Full-automatic feeding and sorting device for red ginseng

Abstract

The utility model discloses a full-automatic red ginseng feeding and sorting device which comprises a machine frame, and a front-back transmission mechanism, a left-right transmission mechanism, an up-down transmission mechanism, a grabbing module, a position scanning mechanism, a vibration feeding device, a conveying belt, a truss mechanical arm, an image collecting camera obscura and a material placing mechanism are arranged on the machine frame. The position scanning mechanism is used for identifying and detecting the position of the material box, and the grabbing module is used for automatically grabbing and transferring the material box. The controller is connected with the vibration feeding device, and the conveying belt achieves uniform feeding and conveying of red ginseng. The scanning mechanism, the visual processing device of the image acquisition camera obscura and the truss mechanical arm achieve visual identification and sorting of red ginseng. Therefore, the red ginseng is clamped and sorted, and a guarantee is provided for high-yield and high-quality red ginseng production.

Description

Technical Field

[0001] This utility model relates to an automated feeding and sorting device for red ginseng based on machine vision, specifically a fully automated feeding and sorting device for red ginseng. Background Technology

[0002] In automated red ginseng feeding systems, stable material transport and accurate sorting directly affect the quality of the finished product. Currently, most existing sorting devices rely on manual feeding, where red ginseng is manually arranged at equal intervals on a conveyor belt. This method suffers from low efficiency and slow speed, and prolonged repetitive work can easily lead to worker fatigue, resulting in unstable feeding rhythms. Efficiency fluctuations are particularly pronounced during night shifts or high-intensity production scenarios. Furthermore, traditional sorting equipment has a high rate of missed and false detections of irregularly shaped red ginseng.

[0003] To improve the efficiency and stability of the feeding process, as well as the sorting efficiency and accuracy, it is necessary to achieve full automation and real-time detection and sorting of red ginseng feeding. Summary of the Invention

[0004] This utility model is a fully automatic feeding and sorting device for red ginseng. The device is used for the automated feeding of red ginseng and automatically completes the sorting work during real-time detection, realizing real-time detection and sorting of red ginseng.

[0005] To solve the above problems, this utility model adopts the following technical means:

[0006] A fully automatic feeding and sorting device for red ginseng includes a frame, on which are provided a front-to-back transmission mechanism, a left-to-right transmission mechanism, a top-to-bottom transmission mechanism, a gripping module, a position scanning mechanism, a vibrating feeding device, a conveyor belt, a gantry robotic arm, an image acquisition dark box, and a material placement mechanism.

[0007] The gripping module is connected to the bottom of the upper and lower transmission mechanism, which is connected to the front and rear transmission mechanism via guide rails. The front and rear transmission mechanism is connected to the left and right transmission mechanism via front and rear moving beams. The front and rear transmission mechanism, left and right transmission mechanism, and upper and lower transmission mechanism work together to drive the gripping module to clamp the material box on the material placement mechanism onto the vibrating feeding device. The controller is electrically connected to the front and rear transmission mechanism, left and right transmission mechanism, upper and lower transmission mechanism, and gripping module, and controls the operation of the front and rear transmission mechanism, left and right transmission mechanism, upper and lower transmission mechanism, and gripping module. The front and rear transmission mechanism, left and right transmission mechanism, upper and lower transmission mechanism, and gripping module realize the gripping of the material box, enabling the material box to move in three mutually perpendicular dimensions (X, Y, and Z) to transfer the material box and complete the feeding process.

[0008] The position scanning mechanism is equipped with a camera integration mechanism, which includes a photoelectric camera and an image processor. The camera integration mechanism is fixed on a fixed base, which is set on the left and right transmission mechanism. The position scanning mechanism is electrically connected to the controller and transmits image information to the controller. This enables better identification of the material box and detection of its position, so as to accurately complete the grabbing and dumping of the material box in the next step.

