Mantis shrimp imitating thimble type silkworm cocoon intelligent sorting device

Abstract

The invention provides a mantis shrimp imitating ejector pin type intelligent silkworm cocoon sorting device. The mantis shrimp imitating ejector pin type intelligent silkworm cocoon sorting device structurally comprises an industrial camera recognition module, a lead screw driving transportation module and a mantis shrimp imitating electromagnetic driving ejector pin module. The industrial camera recognition module collects silkworm cocoon images through an industrial camera for accurate recognition and classification; the lead screw driving transportation module drives the silkworm cocoon plate and the ejector pin to move along the guide rail through a lead screw, and accurate movement of silkworm cocoons and the ejector pin is achieved. The mantis shrimp-imitating electromagnetic drive ejector pins are suspended by the portal frame cross beam, and the corresponding silkworm cocoons are accurately ejected through the electromagnetic drive ejector pins based on the recognition and classification result. The silkworm cocoon sorting device aims at achieving efficient recognition, precise classification and automatic sorting of silkworm cocoons, has the advantages of being good in process collaboration, precise in force application due to the bionic ejector pin structure, stable in sorting action and the like, and meets the requirement for large-scale silkworm cocoon classification operation.

Description

Technical Field

[0001] The present invention relates to the field of agricultural automated sorting, and in particular to a silk cocoon intelligent identification and classification device. Technical Background

[0002] As silk cocoon processing becomes increasingly industrialized, precise sorting of cocoons, the core raw material of the silk industry, is crucial. Traditionally, cocoon sorting relies on manual identification, requiring workers to rely on their experience to manually sort the cocoons based on their color, shape, and cocoon layer thickness. This process is not only inefficient but also labor-intensive. This severely hinders the standardization and scale-up of the cocoon industry amidst shifting labor structures and increasing demand for refined processing.

[0003] Existing cocoon classification technologies mostly use extensive screening, and the common method is mainly to simply classify the cocoons based on size or weight. It is difficult to comprehensively consider multi-dimensional quality factors such as the color uniformity, cocoon shape integrity, and cocoon layer tightness of the cocoon. As a result, the quality consistency of the classified cocoons is poor, and it cannot meet the refined requirements of high-end silk processing for raw materials. At the same time, manual classification is greatly affected by subjective judgment, and the efficiency fluctuates significantly, making it difficult to adapt to the needs of large-scale industrial production. Therefore, there is an urgent need for a cocoon classification device that integrates intelligent recognition and automated execution technology to achieve multi-dimensional and precise classification. This cocoon classification device, based on a recognition camera and a mantis shrimp-like electromagnetic-driven thimble, accurately identifies the characteristics of the cocoons through images, and combines screw-driven transportation and electromagnetic-driven contour-profiling thimble technology to achieve efficient identification and precise sorting of cocoons, effectively improving classification efficiency and refinement. Summary of the Invention

[0004] To address these issues, the present invention provides a silkworm cocoon sorting device based on intelligent recognition. This device accurately processes silkworm cocoons from image recognition to automated sorting, laying a foundation for efficient subsequent processing and production. It effectively addresses the challenges of low manual sorting efficiency, insufficient multi-dimensional quality recognition in traditional screening, and low levels of automated sorting.

