Torreya grandis laser tapping machine based on visual identification

Abstract

The utility model relates to torreya grandis opening equipment, and discloses a laser torreya grandis opening machine based on visual identification, which comprises a rack, a feeding device is arranged on the side edge of the rack, a conveying device for conveying torreya grandis is arranged on the upper end face of the rack, the feeding device comprises a conveying track, and the conveying track extends to the conveying device; the conveying device comprises a chain plate motor, a plurality of chain plates and positioning blocks, the plurality of chain plates are encircled to form a ring shape and are driven by the chain plate motor to rotate, each chain plate is provided with one positioning block, each positioning block is provided with a positioning groove for limiting the movement of torreya grandis, and all the positioning blocks are arranged; a camera used for shooting the size of torreya grandis is installed on the machine frame, and the camera is arranged over the conveying device close to one end of the conveying track through a camera frame. According to the tapping machine, the chain plate is used for conveying torreya grandis, the fixing blocks with the V-shaped positioning grooves are arranged on the chain plate, the fixing blocks prevent the torreya grandis from falling, the conveying stability of the torreya grandis is improved, and smooth tapping of the torreya grandis is guaranteed.

Description

Technical Field

[0001] This utility model relates to a torreya grandis opening device, and more particularly to a torreya grandis laser opening machine based on visual recognition. Background Technology

[0002] Chinese torreya (scientific name: *Torreya grandis* 'Merrillii' Hu), also known as round torreya, fine torreya, horn torreya, pearl torreya, etc., is a superior cultivated type of the *Torreya* tree in the Taxaceae family. It is a rare and precious dried fruit tree species unique to China. In recent years, the scale of Chinese torreya cultivation in my country has expanded rapidly, mainly growing in the more humid southern regions, such as Zhejiang, Fujian, Jiangxi, Anhui, and Hunan. Besides being eaten as a snack and for its seed oil, Chinese torreya also has medicinal uses. It has many applications in traditional Chinese medicine. Its rich nutritional components include high-quality protein, healthy fats, carbohydrates, dietary fiber, vitamins, and minerals, including antioxidants, cardiovascular health benefits, digestive aid, energy provision, bone strengthening, blood sugar regulation, and immune system enhancement. Chinese torreya has a low glycemic index, making it suitable for diabetics and helping to stabilize blood sugar levels.

[0003] The shells of Torreya nuts are opened to facilitate subsequent roasting and flavor absorption, and to make peeling easier for consumers. Currently, Torreya nuts are opened primarily by manual, laser, and mechanical methods. The opening process mainly involves manual methods, the use of extrusion-type opening tools, and laser-cutting devices. Manual opening using small handheld opening tools is labor-intensive, limiting production efficiency. Furthermore, manual operation is affected by the skill level and physical condition of the operators, leading to inconsistent work quality. Mechanical opening equipment requires careful adjustment of the distance between the screw conveyor and the opening tool to ensure optimal opening results. Due to the size variations of Chinese torreya nuts, without adjustment, the high-speed rotating cutting blade can easily come into contact with the kernel, leading to processing losses. Laser opening machines primarily utilize a focused, high-power, high-density laser beam to irradiate the surface of the Chinese torreya nut shell. The laser beam instantly ablates and melts the shell at the irradiated location, achieving the desired opening. However, existing laser equipment has low output, and manually adjusting the laser power for different sized nuts is cumbersome. Therefore, this invention primarily addresses the problems of low Chinese torreya nut opening output, the need for frequent manual intervention in laser power adjustment for nuts of varying sizes, and the generation of smoke during processing.

[0004] The utility model patent with patent application number 202320894680.0 discloses a nut laser opening machine, which has problems such as low opening efficiency, difficulty in effectively handling the smoke and impurities generated by the laser and the shell due to burning during the opening process, and fixed laser power, making it difficult to adaptively adjust the laser for materials of different sizes.

[0005] Patent application number 202311326271.1 describes a torreya tree opening machine and method. However, the mechanical opening process makes it difficult to accurately adjust the cutting force of the cutter, which can easily cause over-cutting and damage to the fruit. In addition, it has problems such as low opening efficiency. Utility Model Content

[0006] This invention addresses the shortcomings of existing technologies by providing a vision-based laser opening machine for Torreya grandis.

