Intelligent cocoon selecting and picking equipment

Abstract

The utility model discloses an intelligent cocoon selecting and picking device which comprises a machine frame. The conveying system is mounted at the top of the rack; the visual identification system comprises a shooting support installed at the top end of the rack, a visual identification unit is installed on the shooting support, a light source is arranged below the visual identification unit, and the light source is fixed to the shooting support through an adjusting support; the cocoon feeding and picking mechanism is mounted at the top end of the rack; the cocoon feeding and picking mechanism is installed at the top end of the rack, and the cocoon discharging and picking mechanism is arranged between the shooting support and the cocoon feeding and picking mechanism; the visual identification unit, the lower cocoon picking mechanism and the upper cocoon picking mechanism are electrically connected with the terminal system; wherein a lower cocoon recycling box and an upper cocoon recycling box are arranged at the bottom of the rack. The silkworm cocoon picking device effectively ensures that the silkworm cocoons can be orderly picked, so that the production efficiency is improved, and the aim of automatically selecting and picking the cocoons is fulfilled.

Description

Technical Field

[0001] The utility model relates to the technical field of agriculture, in particular to an intelligent cocoon picking device. Background Art

[0002] At present, the sorting of silk cocoons is still mainly done manually, which has low efficiency and strong subjectivity. It is difficult to ensure the effective sorting of upper and lower cocoons, and the upper and lower cocoons are mixed together. The upper cocoons are easily contaminated by the lower cocoons, which lowers the overall quality of the cocoons, resulting in the quality and quantity of high-quality cocoons being affected, which directly affects the quality of silk reeling and seriously restricts the development of the sericulture industry.

[0003] At present, some early silkworm automation companies have done a lot of work in the design of cocoon picking machines, and have designed and manufactured pedal-operated cocoon picking machines, manual cocoon picking machines, and electric cocoon picking machines, which have significantly improved the efficiency of cocoon picking. However, although these devices have brought significant improvements, they have not yet seen mature applications in terms of intelligence.

[0004] Based on the above reasons, the utility model provides an intelligent cocoon picking device. Utility Model Content

[0005] The utility model aims to provide an intelligent cocoon picking device to solve the problems existing in the prior art.

[0006] To achieve the above purpose, the utility model provides the following solution: The utility model provides an intelligent cocoon picking device, including:

[0007] frame;

[0008] A conveying system, wherein the conveying system is installed on the top of the frame;

[0009] A visual recognition system, the visual recognition system comprising a shooting bracket installed on the top of the rack, a visual recognition unit installed on the shooting bracket, a light source is arranged below the visual recognition unit, and the light source is fixed to the shooting bracket through an adjustment bracket;

[0010] A cocoon lowering and cocoon picking mechanism, which is installed at the top of the frame and is correspondingly arranged between the cocoon lowering and cocoon picking mechanism and the conveying system;

[0011] An upper cocoon picking mechanism, which is installed at the top of the frame and is arranged corresponding to the conveying system, and the lower cocoon picking mechanism is arranged between the shooting bracket and the upper cocoon picking mechanism;

[0012] A terminal system, wherein the visual recognition unit, the lower cocoon picking mechanism, and the upper cocoon picking mechanism are electrically connected to the terminal system respectively;

[0013] Wherein, a lower cocoon recovery box and an upper cocoon recovery box are arranged at the bottom of the frame, the lower cocoon recovery box is arranged correspondingly to the lower cocoon picking mechanism, and the upper cocoon recovery box is arranged correspondingly to the upper cocoon picking mechanism.

[0014] According to the intelligent cocoon picking equipment provided by the utility model, the conveying system includes rollers rotatably connected to the two ends of the frame, the two rollers are matched through a conveyor belt transmission, the conveyor belts are provided with two groups, and a gap is provided between the two groups of conveyor belts.

[0015] According to the intelligent cocoon picking equipment provided by the utility model, the shooting bracket includes two vertical bars and two horizontal bars, the two vertical bars are vertically and parallelly fixedly connected to the side surfaces of the frame, the two horizontal bars are parallelly arranged between the two vertical bars, slides are respectively fixedly connected to the two ends of the horizontal bars, sliding grooves are provided on the vertical bars, the slides are slidably connected in the sliding grooves, the slides are positioned between the vertical bars by positioning screws, the visual recognition unit is installed on one of the horizontal bars, and the adjustment bracket is arranged on the other horizontal bar.

