removed in the support cylinder 15 to break away, so that the corn breaks away from the support cylinder 15.

[0080] Embodiment 2:

[0081] In this embodiment, a control and management system is further included. The control and management system includes a control unit, an intelligent conveying and dynamic positioning unit, a bionic whisker-removing execution unit, and an adaptive stability and unloading unit;

[0082] In this embodiment:

[0083] As the "brain" of the corn silk collection device, the control and management system realizes the intelligent and automated operation of the device through the collaborative work of multiple units. As the core hub, the control unit is responsible for receiving sensor signals, processing data, and sending instructions to ensure the precise coordination of the actions of each unit. The intelligent conveying and dynamic positioning unit realizes the automatic conveying and precise positioning of corn. The bionic whisker-removing execution unit simulates manual actions to complete the efficient removal of corn silk. The adaptive stability and unloading unit ensure the stability and safety of corn during the whisker-removing and unloading processes. This modular design not only improves the overall performance of the device but also facilitates later maintenance and function expansion. Through the control and management system, the device can automatically adjust operation parameters according to the real-time state of corn, significantly improving the efficiency and quality of corn silk collection, reducing manual intervention, lowering production costs, and providing reliable technical support for the large-scale production of corn silk tea;

[0084] The intelligent conveying and dynamic positioning unit is the basis for realizing the automatic collection of corn. Its core lies in the precise control of the conveying speed and position of corn. The adaptive transmission module of conveyor belt 4 calculates the speed of conveyor belt 4 and the start-stop delay compensation time in real time through a mathematical model to ensure that corn can be conveyed to the designated position at a stable speed, avoiding corn accumulation or positioning deviation caused by the speed fluctuation of conveyor belt 4. The visual servo precise positioning sub-module uses a structured light projector and an industrial camera to construct a three-dimensional coordinate measurement model of the corn ear, which can accurately obtain the position, posture, and size information of the corn, providing precise positioning data for subsequent whisker-removing operations. The combination of the two realizes the full-process automation and precision from corn conveying to positioning. Compared with the traditional manual conveying and rough positioning methods, it significantly improves the production efficiency and positioning accuracy, reduces the failure of whisker-removing and corn damage caused by inaccurate positioning, and improves the success rate and quality of corn silk collection;

[0085] The adaptive transmission module of conveyor belt 4 realizes the dynamic adjustment of the speed of conveyor belt 4 and the start-stop delay compensation through precise mathematical calculations. By calculating the speed of conveyor belt 4 based on the diameter of roller 3 and the motor speed, it can ensure that conveyor belt 4 runs at a constant speed, avoiding sliding or collision of corn during conveying due to unstable speed. The start-stop delay compensation formula takes into account the elastic slip coefficient of conveyor belt 4 and the spacing between adjacent support cylinders 15. By calculating the motor start-stop delay compensation time, it can automatically adjust the motor action when conveyor belt 4 starts and stops, reducing the position deviation caused by inertia and elastic slip, enabling the corn to accurately stop under the whisker-removing component, and laying the foundation for subsequent precise positioning and whisker-removing operations. This adaptive transmission control method significantly improves the stability and positioning accuracy of the operation of conveyor belt 4 and reduces the manual debugging time.

[0086] The visual servo precise positioning sub-module realizes the three-dimensional coordinate measurement and precise positioning of the corn ear through the combination of a structured light projector and an industrial camera. The structured light projector projects laser stripes onto the corn ear, and the industrial camera captures the images of the corn ear with the laser stripes. Through the processing and analysis of the images, a three-dimensional coordinate measurement model of the corn ear is constructed. This non-contact measurement method has the advantages of high precision, fast speed, and strong adaptability. It can obtain the position, attitude, size, etc. of the corn ear in real time. Even if the corn has a certain inclination or position deviation during the conveying process, its three-dimensional coordinates can be accurately identified and calculated, providing precise guidance for the operation of the whisker-removing component. Compared with traditional mechanical positioning or manual visual positioning, the visual servo precise positioning sub-module significantly improves the positioning accuracy and efficiency.