[0007] To solve the above-mentioned technical problems, the present invention provides a solution through the following technical method:

[0008] The vision recognition-based Torreya grandis laser opening machine includes a frame, a feeding device installed on the side of the frame, and a conveying device for conveying Torreya grandis installed on the upper surface of the frame. The feeding device includes a conveying track that extends onto the conveying device.

[0009] The conveying device includes a chain plate motor, chain plates, and positioning blocks. Multiple chain plates are arranged in a ring and driven to rotate by the chain plate motor. Each chain plate is equipped with a positioning block, which has a positioning groove for restricting the movement of the Torreya grandis. The cross-sectional shape of the positioning groove is V-shaped.

[0010] A camera for photographing the size of a torreya nut is mounted on the frame, and the camera is positioned directly above the conveyor device near one end of the conveyor track via a camera mount.

[0011] Preferably, the width of the positioning block is equal to the width of the chain plate, and the positioning groove runs through both sides of the positioning block.

[0012] Preferably, each chain plate has positioning blocks installed at both ends, and all positioning blocks at the same end are arranged in a ring to form a positioning unit.

[0013] Preferably, the camera mount includes a column and a mounting plate, the mounting plate being fixed to the column and extending above the conveyor, the column being fixed to the frame, the camera being mounted on the mounting plate, and a light providing light to the camera being mounted on the mounting plate.

[0014] Preferably, a laser and a smoke extractor are also installed on the frame. The laser has two laser nozzles, each corresponding to a set of positioning units. The smoke extractor is located at the output end of the conveying device and close to the laser.

[0015] Preferably, a controller is also installed on the rack. The controller is connected to both the laser and the camera. The camera transmits the captured image information to the controller, which then controls the output power of the laser.

[0016] Preferably, the feeding device includes a feeding hopper, a vibrating feeder, and a vibrating motor. The vibrating motor is installed at the lower end of the vibrating feeder, the conveying track is connected to the vibrating feeder, and the lower end of the feeding hopper extends into the vibrating feeder.

[0017] This utility model, by adopting the above technical solution, has significant technical effects:

[0018] (2) This opening machine uses a chain plate to transport Chinese torreya nuts. At least two fixed units can be set on the chain plate, which greatly improves the efficiency of opening Chinese torreya nuts. At the same time, the V-shaped positioning groove of the fixed block is used to limit the Chinese torreya nuts, prevent them from falling, improve the stability of the Chinese torreya nut transport, and ensure that the Chinese torreya nuts open smoothly.

[0019] (3) The camera performs contour recognition of the size of the Torreya grandis. The laser adjusts its power according to the size of the Torreya grandis. When the Torreya grandis is small, the output power of the laser will be smaller, and when the Torreya grandis is large, the output power of the laser will be larger.

[0020] (4) The laser uses two laser nozzles to open the Torreya grandis, thereby improving the opening efficiency of Torreya grandis. Attached Figure Description

[0021] Figure 1 This is a structural schematic diagram of the first position state of this utility model.

[0022] Figure 2 yes Figure 1 A schematic diagram of the conveying device.

[0023] Figure 3 yes Figure 2 A schematic diagram of the middle positioning block.

[0024] Figure 4 yes Figure 1 A magnified view of part A in the diagram.

[0025] Figure 5 This is a schematic diagram of a laser.

[0026] Figure 6 This is a structural schematic diagram of the second position state of this utility model.

[0027] The names of the body parts referred to by the numbers in the above attached diagrams are as follows:

[0028] 1—Frame, 11—Column, 12—Fixing plate, 13—Discharge port

[0029] 2—Feeding device, 21—Conveying track, 22—Feeding hopper, 23—Vibrating feeder, 24—Vibrating motor

[0030] 3—Conveying device, 31—Chain plate motor, 32—Chain plate, 33—Positioning block, 331—Positioning groove

[0031] 4—Camera

[0032] 5-light

[0033] 6—Laser, 61—Laser nozzle, 62—Laser tube, 63—Beam combiner

[0034] 7—Smoking Machine

[0035] 8—Controller Detailed Implementation

[0036] The following is in conjunction with the appendix Figure 1-6 The present invention will be further described in detail with reference to the embodiments.