[0009] The vibrating feeding device vibrates the tilted ginseng. The continuous vibration of the vibrating motor causes the ginseng to vibrate continuously within the screen box and screen mesh. One end of the screen box is lower than the other, and the vibration moves the ginseng from the screen box to the screen mesh. The vibrating feeding device is electrically connected to a controller, which controls its operation. Furthermore, the vibration of the screen box and screen mesh ensures that the ginseng does not obstruct each other.

[0010] The conveyor belt's feed end is connected to the discharge end of the screen, and the conveyor belt passes under the image acquisition dark box; the conveyor belt realizes the function of transporting red ginseng. The controller controls the operation of the conveyor belt.

[0011] The truss robotic arm grips the red ginseng on the conveyor belt;

[0012] The image acquisition dark box collects the image information of the red ginseng on the conveyor belt and transmits it to the controller. The controller controls the gantry robotic arm to grip the ginseng and place it into different material storage boxes according to the results.

[0013] This invention utilizes a position scanning mechanism to identify and detect the position of material boxes. An image processor processes the data and transmits the results to a controller. The controller connects to front-to-back transmission mechanisms, left-to-right transmission mechanisms, up-and-down transmission mechanisms, and a gripping module to achieve automatic gripping and transfer of the material boxes. The controller also connects to a vibrating feeding device and a conveyor belt to ensure uniform feeding and conveying of the ginseng. A visual processing device connected to the position scanning mechanism, image acquisition dark box, and gantry robotic arm enables visual recognition and sorting of the ginseng. Machine vision recognition technology is used to detect the material boxes to be gripped, moving them to the appropriate position on the vibrating feeding device for tilting and feeding, improving the feeding efficiency of the ginseng. The photoelectric camera in the image acquisition dark box acquires images of the ginseng, and the visual processing device, combined with a deep learning network, calculates the maximum width, rotation angle, and optimal gripping point of the ginseng for gripping and sorting, ensuring high-volume, high-quality ginseng production.

[0014] As a further improvement to this technical solution:

[0015] The front and rear transmission mechanism is equipped with a front and rear moving servo motor, a first power gear, a first rack, a motor base plate, a front and rear moving beam, and a guide rail. The front and rear moving servo motor drives the first power gear to rotate, and the first power gear meshes with the first rack. The front and rear moving servo motor is connected and mounted on the motor base plate, and the motor base plate slides with the guide rail. The guide rail is mounted on the front and rear moving beam. The front and rear moving servo motor drives the motor base plate to drive the upper and lower transmission mechanism to move back and forth.

[0016] The left and right transmission mechanism includes a left and right movement servo motor, a second power gear, a second rack, a motor base plate, a guide rail, and a left and right movement beam. The left and right movement servo motor drives the second power gear, which meshes with the second rack. The second rack is mounted on the left and right movement beam, which is equipped with a guide rail. The guide rail is equipped with a motor base plate that slides with the guide rail. The left and right movement servo motor is mounted on the motor base plate, and the left and right movement servo motor drives the motor base plate to move the front and rear transmission mechanism left and right.

[0017] The up-and-down transmission mechanism is equipped with an up-and-down servo motor, a third power gear, a third rack, a guide rail, and a guide rail seat. The up-and-down servo motor drives the third power gear to rotate. The third power gear meshes with the third rack. The third rack is set on the guide rail, and the guide rail is slidably set on the guide rail seat, so that the gripping module moves up and down along the guide rail.

[0018] The gripping module includes a robotic arm, a circular fixed platform, a robotic arm itself, a servo motor, and a stud. The top of the robotic arm is connected to an up-and-down transmission mechanism, and the bottom of the robotic arm is connected to the circular fixed platform. The bottom surface of the circular fixed platform is connected to the servo motor, which is connected to the robotic arm via the stud. The servo motor provides power to drive the stud to move up and down, controlling the closing of the robotic arm. The robotic arm grips the material box above the vibrating feeding device, and the robotic arm bends to pour the ginseng out of the material box.