[0087] The bionic whisker-removing execution unit is the core execution part of the corn whisker collection device. Its design inspiration comes from the manual whisker-removing action. By simulating the manual clamping, rotating, and plucking actions, the efficient collection of corn whiskers is realized. The spiral-inclined plane composite motion module realizes the composite motion of the horizontal movement, rotational clamping, and axial whisker plucking of the clamping plate 42 through the linkage of the threaded rod 26 and the inclined plate 38. It can automatically adjust the clamping angle and strength according to the growth direction and shape of the corn whiskers to ensure that the corn whiskers are completely removed. The flexible vibration whisker-removing sub-module simulates the manual shaking action through the swinging action of the output shaft of the third motor 33, causing the corn whiskers to resonate during the plucking process, further improving the removal efficiency and integrity of the corn whiskers.

[0088] Among them:

[0089] The intelligent conveying and dynamic positioning unit includes a conveyor belt 4 adaptive drive module and a visual servo precise positioning sub-module;

[0090] The conveyor belt 4 adaptive drive module calculates the speed of the conveyor belt 4 and the start-stop delay compensation. The specific formula is as follows:

[0091]

[0092] In the formula: n is the rotation speed of the first motor 2, D is the diameter of the roller 3, and v is the speed of the conveyor belt 4;

[0093] Among them, the start-stop delay compensation calculation formula is as follows:

[0094]

[0095] In the formula, L is the distance between adjacent support cylinders 15, v is the speed of the conveyor belt 4, and ε is the elastic slip coefficient (ε = 0.01). Calculate the start-stop delay compensation time (Δt) of the first motor 2.

[0096] Among them, the visual servo fine positioning sub-module includes installing a structured light projector and an industrial camera on both sides of the vertical frame;

[0097] Based on the structured light projector and the industrial camera, the visual servo fine positioning sub-module constructs a three-dimensional coordinate measurement model for the corn ear;

[0098] In the above technical solution, the intelligent conveying and dynamic positioning unit accurately calculates the speed of the conveyor belt 4 and the start-stop delay compensation, and combines visual servo to achieve high-precision positioning of corn, avoiding conveying deviation and inaccurate positioning. The bionic whisker removal execution unit accurately simulates manual whisker removal through the combined spiral-inclined plane movement and flexible vibration, improving the whisker removal efficiency and quality, and reducing raw material damage. The adaptive stability and unloading unit, the dynamic stability module ensures the stability of the corn during whisker removal, and the elastic reset module accurately controls the pushing force to avoid corn damage and automatic reset, reducing manual operation, and overall improving the automation and intelligence level of the device, contributing to efficient production.

[0099] Among them, the bionic whisker removal execution unit includes a spiral-inclined plane combined movement module and a flexible vibration whisker removal sub-module;

[0100] The spiral-inclined plane combined movement module calculates the rotation angle based on the linkage of the threaded rod 26 and the inclined plate 38, and the calculation formula is as follows:

[0101]

[0102] n t is the rotation speed of the threaded rod 26, S is the lead of the spiral groove (S = 100mm, Figure 11 ) to calculate the rotation angle (θ) of the mounting frame 31, so that the clamping plate 42 rotates from the horizontal position (initial state) to the vertical position (clamping state).

[0103] The clamping force of the clamping plate 42 is calculated as follows:

[0104] F = F 气缸 ·tanθ·(1 - μ·cotθ);

[0105] F 气缸 is the output force of the second cylinder 34 (F 气缸 = 20N), the inclined plate inclination angle (θ = 30°, Figure 12 ) and the friction coefficient (μ = 0.2), to calculate the actual clamping force (F) of the clamping plate 42.

[0106] The flexible vibration whisker removal sub-module integrates a swinging action on the output shaft of the third motor 33 to simulate the manual shaking action. Calculate the vibration acceleration, the core formula:

[0107] a = A·ω 2 ·sin(ωt);

[0108] The instantaneous acceleration (a) was calculated by the amplitude (A=2mm) and angular frequency (ω=3πrad / s), so that the corn silk would resonate during the pulling process.