[0005] The purpose and efficacy of the mantis shrimp-like thimble-type intelligent cocoon sorting device described in the present invention are achieved by adopting the following technical solutions: A mantis shrimp-like thimble-type intelligent silk cocoon sorting device includes an industrial camera recognition module, a screw-driven transport module and a mantis shrimp-like electromagnetic-driven thimble module. Specifically, the industrial camera recognition module includes an upper industrial camera 16, a lower industrial camera 25, and an industrial camera connecting rod 18. The upper industrial camera 16 is arranged above the industrial camera connecting rod 18, and the lower industrial camera 25 is arranged below the industrial camera connecting rod 18. The industrial camera connecting rod is welded above the cross frame 17. The screw-driven transport module includes two groups of identical screw-driven guide rail slider mechanisms, one of which includes a group of thimble transport mechanisms including a No. 1 motor 4, a gantry drive screw 3, a gantry transport slider 2, a tail end plate 7, a square seat bearing 8, and a gantry cross Beam 9, screw nut 11, guide rail 12, head end plate 14, incremental encoder 23, the guide rail is fixed on the support 15, the head end plate 14 is connected to the front of the guide rail 12, the tail end plate 17 is connected to the rear of the guide rail 12, the gantry drive screw 3 is fixed inside the guide rail 12, the No. 1 motor 4 is placed in front of the head end plate 14, the gantry transport slider 2 is connected to the gantry drive screw 3 through the screw nut 11, the square seat bearing 8 is placed on the guide rail 12 and connected to the gantry drive screw 3, the gantry crossbeam 9 is connected to the gantry transport slider 2 and above the guide rail 12, the incremental encoder 23 is connected in series with the No. 1 motor 4, the structure of another set of cocoon conveying plates is consistent with this mechanism, the simulation The mantis shrimp electromagnetic drive ejector module includes a main connecting block 26 iron block 27 push rod 28 main spring 29 main electromagnet 30 electromagnet connecting block 31 memory alloy corrugated gasket 32 ​​ejector top cover 33 thin film pressure sensor 34 auxiliary connecting block 35 auxiliary electromagnet 36 auxiliary spring 37 lock 38 auxiliary shaft 39 torsion spring 40 rack 41 gear 42 crank 43 connecting rod 44 slider 45. The auxiliary connecting block 35 is fixed to the ejector housing 13. The lock 38 is connected to one end of the torsion spring 40 and can move along the auxiliary shaft 39 under the action of magnetic force to release the torsion spring 40. The other end of the torsion spring 40 is connected to the crank 43 and assembled on the auxiliary shaft 39. The auxiliary spring 37 is limited between the lock 38 and the auxiliary connecting block 35 and assembled on the auxiliary shaft 39. The connecting block 26 is fixed to the ejector housing 13. The iron block 27 can move along the push rod 28 under the action of magnetic force. The main spring 29 is confined between the iron block 27 and the ejector top cover 33 and is assembled on the push rod 28. The main electromagnet 30 is fixed to the ejector housing 13 through the electromagnet connecting block 31. The memory alloy corrugated gasket 32 ​​is assembled on the push rod 28. The ejector top cover 33 is equipped with a thin film pressure sensor 34 and is assembled on the push rod 28. The rack 41 is connected to the iron block 27 and can move with the iron block 27. The gear is assembled on the countershaft 39 and cooperates with the rack 41. One end of the connecting rod 44 is connected to the crank 43 and the other end is connected to the slider 45. The slider 45 can move in the slide groove of the ejector top cover 33 under the action of the connecting rod 44.The cocoon board 20 is identified at its initial position using the upper industrial camera 16 and the lower industrial camera 25. Upper and lower images of the cocoons in each grid cluster on the cocoon board 20 are captured. These images are pre-processed, and shape parameters, color parameters, and surface defect parameters of each cocoon are extracted using an image processing algorithm. These extracted characteristic parameters are then compared with a preset cocoon grade classification standard to determine the grade of the cocoons in each grid cluster, such as grade one, grade two, grade three, etc.

[0006] After the industrial camera identifies the cocoon, the No. 2 motor 6 rotates, thereby driving the cocoon plate driving screw 5 to rotate around the axis. The thread on the outer surface of the cocoon plate driving screw 5 forms a spiral pair with the internal thread of the screw nut. Based on the screw transmission principle, the rotational motion of the cocoon plate driving screw 5 is converted into linear motion of the screw nut. The screw nut is fixedly connected to the cocoon plate transport slider 1, thereby driving the cocoon plate motion slider 1 to move linearly along the screw axis direction. The incremental encoder 23 calculates the position of the cocoon 20 in real time through the number of pulses. When the transmitting end of the No. 2 through-beam sensor 21 on the ejector connecting plate 24 successfully establishes a signal connection with the receiving end of the No. 1 through-beam sensor 19, a synchronization trigger signal is generated and transmitted to the PLC. When the PLC receives the synchronization trigger signal, it outputs a synchronization control instruction to the No. 1 motor 4 and the No. 2 motor 6, driving the No. 1 motor 4 and the No. 2 motor 6 to rotate synchronously according to the preset synchronization parameters, thereby realizing the synchronous movement of the cocoon plate and the upper cocoon ejector.