[0037] Example 1

[0038] The vision recognition-based Torreya grandis laser opening machine includes a frame 1, a feeding device 2 installed on the side of the frame 1, and a conveying device 3 for conveying Torreya grandis installed on the upper surface of the frame 1. The feeding device 2 includes a conveying track 21. In this embodiment, there are two conveying tracks 21, and both conveying tracks 21 extend to the conveying device 3.

[0039] The conveying device 3 includes a chain plate motor 31, chain plates 32, and positioning blocks 33. Multiple chain plates 32 are arranged in a ring and driven to rotate by the chain plate motor 31. Each chain plate 32 is equipped with a positioning block 33, which has a positioning groove 331 for restricting the movement of the torreya nuts. The positioning groove 331 has a V-shaped cross-section, ensuring good stability of the torreya nuts when they are opening. The chain plate motor 31 drives the chain plates 32 to rotate in a ring, and the chain plates 32 drive the positioning blocks 33 and move the torreya nuts to the laser 6 for opening.

[0040] A camera 4 for photographing the size of Torreya grandis is mounted on the frame 1. The camera 4 is a CCD camera and is positioned directly above the conveyor device 3 near one end of the conveyor track 21 via the camera mount 1. The camera 4 is used to take pictures of Torreya grandis in order to identify its size.

[0041] The camera stand 1 includes a column 11 and a fixing plate 12. The fixing plate 12 is fixed to the column 11 and extends above the conveying device 3. The column 11 is fastened to the frame 1 with screws. The camera 4 is mounted on the fixing plate 12. The fixing plate 12 is also equipped with a light 5 to provide light to the camera 4. The light 5 is a ring light. Since the torreya nuts are placed in the positioning slot 331, there is insufficient light in some places, which affects the acquisition of the torreya nut outline. The light 5 can provide sufficient light for the camera 4 to take pictures and ensure that the torreya nuts in the positioning slot 331 are not distorted.

[0042] The frame 1 is also equipped with a laser 6 and a smoke extractor 7. The laser 6 has two laser nozzles 61, each corresponding to a set of positioning units. The smoke extractor 7 is located at the output end of the conveying device 3 and close to the laser 6. The two lasers 6 simultaneously process the opening of the Torreya grandis on the positioning units, improving the opening efficiency of the Torreya grandis. The laser 6 generates smoke when opening, which is absorbed by the smoke extractor 7. The laser 6 uses four laser tubes 62, two of which are paired with a beam combiner to increase the laser power. The higher the laser power, the faster the Torreya grandis can pass through, thereby increasing production efficiency. The other two laser tubes 62 are also paired with a beam combiner 63. Therefore, with four laser tubes 62 and two beam combiners 63, two laser beams are emitted, resulting in two opening channels.

[0043] A controller 8 is also installed on the rack 1. The controller 8 is connected to the laser 6 and the camera 4. The camera 4 transmits the captured image information to the controller 8, and the controller 8 controls the output power of the laser 6. The camera 4 performs contour recognition of the size of the torreya nuts, and the laser 6 adaptively adjusts its laser power according to the size of the torreya nuts. If the torreya nut is small, the output power of the laser 6 will be correspondingly lower, and if the torreya nut is large, the output power of the laser 6 will be correspondingly higher.

[0044] The feeding device 2 includes a feeding hopper 22, a vibrating feeder 23, and a vibrating motor 24. The vibrating motor 24 is installed at the lower end of the vibrating feeder 23. The conveying track 21 is connected to the vibrating feeder 23, and the lower end of the feeding hopper 22 extends into the vibrating feeder 23. After the vibrating motor 24 is started, the vibrating feeder 23 will output the torreya nuts to be opened by vibration. The torreya nuts are conveyed to the positioning block 33 of the conveying device 3 via the conveying track 21.