[0109] In the above technical solution: the spiral-inclined composite motion module accurately calculates the rotation angle and the clamping force, so that the clamping plate 42 can accurately complete the horizontal movement, rotational clamping and axial beard pulling actions, adapt to different corn silk shapes, and improve the targetedness and stability of beard removal. The flexible vibration beard removal sub-module simulates artificial shaking, and induces corn silk resonance by calculating the vibration acceleration, thereby reducing the pulling resistance and improving the efficiency and integrity of beard removal. The combination of the two can reduce corn silk and corn damage, ensure the quality of raw materials, and greatly improve the efficiency and quality of beard removal compared to traditional methods, providing high-quality raw materials for corn silk tea production and promoting efficient development of the industry. The adaptive stabilization and unloading unit includes a dynamic stabilization module and an elastic reset module;

[0110] The dynamic stability module utilizes the cooperation between the resistance frame 18 and the resistance plate 44 to realize the torque calculation when corn is desilked: (stable torque calculation

[0111] M=k s ·Δα+F f ·r;

[0112] The torsion spring coefficient (k s =0.5N·m / rad), torsion angle (Δα=0.5rad) and friction torque (F f ·r=0.1N·m), calculate the stabilizing torque of the contact plate 18 on the corn (M=0.35N·m).

[0113] The elastic reset module calculates the push force of the first cylinder

[0114] F 推料 =p·Ak·x (push force calculation)

[0115] By using air pressure (p = 0.4 MPa), piston area (A = 20 cm 2 ) and the spring force (k = 50 N / mm, x = 10 mm), calculate the actual thrust (F 推料 =75N).

[0116] The thrust accurately matches the friction between the corn and the support tube 15, avoiding the damage of the corn caused by traditional hard pushing. At the same time, the spring sheet 16 automatically resets the support tube 15 without additional drive.

[0117] Among the above technical solutions, the technical solution of the adaptive stabilization and unloading unit has outstanding advantages. The dynamic stabilization module, through the cooperation of the resistance frame 44 and the resistance plate 18 and the precise torque calculation, uses the elasticity and friction torque of the torsion spring 12 to provide a stabilizing torque when the corn is de-silked, prevent the corn from shaking and shifting, and ensure the smooth de-silking. The elastic reset module accurately calculates the pushing force, and according to parameters such as air pressure, piston area and elastic force of the spring sheet 16, the pushing force is adapted to the friction between the corn and the support tube 15 to avoid damage to the corn, and the spring sheet 16 automatically resets the support tube 15 without the need for additional drive. The two work together to improve the stability and reliability of the device, reduce manual intervention, achieve efficient unloading and reset of the support tube 15, and help the corn silk collection process to be smooth and efficient.

[0118] In the above technical solution, based on the structured light projector and the industrial camera, the visual servo precision positioning submodule constructs a three-dimensional coordinate measurement model of corn ears in the following specific method:

[0119] Step 1: Determine the sensor installation location;

[0120] Installation of structured light projector (not marked in the figure): Install a DLP structured light projector (including but not limited to model: Mikrotron MVC-3000, projection angle 60°, resolution 1280×800) 200 mm below the left side beam of the stand 23; the optical axis of the projector is 45° downward to the horizontal plane to ensure that the laser stripes vertically cover the corn ears;

[0121] Industrial camera installation (not marked in the figure): Install a Baslerace2100-50gm camera (2048×1088 pixels, frame rate 50fps) (including but not limited to the Baslerace2100-50gm camera) symmetrically on the right side of the stand; the camera optical axis forms an angle of 30° with the structured light plane, forming a triangulation baseline distance B = 200mm (measured value);

[0122] Step 2: Select optical component parameters;

[0123] Lens selection for industrial cameras: Focal length: Computar M1614-MP2 lens (focal length 16 mm, aperture F1.4) (including but not limited to Computar M1614-MP2 lens);

[0124] Depth of Field Calculation: The depth of field is calculated as follows:

[0125]

[0126] N = 1.4 (aperture value), c = 0.019 mm (pixel size), f = 16 mm, D = 800 mm (object distance), the depth of field range is calculated to be: 650 mm ~ 1000 mm, covering the full depth of the corn ear.

[0127] Filter configuration: A narrowband interference filter is selected (center wavelength 650 nm, bandwidth 10 nm, transmittance > 90%);

[0128] The filter is installed in front of the camera lens to suppress ambient light interference;

[0129] Step 3: System calibration process; Camera internal parameter calibration: Use a 10×7 black and white checkerboard (square size 25 mm) to collect images at different positions (at least 20 groups).