[0016] According to the intelligent cocoon picking equipment provided by the utility model, the visual recognition unit includes a recognition camera, and a camera bracket is fixedly connected to the upper cross bar, the camera bracket is vertically arranged between the cross bar, a bidirectional screw is rotatably connected to the camera bracket, two baffles are threadedly connected to the bidirectional screw, and the recognition camera is clamped between the two baffles.

[0017] According to the intelligent cocoon picking equipment provided by the utility model, the lower cocoon picking mechanism includes a first mounting frame fixedly connected to the top of the frame, a plurality of cylinders are fixedly connected to the first mounting frame at equal intervals, an elliptical groove is provided at the output end of the cylinder, and the first mounting frame is arranged corresponding to the lower cocoon recovery box.

[0018] According to the intelligent cocoon picking equipment provided by the utility model, the cocoon picking mechanism includes a second mounting frame, the second mounting frame is fixedly connected to the top of the frame, a mounting plate is horizontally fixedly connected to the second mounting frame, and a plurality of the cylinders are arranged in an equidistant array on the mounting plate.

[0019] According to the intelligent cocoon picking device provided by the utility model, a plurality of holes and slots are formed on the adjusting bracket, and the light source is installed in the holes and slots.

[0020] According to the intelligent cocoon picking device provided by the utility model, a plurality of supporting bases are installed at the bottom of the frame.

[0021] The utility model discloses the following technical effects:

[0022] When the utility model is working, the square clusters carrying silk cocoons are uniformly conveyed by the conveying system, the industrial computer controls the visual recognition system to identify the square clusters, and returns the detected silk cocoon category and position information to the industrial computer, the industrial computer distinguishes whether the silk cocoons belong to upper cocoons or lower cocoons, and marks the upper cocoons and the lower cocoons respectively, the square clusters first pass through the lower cocoon picking mechanism under the action of the conveying system, the marked lower cocoons are removed by the lower cocoon picking mechanism and enter the lower cocoon recovery box, then the square clusters pass through the upper cocoon picking mechanism, the upper cocoon picking mechanism removes the marked upper cocoons and enters the upper cocoon recovery box, and the sorting operation is completed.

[0023] The utility model effectively ensures that the silkworm cocoons can be picked in an orderly manner, thereby improving the production efficiency and realizing the goal of automatic cocoon picking, and has a simple and reasonable structure and is easy to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is the front view of the utility model;

[0026] Figure 2 This is a schematic diagram of the cocoon laying and picking mechanism of the utility model;

[0027] Figure 3 It is a schematic diagram of the cocoon loading and removing mechanism of the utility model;

[0028] Figure 4 This is a cylinder structure diagram of the utility model;

[0029] Figure 5 This is a schematic diagram of the installation of the debugging bracket port of the utility model;

[0030] Figure 6 This is a structural diagram of a camera bracket of the present utility model;

[0031] Figure 7 This is a schematic diagram of the installation of the light source bracket of the utility model.

[0032] Among them: 1. recognition camera; 2. light source; 3. conveyor belt; 4. lower cocoon picking mechanism; 5. upper cocoon picking mechanism; 6. lower cocoon recycling box; 7. upper cocoon recycling box; 8. industrial computer; 9. roller; 10. rack; 11. shooting bracket; 12. support base; 13. first mounting bracket; 14. cylinder; 15. second mounting bracket; 16. mounting plate; 17. elliptical groove; 18. slide plate; 19. slide groove; 20. camera bracket; 21. bidirectional screw; 22. baffle; 23. adjustment bracket; 24. hole groove. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0034] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0035] Reference Figure 1-7 The utility model provides an intelligent cocoon picking device, comprising:

[0036] Rack 10;

[0037] A conveying system, the conveying system is installed on the top of the frame 10;

[0038] A visual recognition system, the visual recognition system comprises a shooting bracket 11 mounted on the top of the frame 10, a visual recognition unit is mounted on the shooting bracket 11, a light source 2 is arranged below the visual recognition unit, and the light source 2 is fixed to the shooting bracket 11 through an adjustment bracket 23;

[0039] A cocoon lowering and cocoon picking mechanism 4, wherein the cocoon lowering and cocoon picking mechanism 4 is mounted on the top of the frame 10, and the cocoon lowering and cocoon picking mechanism 4 is correspondingly arranged with the conveying system;

[0040] An upper cocoon picking mechanism 5, the upper cocoon picking mechanism 5 is installed at the top of the frame 10 and is arranged corresponding to the conveying system, and the lower cocoon picking mechanism 4 is arranged between the shooting bracket 11 and the upper cocoon picking mechanism 5;