[0007] When the cocoon plate 20 and the cocoon thimble above it move to a certain position, the PLC controls the No. 1 motor 4 and the No. 2 motor 6 to stop rotating. When the cocoon plate transport slider 1 and the gantry transport slider 2 stop completely, the PLC controls the main electromagnet 30 corresponding to the same level of cocoons, such as the first-level cocoons, to be energized according to the recognition result of the industrial camera recognition module. The main electromagnet 30 is energized to generate a magnetic force to attract the iron block 27 to move downward, thereby compressing the main spring 29. At the same time, the rack 41 connected to the iron block 27 moves downward, thereby driving the gear 42 to rotate around the secondary shaft 39, so that the torsion spring 40 above rotates. At this time, the torsion spring 40 is affected by the lock 38 fixed on the thimble housing 13 and cannot release the elastic potential energy, thereby storing the elastic potential energy of the torsion spring 40. The compression of the main spring 29 also drives the thimble top cover 33 to move downward, thereby pressing the cocoon. To eject the cocoon plate 20, if the film pressure sensor 34 detects that the pressure reaches the preset threshold, it means that the cocoon cannot be ejected by relying on the force of the main spring. At this time, the PLC controls the auxiliary electromagnet 36 above the corresponding cocoon to be energized, generating magnetic force to attract the iron lock 38 close to the compressed auxiliary spring 37, thereby unlocking the torsion spring 40. The torsion spring 40 releases elastic potential energy, driving the crank 43 to rotate, thereby driving the connecting rod 44 to move, and then the slider 45 moves downward along the groove of the ejector top cover 33 to push the ejector top cover 33 downward again, thereby ejecting the cocoon that has not been ejected out of the cocoon plate 20. This release response process simulates the principle of mantis shrimp storing energy by stretching the elastic structure of the muscle at the coxae of the thoracic limbs. The response time is less than 10ms, and a large amount of energy is released in a very short time to ensure that the cocoon can be completely ejected from the cocoon plate 20.

[0008] After the ejector pin pushes the corresponding cocoon out of the cocoon plate 20, the PLC controls the corresponding main electromagnet 30 and auxiliary electromagnet 36 to be de-energized. The main spring 29, under its own elastic force, drives the ejector pin cover 33 back to its original position. At the same time, the auxiliary spring, under its own elastic force, returns the lock catch 38 to its original position and locks the torsion spring 40 again. The entire ejector pin structure returns to its initial state.

[0009] Then the PLC energizes the No. 1 motor 4 and the No. 2 motor 6 again to repeat the above process, thereby realizing the classification process of the silk cocoons of another grade. By analogy, the silk cocoons can be classified multiple times.

[0010] Compared with the prior art, the present invention has the following advantages and positive effects: 1. The device uses a front-end recognition camera fusion image algorithm to accurately capture multi-dimensional features of the cocoon, such as color, shape, and cocoon layer integrity. Different from traditional manual experience judgment and single size screening, it realizes intelligent and refined classification of cocoon quality, and significantly improves classification accuracy.

[0011] 2. The device uses an electromagnetically driven ejector with a mantis shrimp-like structure. Based on the identification and classification results, it is precisely positioned through the gantry screw drive. The ejector has sensitive response and controllable impact force. It can not only quickly eject the target cocoon, but also avoid the collision damage caused by traditional mechanical sorting, thus ensuring the integrity of the cocoon.

[0012] 3. Full-process automation efficiency: The recognition module, screw-driven transport mechanism, and electromagnetic ejector mechanism work in conjunction with each other, automating the entire process from cocoon image acquisition and classification judgment to sorting execution. This reduces manual intervention and significantly improves sorting efficiency compared to traditional methods, effectively reducing labor costs and management difficulties in large-scale production. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings, which constitute part of this application, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings: Figure 1 This is a schematic diagram of the overall appearance structure of the cocoon plate and ejector pin combination; Figure 2 This is a schematic diagram of the overall appearance structure of the cocoon plate and the ejector pin; Figure 3 This is a schematic diagram of the detailed structure of the separation of the cocoon plate and the ejector pin; Figure 4 Schematic diagram of the torsion spring energy storage structure; Figure 5 This is a structural diagram of the ejector in its initial state; Figure 6 This is a schematic diagram of the critical position structure of the ejector driven by the main spring only; Figure 7 Schematic diagram of the main spring and torsion spring dual-drive ejector structure; DETAILED DESCRIPTION

[0014] The present invention will be further described below with reference to the accompanying drawings and examples, but it should not be understood that the scope of the present invention is limited to the following examples. Without departing from the above technical ideas of the present invention, various substitutions and modifications can be made according to common technical knowledge and customary means in the art, and all should be included in the scope of protection of the present invention.