[0130] The Zhang-Zhengyou calibration method is used to calculate the internal parameter matrix:

[0131] Focal length f x = 2254.3 pixels, f y = 2256.8 pixels; Principal point coordinates c x = 1023.7, c y = 542.1;

[0132] Structured light plane calibration: Place the checkerboard at different depth positions (Z = 500 mm to 1000 mm, interval 50 mm); Project four-step phase-shifted sine fringes and calculate the phase diagram for each position:

[0133]

[0134] Among them, I0, I1, I2, I3 are four phase-shifted images (phase shift amount π / 2);

[0135] Laser plane equation fitting: Associate the three-dimensional coordinates of the checkerboard corners with the corresponding phase values;

[0136] Fit the laser plane equation by the least squares method;

[0137] 0.032x + 0.999y + 0.015z - 856.3 = 0;

[0138] Plane normal vector: (0.032, 0.999, 0.015);

[0139] Distance from the plane to the origin: 856.3 mm

[0140] Step 4: Laser stripe image processing;

[0141] Image preprocessing:

[0142] Median filtering (3×3 kernel) is used to remove salt-and-pepper noise.

[0143] Histogram equalization is used to enhance the contrast:

[0144] h(k) is the original histogram, and N is the total number of pixels;

[0145] Stripe center extraction: Use the Steger algorithm to calculate the sub-pixel level center and calculate the gradient and the Hessian matrix H(x, y):

[0146] Find the zero point of the second derivative along the gradient direction:

[0147] Iteratively optimize to obtain the sub-pixel coordinates (accuracy 0.1 pixel).

[0148] Stripe matching is as follows:

[0149] Use the multi-frequency heterodyne method to solve the phase unwrapping problem:

[0150] φ1: High-frequency phase (period 8 pixels), φ2: Low-frequency phase (period 32 pixels);

[0151] Step 5: Three-dimensional coordinate calculation;

[0152] Triangulation formula: For each stripe center point (u, v), calculate the depth:

[0153] (u0 is the pixel coordinate of the reference point, and Z0 is the reference depth);

[0154] Coordinate transformation: Transform from the camera coordinate system (X c , Y c , Z c ) to the world coordinate system (X w , Y w , Z w ):

[0155]

[0156] T is the transformation matrix, obtained through hand-eye calibration (rotation matrix R + translation vector t).

[0157] Ear of corn surface reconstruction: Perform Poisson surface reconstruction on all point cloud data:

[0158] Calculate the point cloud normal vector (using PCA);

[0159] Solve the Poisson equation

[0160] Extract the isosurface to obtain the three-dimensional model of the ear of corn;

[0161] Ear of corn surface reconstruction;

[0162] Perform Poisson surface reconstruction on all point cloud data:

[0163] Calculate the point cloud normal vector (using PCA);

[0164] Solve the Poisson equation

[0165] Extract the isosurface to obtain the three-dimensional model of the corn ear.

[0166] Step 6: Corn ear feature recognition

[0167] Ear tip positioning: Extract the point cloud set with the maximum Z coordinate value (top region);

[0168] Calculate the curvature and select the point with the maximum curvature as the ear tip candidate point:

[0169] where λ1 ≤ λ2 ≤ λ3 are the eigenvalues of the local covariance matrix of the point cloud.

[0170] Perform diameter calculation. Extract the cross-sectional point cloud at the middle of the corn ear (Z = 125 mm).

[0171] Fit an ellipse: ax 2 +bxy+cy 2 +dx+ey+f = 0

[0172] The major axis 2a is the diameter of the corn ear (the initial spacing of the clamping plates is adjusted accordingly).

[0173] Estimate the tilt angle: Fit the central axis (main direction) of the corn ear: v = eigvec(C) max

[0174] where C is the covariance matrix of the point cloud and v is the eigenvector corresponding to the maximum eigenvalue.

[0175] Calculate the angle θ with the Z-axis: θ = arccos(v·k).

[0176] Step 7: Dynamic response optimization

[0177] Trigger the synchronization mechanism: Install opposed photoelectric sensors (model: Banner Q45) on both sides of the conveyor belt. When the corn ear blocks the light beam, trigger the structured light projection and camera acquisition, and the synchronization accuracy < 1 ms.