[0019] The position scanning mechanism is located above the material placement mechanism. The position scanning mechanism includes a camera integration mechanism, a fixed base, and a support base. The support base is fixed above the frame, and the fixed base is connected to the top of the support base. The fixed base is connected to the camera integration mechanism. The scanning direction of the camera integration mechanism is downward along the corner of the frame to acquire the image of the material box being transported, and compare its position with the standard position. After comparison processing, the information is sent to the control system to move it to the next designated module.

[0020] The vibrating feeding device includes a screen box, a vibrating motor, a screen, a support device, a control console, and a base. The screen box, vibrating motor, and screen are all fixed to the base. One end of the screen box is open, and the screen is installed at the opening. Side walls are provided on both sides of the screen. One end of the screen connects to the screen box, and the other end connects to the conveyor belt. The side walls of both the screen box and the screen are equipped with spaced-apart support devices. The control console controls the vibrating motor, causing the base to vibrate, which in turn causes the ginseng in the screen box and screen to vibrate continuously, ensuring that the ginseng is evenly transported onto the conveyor belt without obstructing each other.

[0021] The side walls of the sieve box and sieve mesh are equipped with spaced support devices, which serve as connecting supports, ensure stable vibration, and reduce dynamic loads on the foundation structure.

[0022] The conveyor belt includes a second servo motor, a strip, and a roller. One end of the strip is connected to the second servo motor, and the other end is connected to the roller. The second servo motor drives the conveyor belt through the strip and the roller, so that the red ginseng is transported on the conveyor belt. After the image acquisition dark box recognizes the ginseng, the gantry robotic arm places the red ginseng into different material storage boxes according to different standards based on the recognition results.

[0023] The truss robotic arm is placed on the image acquisition dark box and is equipped with two front-to-back transmission mechanisms; two left-to-right transmission mechanisms; and two up-and-down transmission mechanisms. The front-to-back transmission mechanism is identical to the front-to-back mechanism; the left-to-right transmission mechanism is identical to the left-to-right mechanism; and the up-and-down transmission mechanism is identical to the up-and-down mechanism. The robotic arm is mounted on the up-and-down transmission mechanism, which is mounted on the front-to-back transmission mechanism, and the front-to-back transmission mechanism is mounted on the left-to-right transmission mechanism. The robotic arm grips the red ginseng on the conveyor belt based on the recognition results from the image acquisition dark box. The cooperation of the front-to-back, left-to-right, and up-and-down transmission mechanisms ensures that the red ginseng is gripped and placed into different material storage bins.

[0024] The image acquisition darkroom includes a frame, a photoelectric camera, a material storage box, and a vision processing device. The frame houses the gantry robotic arm, photoelectric camera, and vision processing device. The photoelectric camera is positioned directly above the conveyor belt for image acquisition. The vision processing device is located on one side of the frame and is electrically connected to the photoelectric camera to receive its image information. The vision processing device calculates the maximum width, rotation angle, and optimal gripping point (the midpoint of the maximum width of the ginseng) on ​​the conveyor belt and transmits this information to the controller. The material storage box is located at the bottom of the frame and below the conveyor belt.

[0025] When the image acquisition dark box is actually used in production, the frame is enclosed with wall panels to reduce the impact of ambient light on sorting.

[0026] The gantry robotic arm grips the ginseng based on the recognition results from the photoelectric camera and vision processing device, and the ginseng gripped by the gantry robotic arm is stored in a material storage box.

[0027] The height of the material storage box is less than the bottom of the conveyor belt, which makes it convenient for the material storage box to be pulled and stored under the conveyor belt.

[0028] See Figure 1 , 2 It is known that the red ginseng is placed at the material placement mechanism.