[0015] A mantis shrimp-like thimble-type intelligent cocoon sorting device, the main structure of which includes: a cocoon plate transport slider 1, a gantry transport slider 2, a gantry drive screw 3, a No. 1 motor 4, a cocoon plate drive screw 5, a No. 2 motor 6, a tail end plate 7, a square seat bearing 8, a gantry beam 9, a connecting rod 10, a screw nut 11, a guide rail 12, a thimble housing 13, a head end plate 14, a support 15, an upper industrial camera 16, a cross frame 17, an industrial camera connecting rod 18, a No. 1 through-beam sensor 19, and a cocoon plate 20. , No. 2 through-beam sensor 21, shaft connector 22, incremental encoder 23, ejector connecting plate 24, lower industrial camera 25, main connecting block 26, iron block 27, push rod 28, main spring 29, main electromagnet 30, electromagnet connecting block 31, memory alloy corrugated gasket 32, ejector top cover 33, film pressure sensor 34, auxiliary connecting block 35, auxiliary electromagnet 36, auxiliary spring 37, lock 38, auxiliary shaft 39, torsion spring 40, rack 41, gear 42, crank 43, connecting rod 44, slider 45.

[0016] The following is combined with Figure 1 To the attached Figure 4 The present invention is elaborated in detail: Specifically, the industrial camera recognition module includes an upper industrial camera 16, a lower industrial camera 25, and an industrial camera connecting rod 18. The upper industrial camera 16 is arranged above the industrial camera connecting rod 18, and the lower industrial camera 25 is arranged below the industrial camera connecting rod 18. The industrial camera connecting rod is welded above the cross frame 17. The screw-driven transport module includes two sets of identical screw-driven guide rail slider mechanisms, one of which includes a set of ejector pin conveying mechanisms including a No. 1 motor 4, a gantry drive screw 3, a gantry transport slider 2, a tail end plate 7, a square seat bearing 8, a gantry crossbeam 9, a screw nut 11, a guide rail 12, a head end plate 14, and an incremental encoder 23. The guide rail is fixed to the support 15. On the top, the head end plate 14 is connected to the front of the guide rail 12, the tail end plate 17 is connected to the rear of the guide rail 12, the gantry drive screw 3 is fixed inside the guide rail 12, the No. 1 motor 4 is placed in front of the head end plate 14, the gantry transport slider 2 is connected to the gantry drive screw 3 through the screw nut 11, the square seat bearing 8 is placed on the guide rail 12 and connected to the gantry drive screw 3, the gantry crossbeam 9 is connected to the gantry transport slider 2 and above the guide rail 12, the incremental encoder 23 is connected in series with the No. 1 motor 4, and the structure of another set of cocoon conveying plates is consistent with this mechanism. The mantis shrimp-like electromagnetic drive ejector module includes a main connecting block 26, an iron block 27, and a push rod 2 8 Main spring 29 Main electromagnet 30 Electromagnet connecting block 31 Memory alloy corrugated gasket 32 ​​Ejector top cover 33 Thin film pressure sensor 34 Auxiliary connecting block 35 Auxiliary electromagnet 36 Auxiliary spring 37 Lock 38 Auxiliary shaft 39 Torsion spring 40 Rack 41 Gear 42 Crank 43 Connecting rod 44 Slider 45, the auxiliary connecting block 35 is fixed to the ejector housing 13, the lock 38 is connected to one end of the torsion spring 40, and can move along the auxiliary shaft 39 under the action of magnetic force to release the torsion spring 40, the other end of the torsion spring 40 is connected to the crank 43 and assembled on the auxiliary shaft 39, the auxiliary spring 37 is restricted between the lock 38 and the auxiliary connecting block 35 and assembled on the auxiliary shaft 39, the main connecting block 26 is fixed to the ejector housing 13 The iron block 27 can move along the push rod 28 under the action of magnetic force. The main spring 29 is limited between the iron block 27 and the ejector top cover 33 and is assembled on the push rod 28. The main electromagnet 30 is fixed to the ejector housing 13 through the electromagnet connecting block 31. The memory alloy corrugated gasket 32 ​​is assembled on the push rod 28. The ejector top cover 33 is equipped with a thin film pressure sensor 34 and is assembled on the push rod 28. The rack 41 is connected to the iron block 27 and can move with the iron block 27. The gear is assembled on the countershaft 39 and cooperates with the rack 41. One end of the connecting rod 44 is connected to the crank 43 and the other end is connected to the slider 45. The slider 45 can move in the slide groove of the ejector top cover 33 under the action of the connecting rod 44.The cocoon board 20 is identified at its initial position using the upper industrial camera 16 and the lower industrial camera 25. Upper and lower images of the cocoons in each grid cluster on the cocoon board 20 are captured. These images are pre-processed, and shape parameters, color parameters, and surface defect parameters of each cocoon are extracted using an image processing algorithm. These extracted characteristic parameters are then compared with a preset cocoon grade classification standard to determine the grade of the cocoons in each grid cluster, such as grade one, grade two, grade three, etc.