[0178] In summary, in this embodiment:

[0179] The conveyor belt 4 adaptive drive module achieves precise control over the speed of the conveyor belt 4 and start-stop delay compensation through accurate formula calculations. Based on the rotational speed of the first motor 2 and the diameter of the roller 3, the speed of the conveyor belt 4 is calculated to ensure a constant operating speed, effectively avoiding problems such as sliding and collision of the corn during transportation due to unstable speed, and guaranteeing the smoothness of corn transportation. The start-stop delay compensation calculation fully considers the spacing between adjacent support cylinders 15 and the elastic slip coefficient, accurately calculates the motor start-stop delay compensation time, and can avoid positioning deviation of the corn caused by inertia and elastic slip during the start and stop of the conveyor belt 4, enabling the corn to accurately stop below the whisker removal component, laying a foundation for subsequent operations. This module significantly improves the stability and positioning accuracy of the conveying system, reduces the manual debugging workload, improves production efficiency, and reduces the risk of equipment failure and corn damage caused by conveying problems.

[0180] The vision servo precise positioning sub-module constructs a three-dimensional coordinate measurement model of the corn ear with the help of a structured light projector and an industrial camera. The precisely installed structured light projector and industrial camera ensure that the laser stripe can vertically cover the corn ear, and the camera can clearly capture images. The reasonable selection of the camera lens and filter further improves the imaging quality, suppresses ambient light interference, makes the structured light stripes in the image clearly distinguishable, and facilitates the accurate extraction of the stripe center. The system calibration process ensures the acquisition of accurate camera internal parameters and structured light plane parameters, providing a reliable basis for accurately calculating the three-dimensional coordinates of the corn ear. This sub-module can obtain the position, attitude, and size information of the corn ear in real time and accurately. Even if the corn has a certain inclination or position deviation, it can be accurately identified and positioned. Compared with traditional positioning methods, it greatly improves the positioning accuracy and efficiency, reduces the failure of whisker removal and corn damage caused by inaccurate positioning, and provides crucial precise positioning support for automatic whisker removal.

[0181] The spiral-inclined plane compound motion module is based on the linkage of the threaded rod 26 and the inclined plate 38, and accurately calculates the rotation angle of the mounting frame 31 and the clamping force of the clamping plate 42. Through formula calculation, the clamping plate 42 can accurately rotate from the horizontal position to the vertical position, precisely realizing the clamping of the corn whiskers. The clamping force of the clamping plate 42 is calculated according to the output force of the second cylinder 34, the inclination angle of the inclined plate 38, and the friction coefficient, which can ensure that the clamping force can firmly clamp the corn whiskers without damaging the corn whiskers or the corn. This compound motion and precise clamping force control enable the clamping plate 42 to adapt to corn whiskers of different thicknesses and shapes. Compared with traditional single motion and fixed clamping force designs, it significantly improves the whisker removal efficiency and quality, reduces raw material waste, and ensures the integrity of corn whisker collection and the integrity of the corn.

[0182] The flexible vibration de-bearding submodule integrates a swinging motion on the output shaft of the third motor 33 to simulate artificial shaking. By setting the amplitude and angular frequency, the vibration acceleration is accurately calculated so that the corn silk resonates during the extraction process. This bionic design effectively loosens the connection between the corn silk and the corn, reduces the extraction resistance, improves the extraction efficiency of the corn silk, and reduces residue and breakage. Compared with traditional hard extraction, this submodule improves the quality of corn silk collection while reducing raw material loss, equipment wear, extending equipment service life, and reducing corporate production costs, providing an innovative and effective solution for the efficient and high-quality collection of corn silk.

[0183] The dynamic stability module uses the cooperation of the resistance frame 44 and the resistance plate 18 to achieve stability during corn desilvering through precise torque calculation. The comprehensive calculation of the elastic coefficient, torsion angle and friction torque of the torsion spring 12 enables the resistance plate 18 to generate a suitable stabilizing torque on the corn to prevent the corn from shaking or shifting due to force during the desilvering process. The module does not require an additional power source, and can achieve the stability function only by relying on the clever cooperation of the mechanical structure. It has the characteristics of simple structure, strong stability and high reliability, providing reliable guarantee for the smooth desilvering operation and improving the success rate and quality of corn silk collection.

[0184] Elastic reset module

[0185] The elastic reset module accurately calculates the pushing force of the first cylinder 10, comprehensively considering factors such as air pressure, piston area and elastic force of the spring sheet 16, so that the thrust of the push head 11 accurately matches the friction between the corn and the support tube 15. In this way, the corn can be pushed out smoothly and damage to the corn due to excessive thrust can be avoided. At the same time, the elastic reset function of the spring sheet 16 automatically resets the support tube 15 after unloading, without the need for an additional drive device, thus simplifying the structure and reducing energy consumption. Compared with the traditional hard pushing method, this module significantly reduces corn damage, improves corn integrity, improves unloading efficiency, reduces manual intervention, makes the corn silk collection device run more smoothly and efficiently, and reduces production costs and equipment maintenance difficulties.