[0029] The working principle and process of this utility model are as follows:

[0030] The ginseng to be tested is placed in the material box of the material placement mechanism. The front and rear transmission mechanism, left and right transmission mechanism, up and down transmission mechanism and gripping module clamp and move the material box. The position scanning detection mechanism 6 detects and acquires image information and the camera recognizes and processes it to determine whether it has moved to the appropriate position. The material is then poured onto the vibrating feeding device. The vibrating feeding device makes the ginseng vibrate continuously in the screen box and screen through the continuous vibration of the vibrating motor, ensuring that the ginseng does not block each other and transporting the ginseng to the conveyor belt. The photoelectric camera acquires the image of the ginseng. The vision processing device can combine a deep learning network to calculate the maximum width, rotation angle and optimal gripping point of the ginseng. The gantry robotic arm clamps the ginseng into different material storage boxes according to different standards based on the recognition results of the photoelectric camera and vision processing device. After sorting, it is transported to the subsequent processing machinery for processing.

[0031] The advantages of this technical solution are:

[0032] (1) High degree of automation and electromechanical integration: The front-to-back, left-to-right, and up-down transmission mechanisms adopt high-precision slide rails and linear modules driven by servo motors. The detection process is a process of automatic image scanning, automatic recognition, and automatic control to reach the designated position.

[0033] (2) High sorting accuracy: Visual recognition is used to sort the red ginseng to be sorted. The information is sent to the visual processing device based on the recognition results. The visual processing device calculates the maximum width, rotation angle and optimal gripping point of the red ginseng to solve the problem of irregular shape of red ginseng, which improves the detection accuracy and reduces the probability of false detection and missed detection.

[0034] (3) High efficiency: This device can pour in a large amount of red ginseng at once through the front and rear transmission mechanism, left and right transmission mechanism, up and down transmission mechanism and gripping module. The vibrating feeding device ensures that the red ginseng will not block each other; greatly improving the feeding efficiency. Manual feeding is slow and long-term repetitive operation can easily lead to worker fatigue, which in turn causes the feeding rhythm to be unstable. This device is particularly suitable for red ginseng processing enterprises. Attached Figure Description

[0035] Figure 1 This is a perspective view of the present invention.

[0036] Figure 2 It is the overall internal structure Figure 1 .

[0037] Figure 3 It is the overall internal structure Figure 2 .

[0038] Figure 4 It is the overall internal structure Figure 3 .

[0039] Figure 5 It is the overall internal structure Figure 4 .

[0040] Figure 6 It is a three-dimensional front and rear transmission mechanism Figure 1 .

[0041] Figure 7 It is a three-dimensional left and right transmission mechanism Figure 2 .

[0042] Figure 8 It is a three-dimensional upper and lower transmission mechanism Figure 3 .

[0043] Figure 9 It is a 3D view of the capture module.

[0044] Figure 10 This is a 3D view of the position scanning and detection mechanism.

[0045] Figure 11 This is a 3D view of the vibrating feeding device.

[0046] Figure 12 It is a 3D diagram of a conveyor belt.

[0047] Figure 13 This is a 3D view of a gantry robotic arm.

[0048] Figure 14 It is a stereoscopic image of the darkroom for image acquisition.

[0049] Figure 15 This is a 3D diagram of the material placement mechanism.

[0050] Explanation of reference numerals in the attached figures:

[0051] Rack 1;

[0052] Front and rear transmission mechanism 2; front and rear movement servo motor 201; power gear 202; rack 203;

[0053] Left and right transmission mechanism 3; left and right movement servo motor 301; power gear 2 302; rack 2 303;

[0054] Up and down transmission mechanism 4; up and down movement servo motor 401; power gear 3 402; rack 3 403; guide rail 404;

[0055] Grasping module 5; robotic arm 501; circular fixed platform 502; robotic arm 503; servo motor 504; stud 505;

[0056] Position scanning mechanism 6; camera integration mechanism 601; fixed base 602; support base 603;