[0041] The terminal system, the visual recognition unit, the lower cocoon picking mechanism 4, and the upper cocoon picking mechanism 5 are electrically connected to the terminal system respectively; the terminal system is an industrial control computer 8, which can be specifically selected as a single-chip microcomputer or controlled by a PLC, ARM (Advanced RISC Machine: high-end reduced instruction set machine), FPGA (Field-Programmab le Gate Array: Field Programmable Gate Array) and other methods, which are not specifically limited in this embodiment;

[0042] Among them, a lower cocoon recovery box 6 and an upper cocoon recovery box 7 are arranged at the bottom of the frame 10, the lower cocoon recovery box 6 is arranged corresponding to the lower cocoon picking mechanism 4, and the upper cocoon recovery box 7 is arranged corresponding to the upper cocoon picking mechanism 5.

[0043] When the utility model is working, the square clusters carrying cocoons are uniformly transported through the conveying system, the industrial computer 8 controls the visual recognition system to identify the square clusters, and returns the detected cocoon category and position information to the industrial computer 8, the industrial computer 8 distinguishes whether the cocoons belong to upper cocoons or lower cocoons, and marks the upper cocoons and the lower cocoons respectively, and the square clusters first pass through the lower cocoon picking mechanism 4 under the action of the conveying system, and the marked lower cocoons are removed by the lower cocoon picking mechanism 4 and enter the lower cocoon recovery box 6, and then the square clusters pass through the upper cocoon picking mechanism 5, and the upper cocoon picking mechanism 5 picks the marked upper cocoons and enters the upper cocoon recovery box 7, completing the sorting operation.

[0044] The utility model effectively ensures that the silkworm cocoons can be picked in an orderly manner, thereby improving the production efficiency and realizing the goal of automatic cocoon picking, and has a simple and reasonable structure and is easy to operate.

[0045] According to a further optimization scheme, the conveying system includes rollers 9 rotatably connected to both ends of the frame 10, and the two rollers 9 are coupled with each other through a conveyor belt 3. The conveyor belt 3 is provided in two groups, and a gap is provided between the two groups of conveyor belts 3.

[0046] According to a further optimized solution, the shooting bracket 11 includes two vertical bars and two horizontal bars, the two vertical bars are vertically parallel and fixedly connected to the side of the frame 10, the two horizontal bars are parallelly arranged between the two vertical bars, the two ends of the horizontal bars are respectively fixedly connected with a slide plate 18, the vertical bars are provided with a slide groove 19, the slide plate 18 is slidably connected in the slide groove 19, the slide plate 18 and the vertical bars are positioned by positioning screws, the visual recognition unit is installed on one of the horizontal bars, and the adjustment bracket 23 is arranged on the other horizontal bar. The horizontal bar and the vertical bar are matched in a manner of slide plate 18 and slide groove 19, so that the relative position of the horizontal bar can be adjusted, so that the relative position of the recognition camera 1 and the light source 2 can be adjusted.

[0047] A further optimized solution is that the visual recognition unit includes a recognition camera 1, and a camera bracket 20 is fixedly connected to the upper cross bar, and the camera bracket 20 is vertically arranged between the cross bar. A bidirectional screw 21 is rotatably connected to the camera bracket 20, and two baffles 22 are threadedly connected to the bidirectional screw 21, and the recognition camera 1 is clamped between the two baffles 22.

[0048] Visual recognition is performed through the recognition camera 1, and then the lower cocoon or the upper cocoon is distinguished through the industrial computer 8. Anti-slip patterns or anti-slip grooves 19 are set on the inner wall of the baffle 22 to ensure the stability of clamping. The distance between the two baffles 22 is controlled by the bidirectional screw 21, so that the relative angle of the recognition camera 1 can be easily adjusted.

[0049] In a further optimized solution, the lower cocoon picking mechanism 4 includes a first mounting frame 13 fixedly connected to the top of the frame 10, a plurality of cylinders 14 are fixedly connected to the first mounting frame 13 at equal intervals, an elliptical groove 17 is provided at the output end of the cylinder 14, and the first mounting frame 13 is arranged corresponding to the lower cocoon recovery box 6. The first mounting frame 13 and the second mounting frame 15 are both inverted U-shaped structures to ensure their stability on the frame 10.

[0050] According to a further optimization scheme, the cocoon picking mechanism 5 includes a second mounting frame 15, which is fixedly connected to the top of the frame 10, and a mounting plate 16 is horizontally fixedly connected to the second mounting frame 15, and a plurality of the cylinders 14 are arranged in an equidistant array on the mounting plate 16.