[0186] To sum up, the technical solution of the corn silk collection device realizes the automation, precision and efficiency of the corn silk collection process through the close cooperation and collaborative work of various modules. It shows significant advantages in improving production efficiency, ensuring product quality, reducing production costs and many other aspects, and has effectively promoted the development of the corn silk tea industry.

[0187] In the description of the present invention, it should be noted that, unless otherwise clearly defined and limited, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0188] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A corn silk collection device for corn silk tea production, characterized in that, Including: A base (1), there are two groups of the base (1), a roller (3) is rotatably connected to the outside of the base (1), a conveyor belt (4) is sleeved on the outside of the roller (3), a first motor (2) is fixedly connected to the outside of the base (1), and the output end of the first motor (2) is fixedly connected to the roller (3); Connecting blocks (14), there are multiple groups of the connecting blocks (14), and they are all fixedly connected to the outside of the conveyor belt (4), and a support cylinder (15) is fixedly connected to the outside of the connecting blocks (14); An upright frame (23), the upright frame (23) is arranged on one side of the conveyor belt (4), and a second fixing frame (24) is fixedly connected to the outside of the upright frame (23); A whisker removing component, the whisker removing component is arranged on the second fixing frame (24).

2. The corn silk collecting device for corn silk tea production according to claim 1, characterized in that, A positioning strip (6) is fixedly connected to the inner wall of the conveyor belt (4), a positioning groove (5) is arranged on the outside of the roller (3), and the positioning strip (6) is used in cooperation with the positioning groove (5).

3. A corn silk collecting device for corn silk tea production according to claim 1, characterized in that, It further includes a support frame (7), both sides of the top of the support frame (7) are fixedly connected with support plates (8), the support plates (8) abut against the bottom of the support cylinder (15), and multiple groups of spring pieces (16) are fixedly connected inside the support cylinder (15), and the spring pieces (16) are of an arc-shaped structure.

4. A corn silk collection device for corn silk tea production according to claim 1, characterized in that, It further includes a first fixing frame (9), a first cylinder (10) is fixedly connected to the first fixing frame (9), the output end of the first cylinder (10) is fixedly connected with a push head (11), a connecting plate (13) is fixedly connected to the position of the push head (11) corresponding to the support plate (8), a limiting plate (12) is fixedly connected to the connecting plate (13), and the limiting plate (12) abuts against the top edge of one of the support cylinders (15).

5. The corn silk collection device for corn silk tea production according to claim 1, characterized in that, The whisker removing component includes clamping plates (42), a second motor (25) and a second cylinder (34), the output end of the second motor (25) is fixedly connected with a threaded rod (26), a nut block (29) is threadedly connected to the outside of the threaded rod (26), a guide rod (27) is fixedly connected to the outside of the second fixing frame (24), a guide sleeve (30) is slidably connected to the outside of the guide rod (27), a moving frame (28) is jointly fixedly connected to the outside of the nut block (29) and the guide sleeve (30), an installation frame (31) is connected below the moving frame (28), the second cylinder (34) is fixedly connected to the installation frame (31), two groups of inclined plates (38) are slidably connected inside the connection frame, a chute (37) is arranged on the outside of the inclined plates (38), the output end of the second cylinder (34) is fixedly connected with a sliding plate (35), guide wheels (36) are rotatably connected to both sides of the bottom of the sliding plate (35), the guide wheels (36) are slidably connected in the chute (37), there are two clamping plates (42), and they are symmetrically slidably connected to the outside of the installation frame (31), a sliding frame (39) is fixedly connected to the outside of the clamping plates (42), the sliding frame (39) is slidably sleeved on the outside of the installation frame (31), and the sliding frame (39) is fixedly connected to the inclined plates (38).

6. The corn silk collecting device for corn silk tea production according to claim 5, characterized in that, A rotating rod (32) is rotatably connected in the moving frame (28), the mounting frame (31) is fixedly connected to the rotating rod (32), a third motor (33) is fixedly connected to the outside of the moving frame (28), and an output end of the third motor (33) is fixedly connected to the rotating rod (32).