[0017] After the industrial camera identifies the cocoon, the No. 2 motor 6 rotates, thereby driving the cocoon plate driving screw 5 to rotate around the axis. The thread on the outer surface of the cocoon plate driving screw 5 forms a spiral pair with the internal thread of the screw nut. Based on the screw transmission principle, the rotational motion of the cocoon plate driving screw 5 is converted into linear motion of the screw nut. The screw nut is fixedly connected to the cocoon plate transport slider 1, thereby driving the cocoon plate motion slider 1 to move linearly along the screw axis direction. The incremental encoder 23 calculates the position of the cocoon 20 in real time through the number of pulses. When the transmitting end of the No. 2 through-beam sensor 21 on the ejector connecting plate 24 successfully establishes a signal connection with the receiving end of the No. 1 through-beam sensor 19, a synchronization trigger signal is generated and transmitted to the PLC. When the PLC receives the synchronization trigger signal, it outputs a synchronization control instruction to the No. 1 motor 4 and the No. 2 motor 6, driving the No. 1 motor 4 and the No. 2 motor 6 to rotate synchronously according to the preset synchronization parameters, thereby realizing the synchronous movement of the cocoon plate and the upper cocoon ejector.

[0018] When the cocoon plate 20 and the cocoon thimble above it move to a certain position, the PLC controls the No. 1 motor 4 and the No. 2 motor 6 to stop rotating. When the cocoon plate transport slider 1 and the gantry transport slider 2 stop completely, the PLC controls the main electromagnet 30 corresponding to the same level of cocoons, such as the first-level cocoons, to be energized according to the recognition result of the industrial camera recognition module. The main electromagnet 30 is energized to generate a magnetic force to attract the iron block 27 to move downward, thereby compressing the main spring 29. At the same time, the rack 41 connected to the iron block 27 moves downward, thereby driving the gear 42 to rotate around the secondary shaft 39, so that the torsion spring 40 above rotates. At this time, the torsion spring 40 is affected by the lock 38 fixed on the thimble housing 13 and cannot release the elastic potential energy, thereby storing the elastic potential energy of the torsion spring 40. The compression of the main spring 29 also drives the thimble top cover 33 to move downward, thereby pressing the cocoon. To eject the cocoon plate 20, if the film pressure sensor 34 detects that the pressure reaches the preset threshold, it means that the cocoon cannot be ejected by relying on the force of the main spring. At this time, the PLC controls the auxiliary electromagnet 36 above the corresponding cocoon to be energized, generating magnetic force to attract the iron lock 38 close to the compressed auxiliary spring 37, thereby unlocking the torsion spring 40. The torsion spring 40 releases elastic potential energy, driving the crank 43 to rotate, thereby driving the connecting rod 44 to move, and then the slider 45 moves downward along the groove of the ejector top cover 33 to push the ejector top cover 33 downward again, thereby ejecting the cocoon that has not been ejected out of the cocoon plate 20. This release response process simulates the principle of mantis shrimp storing energy by stretching the elastic structure of the muscle at the coxae of the thoracic limbs. The response time is less than 10ms, and a large amount of energy is released in a very short time to ensure that the cocoon can be completely ejected from the cocoon plate 20.

[0019] After the ejector pin pushes the corresponding cocoon out of the cocoon plate 20, the PLC controls the corresponding main electromagnet 30 and auxiliary electromagnet 36 to be de-energized. The main spring 29, under its own elastic force, drives the ejector pin cover 33 back to its original position. At the same time, the auxiliary spring, under its own elastic force, returns the lock catch 38 to its original position and locks the torsion spring 40 again. The entire ejector pin structure returns to its initial state.

[0020] Then the PLC energizes the No. 1 motor 4 and the No. 2 motor 6 again to repeat the above process, thereby realizing the classification process of the silk cocoons of another grade. By analogy, the silk cocoons can be classified multiple times.

[0021] The above descriptions are only preferred embodiments of the present invention, not all embodiments. Anyone should be aware that any technical feature replacement, structural improvement or process optimization made under the inspiration of the present invention, which is essentially the same or equivalent to the technical solution of the present invention, shall fall within the scope of protection of the present invention.