[0051] The size of the end portion of the cylinder 14 is adjusted according to the size of the square cluster to ensure that it can enter the squares of the square cluster respectively and push out the cocoon.

[0052] According to a further optimized solution, a plurality of holes 24 are formed on the adjusting bracket 23 , and the light source 2 is installed in the holes 24 .

[0053] According to a further optimized solution, a plurality of supporting bases 12 are installed at the bottom of the frame 10 .

Claims

1. An intelligent cocoon picking device, characterized in that: include: Frame (10); A conveying system, the conveying system being installed on the top of the frame (10); A visual recognition system, the visual recognition system comprising a shooting bracket (11) mounted on the top of the frame (10), a visual recognition unit being mounted on the shooting bracket (11), a light source (2) being arranged below the visual recognition unit, and the light source (2) being fixed to the shooting bracket (11) via an adjustment bracket (23); a cocoon lowering and cocoon picking mechanism (4), wherein the cocoon lowering and cocoon picking mechanism (4) is mounted on the top of the frame (10), and the cocoon lowering and cocoon picking mechanism (4) and the conveying system are arranged correspondingly; an upper cocoon picking mechanism (5), the upper cocoon picking mechanism (5) being mounted on the top of the frame (10) and being arranged correspondingly to the conveying system, and the lower cocoon picking mechanism (4) being arranged between the shooting bracket (11) and the upper cocoon picking mechanism (5); The terminal system, the visual recognition unit, the lower cocoon picking mechanism (4), and the upper cocoon picking mechanism (5) are electrically connected to the terminal system respectively; Wherein, a lower cocoon recovery box (6) and an upper cocoon recovery box (7) are arranged at the bottom of the frame (10); the lower cocoon recovery box (6) is arranged correspondingly to the lower cocoon picking mechanism (4), and the upper cocoon recovery box (7) is arranged correspondingly to the upper cocoon picking mechanism (5).

2. The intelligent cocoon picking device according to claim 1, characterized in that: The conveying system comprises rollers (9) rotatably connected to the two ends of the frame (10), the two rollers (9) are coupled to each other via a conveyor belt (3), two groups of the conveyor belts (3) are provided, and a gap is provided between the two groups of the conveyor belts (3).

3. The intelligent cocoon picking device according to claim 1, characterized in that: The shooting bracket (11) comprises two vertical bars and two horizontal bars, the two vertical bars are vertically and parallelly fixedly connected to the side of the frame (10), the two horizontal bars are parallelly arranged between the two vertical bars, the two ends of the horizontal bars are respectively fixedly connected with a slide plate (18), the vertical bars are provided with a slide groove (19), the slide plate (18) is slidably connected in the slide groove (19), the slide plate (18) and the vertical bars are positioned by positioning screws, the visual recognition unit is installed on one of the horizontal bars, and the adjustment bracket (23) is arranged on the other horizontal bar.

4. The intelligent cocoon picking device according to claim 3 is characterized by: The visual recognition unit comprises a recognition camera (1), a camera bracket (20) is fixedly connected to the cross bar located above, the camera bracket (20) is vertically arranged between the cross bar, a bidirectional screw (21) is rotatably connected to the camera bracket (20), two baffles (22) are threadedly connected to the bidirectional screw (21), and the recognition camera (1) is clamped between the two baffles (22).

5. The intelligent cocoon picking device according to claim 1, characterized in that: The lower cocoon picking mechanism (4) comprises a first mounting frame (13) fixedly connected to the top of the frame (10); a plurality of cylinders (14) are fixedly connected to the first mounting frame (13) at equal intervals; an elliptical groove (17) is provided at the output end of the cylinder (14); and the first mounting frame (13) is arranged corresponding to the lower cocoon recovery box (6).

6. The intelligent cocoon picking device according to claim 5, characterized in that: The cocoon upper and cocoon picking mechanism (5) comprises a second mounting frame (15), the second mounting frame (15) is fixedly connected to the top of the frame (10), a mounting plate (16) is horizontally fixedly connected to the second mounting frame (15), and a plurality of the cylinders (14) are arranged in an array at equal intervals on the mounting plate (16).

7. The intelligent cocoon picking device according to claim 1, characterized in that: The adjustment bracket (23) is provided with a plurality of holes (24), and the light source (2) is installed in the holes (24).

8. The intelligent cocoon picking device according to claim 1, characterized in that: A plurality of supporting bases (12) are installed at the bottom of the frame (10).

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