7. The corn silk collecting device for corn silk tea production according to claim 5, characterized in that, A return spring (43) is connected between the inclined plates (38).

8. A corn silk collecting device for corn silk tea production according to claim 5, characterized in that, The outside of the installation frame (31) is fixedly connected to a slide rail (40), the inside of the slide rail (40) is slidably connected to a slider (41), and the slider (41) is fixedly connected to a clamping plate (42).

9. The corn silk collecting device for corn silk tea production according to claim 6, characterized in that, The support plate (8) is also fixedly connected to a mounting frame (17) on the outside, a rotating shaft (20) is rotatably connected to the mounting frame (17), a torsion spring (12) is sleeved on the outside of the rotating shaft (20), a contact plate (18) is fixedly connected to the outside of the rotating shaft (20), a limit strip (45) is fixedly connected to the outside of the mounting frame (17), one end of the contact plate (18) is rotatably connected to a roller (19), a contact frame (44) is fixedly connected to the position of the corresponding roller (19) on the moving frame (28), and the contact frame (44) is an inclined structure.

10. The corn silk collecting device for corn silk tea production according to claim 9, characterized in that, It also includes a control management system, which includes a control unit, an intelligent conveying and dynamic positioning unit, a bionic beard removal execution unit, and an adaptive stabilization and unloading unit; The intelligent conveying and dynamic positioning unit comprises a conveyor belt (4) adaptive transmission module and a visual servo precision positioning submodule; The conveyor belt (4) adaptive transmission module calculates the conveyor belt (4) speed and start-stop delay compensation, and the specific formula is as follows: Wherein: n is the rotation speed of the first motor (2), D is the diameter of the roller (3), and v is the speed of the conveyor belt (4); The start-stop delay compensation calculation formula is as follows: In the formula, L is the distance between adjacent support cylinders (15), v is the speed of the conveyor belt (4), ε is the elastic sliding coefficient, and the start-stop delay compensation time Δt of the first motor (2) is calculated; The visual servo precision positioning submodule comprises a structured light projector and an industrial camera installed on both sides of the stand (23); Based on the structured light projector and the industrial camera, the visual servo precision positioning submodule constructs a three-dimensional coordinate measurement model of corn ears; Wherein, the bionic beard removal execution unit includes a spiral-inclined plane compound motion module and a flexible vibration beard removal submodule; The spiral-inclined plane compound motion module calculates the rotation angle based on the linkage between the threaded rod (26) and the inclined plate (38), and the calculation formula is as follows: n t where n is the number of revolutions of the threaded rod (26), S is the lead of the spiral groove, and θ is the rotation angle of the mounting frame (31); The clamping force of the clamping plate (42) is calculated as follows: F = F 气缸 ·tanθ·(1 - μ·cotθ); F 气缸 where F is the output force of the second cylinder (34), θ is the inclination angle of the inclined plate, and μ is the friction coefficient, calculate the actual clamping force F of the clamping plate (42); The flexible vibration beard removal module integrates the swinging action on the output shaft of the third motor (33) and calculates the vibration acceleration according to the following formula: a = A·ω 2 ·sin(ωt); In the formula, A is the amplitude, ω is the angular frequency, and a is the instantaneous acceleration; The adaptive stabilization and unloading unit includes a dynamic stabilization module and an elastic reset module; The dynamic stability module utilizes the cooperation between the resistance frame and the resistance plate to realize the torque calculation when the corn is desilked. The formula is as follows: M = k s ·Δα + F f ·r; where k s is the elastic coefficient of the torsion spring, Δα is the torsion angle of the contact plate, and F f ·r is the frictional torque between the contact plate (18) and the contact frame (44); Among them, the elastic reset module calculates the pushing force of the first cylinder: F 推料 = p·A - k·x; In the formula, p is the air pressure, A is the piston area, and k is the elastic force of the spring piece (16). Calculate the actual thrust F of the push head 推料 ; The control unit adopts cascade PID to control the first motor (2), the second motor (25), the third motor (33), the first cylinder (10) and the second cylinder (34) based on the multi-axis collaborative PID control algorithm. The calculation formula of the PID control equation is as follows: In the formula, the pressure of the first motor (2), the second motor (25), the third motor (33), the first cylinder (10) and the second cylinder (34) is adjusted by the proportionality coefficient K p , the integral coefficient K i , the differential coefficient K d to eliminate system lag.

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