[0045] Working principle: First, the torreya nuts are fed into the feed inlet of the feeding hopper 22 and enter the vibrating feeder 23. Under the action of the vibrating feeder 23, the torreya nuts are sent to the conveying device 21 by the dual-channel conveying track 21. The camera 4 takes pictures and identifies the size of the torreya nuts. Different sizes require different laser power. After identification, the laser 6 is adjusted to the corresponding power. The laser nozzle 61 emits laser to open the torreya nuts. The laser tube 62 needs to be used in conjunction with the chiller 9 and the air pump 10. After the opening is completed, the torreya nuts are sent from the discharge port 13 of the frame 1 into the collection box under the drive of the chain plate 32.

[0046] Example 2

[0047] Example 2 is basically the same as Example 1, except that the width of the positioning block 33 is equal to the width of the chain plate 32, and the positioning groove 331 runs through both sides of the positioning block 33 to ensure that the torreya nuts are in the positioning groove 331, prevent the torreya nuts from falling off the positioning block 33, and ensure the stability of the torreya nut transportation.

[0048] Example 3

[0049] Example 3 is basically the same as Example 1, except that each chain plate 32 has a positioning block 33 installed at both ends. All positioning blocks 33 at the same end are arranged in a ring to form a positioning unit. Two positioning units are used to transport the torreya nuts and improve the opening efficiency of the torreya nuts.

Claims

1. A vision-based laser-opening machine for Torreya grandis, comprising a frame (1), a feeding device (2) mounted on the side of the frame (1), and a conveying device (3) for conveying Torreya grandis mounted on the upper surface of the frame (1), the feeding device (2) comprising a conveying track (21) extending onto the conveying device (3); characterized in that: The conveying device (3) includes a chain plate motor (31), chain plates (32) and positioning blocks (33). Multiple chain plates (32) are arranged in a ring and driven to rotate by the chain plate motor (31). Each chain plate (32) is equipped with a positioning block (33). The positioning block (33) is provided with a positioning groove (331) for restricting the movement of the Torreya grandis. The cross-sectional shape of the positioning groove (331) is V-shaped. A camera (4) for photographing the size of a torreya nut is mounted on the frame (1). The camera (4) is positioned directly above the conveyor (3) near the end of the conveyor track (21) via the camera stand (1).

2. The vision-based laser-opening machine for Torreya grandis according to claim 1, characterized in that: The width of the positioning block (33) is equal to the width of the chain plate (32), and the positioning groove (331) runs through both sides of the positioning block (33).

3. The vision-based laser-opening machine for Torreya grandis according to claim 1, characterized in that: Each chain plate (32) has a positioning block (33) installed at both ends, and all positioning blocks (33) at the same end are arranged in a ring to form a positioning unit.

4. The laser-opening machine for Torreya grandis based on visual recognition according to claim 1, characterized in that: The camera stand (1) includes a column (11) and a fixing plate (12). The fixing plate (12) is fixed on the column (11) and extends above the conveyor (3). The column (11) is fixed on the frame (1). The camera (4) is mounted on the fixing plate (12). The fixing plate (12) is also equipped with a lamp (5) that provides light to the camera (4).

5. The vision-based laser opening machine for Torreya grandis according to claim 3, characterized in that: A laser (6) and a smoker (7) are also installed on the frame (1). The laser (6) has two laser nozzles (61), each of which corresponds to a set of positioning units. The smoker (7) is located at the output end of the conveying device (3) and close to the laser (6).

6. The vision-based laser opening machine for Torreya grandis according to claim 5, characterized in that: A controller (8) is also installed on the rack (1). The controller (8) is connected to the laser (6) and the camera (4) respectively. The camera (4) transmits the captured image information to the controller (8), and the controller (8) controls the output power of the laser (6).

7. The vision-based laser opening machine for Torreya grandis according to any one of claims 1-6, characterized in that: The feeding device (2) includes a feeding hopper (22), a vibrating feeder (23) and a vibrating motor (24). The vibrating motor (24) is installed at the lower end of the vibrating feeder (23). The conveying track (21) is connected to the vibrating feeder (23). The lower end of the feeding hopper (22) extends into the vibrating feeder (23).

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