Claims

1. A mantis shrimp-like thimble-type intelligent silk cocoon sorting device, characterized by: It mainly consists of three parts: industrial camera recognition module, screw drive transport module, and mantis shrimp-like electromagnetic drive ejector module, specifically: cocoon plate transport slider (1), gantry transport slider (2), gantry drive screw (3), No. 1 motor (4), cocoon plate drive screw (5), No. 2 motor (6), tail end plate (7), square seat bearing (8), gantry beam (9), connecting rod (10), screw nut (11), guide rail (12), ejector housing (13), head end plate (14), support (15), upper industrial camera (16), cross frame (17), industrial camera connecting rod (18), No. 1 beam sensor (19), cocoon Plate (20), No. 2 beam sensor (21), shaft connector (22), incremental encoder (23), ejector connecting plate (24), lower industrial camera (25), main connecting block (26), iron block (27), push rod (28), main spring (29), main electromagnet (30), electromagnet connecting block (31), memory alloy corrugated gasket (32), ejector top cover (33), film pressure sensor (34), auxiliary connecting block (35), auxiliary electromagnet (36), auxiliary spring (37), lock (38), auxiliary shaft (39), torsion spring (40), rack (41), gear (42), crank (43), connecting rod (44), slider (45).

2. The mantis shrimp-like thimble-type intelligent silk cocoon sorting device according to claim 1, characterized in that: The screw-driven transport module includes two sets of identical screw-driven guide rail slider mechanisms, wherein one set of the ejector mechanism includes a No. 1 motor (4), a gantry drive screw (3), a gantry transport slider (2), a tail end plate (7), a square seat bearing (8), a gantry crossbeam (9), a screw nut (11), a guide rail (12), a head end plate (14), and an incremental encoder (23), wherein the guide rail is fixed on a support (15), the head end plate (14) is connected to the front of the guide rail (12), the tail end plate (17) is connected to the rear of the guide rail (12), and the gantry is connected to the rear of the guide rail (12). The gantry driving screw (3) is fixed inside the guide rail (12), the No. 1 motor (4) is placed in front of the head end plate (14), the gantry transport slider (2) is connected to the gantry driving screw (3) through the screw nut (11), the square seat bearing (8) is placed on the guide rail (12) and connected to the gantry driving screw (3), the gantry crossbeam (9) is connected to the gantry transport slider (2) and above the guide rail (12), the incremental encoder (23) is connected in series with the No. 1 motor (4), and the structure of another set of cocoon conveying plates is consistent with this mechanism.

3. The mantis shrimp-like thimble-type intelligent cocoon sorting device according to claim 1, characterized in that: The mantis shrimp-like electromagnetic drive ejector module comprises a main connecting block (26), an iron block (27), a push rod (28), a main spring (29), a main electromagnet (30), an electromagnet connecting block (31), a memory alloy corrugated gasket (32), an ejector top cover (33), a film pressure sensor (34), a secondary connecting block (35), a secondary electromagnet (36), a secondary spring (37), a lock (38), a secondary shaft (39), a torsion spring (40), a rack (41), A gear (42), a crank (43), a connecting rod (44), and a slider (45); the auxiliary connecting block (35) is fixed to the ejector housing (13); the lock (38) is connected to one end of the torsion spring (40) and can move along the secondary shaft (39) under the action of magnetic force to loosen the torsion spring (40); the other end of the torsion spring (40) is connected to the crank (43) and assembled on the secondary shaft (39); the auxiliary spring (37) is restricted between the lock (38) and the auxiliary connecting block (35) The main connecting block (26) is fixed to the ejector housing (13), the iron block (27) can move along the push rod (28) under the action of magnetic force, the main spring (29) is limited between the iron block (27) and the ejector top cover (33) and is assembled on the push rod (28), the main electromagnet (30) is fixed to the ejector housing (13) through the electromagnet connecting block (31), and the memory alloy corrugated gasket (32) is assembled on the push rod (28). ), the thin film pressure sensor (34) attached to the ejector top cover (33) is assembled on the push rod (28), the rack (41) is connected to the iron block (27) and can move with the iron block (27), the gear is assembled on the secondary shaft (39) and cooperates with the rack (41), one end of the connecting rod (44) is connected to the crank (43) and the other end is connected to the slider (45), and the slider (45) can move in the slide groove of the ejector top cover (33) under the action of the connecting rod (44).

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