[0057] Vibrating feeding device 7; screen box 701; vibrating motor 702; screen mesh 703; support device 704; control console 705; base 706;

[0058] Conveyor belt 8; Servo motor 2 801; Strip belt 802; Roller 803;

[0059] 9. Truss robotic arm; 901. Front and rear transmission mechanism II; 902. Left and right transmission mechanism II; 903. Up and down transmission mechanism II; 904. Robotic arm II;

[0060] Image acquisition dark box 10; frame 1001; photoelectric camera 1002; material storage box 1003; vision processing device 1004;

[0061] Material placement mechanism 11; material rack 1101; material box 1102. Detailed Implementation

[0062] The present invention will be further described below with reference to the embodiments.

[0063] Reference Figures 1-5 As can be seen, the fully automatic feeding and sorting device for red ginseng of this utility model consists of a frame 1, and the frame 1 is equipped with a front and rear transmission mechanism 2, a left and right transmission mechanism 3, an up and down transmission mechanism 4, a gripping module 5, a position scanning mechanism 6, a vibrating feeding device 7, a conveyor belt 8, a gantry robotic arm 9, an image acquisition dark box 10, and a material placement mechanism 11.

[0064] The gripping module 5 is connected to the bottom of the upper and lower transmission mechanism 4. The upper and lower transmission mechanism 4 is connected to the front and rear transmission mechanism 2 via guide rails. The front and rear transmission mechanism 2 is connected to the left and right transmission mechanism 3 via front and rear moving beams. The front and rear transmission mechanism 2, the left and right transmission mechanism 3, and the upper and lower transmission mechanism 4 work together to drive the gripping module 5 to clamp the material box 1102 on the material placement mechanism 11 to the vibrating feeding device 7. The controller is electrically connected to the front and rear transmission mechanism 2, the left and right transmission mechanism 3, the upper and lower transmission mechanism 4, and the gripping module 5, and controls the operation of the front and rear transmission mechanism 2, the left and right transmission mechanism 3, the upper and lower transmission mechanism 4, and the gripping module 5. The front and rear transmission mechanism 2, the left and right transmission mechanism 3, the upper and lower transmission mechanism 4, and the gripping module 5 realize the gripping of the material box 1102, so that the material box 1102 can move in three mutually perpendicular dimensions of X, Y, and Z to transfer the material box 1102 to complete the feeding.

[0065] The position scanning mechanism 6 is equipped with a camera integration mechanism 601, which includes a photoelectric camera and an image processor. The camera integration mechanism 601 is fixed on a fixed base 602, which is set on the left and right transmission mechanism 3. The position scanning mechanism 6 is electrically connected to the controller and transmits image information to the controller. This enables better identification of the material box 1102 and detection of its position, so as to accurately complete the gripping and dumping of the material box 1102 in the next step.

[0066] The vibrating feeding device 7 vibrates the tilted ginseng. The continuous vibration of the vibrating motor 702 causes the ginseng to vibrate continuously within the sieve box 701 and sieve screen 703. One end of the sieve box 701 connected to the sieve screen 703 is lower than the other end, and the vibration moves the ginseng from the sieve box 701 to the sieve screen 703. The vibrating feeding device 7 is electrically connected to a controller, which controls its operation. Furthermore, the vibration of the sieve box 701 and sieve screen 703 ensures that the ginseng does not obstruct each other.

[0067] The feed end of the conveyor belt 8 is connected to the discharge end of the screen 703; the conveyor belt 8 realizes the function of transporting red ginseng. The controller controls the operation of the conveyor belt 8.

[0068] The truss robotic arm 9 grips the red ginseng on the conveyor belt 8;

[0069] The conveyor belt 8 passes under the image acquisition dark box 10. The image acquisition dark box 10 acquires the red ginseng image information on the conveyor belt and transmits it to the controller. The controller controls the gantry robotic arm 9 to grip the ginseng and place it into different material storage boxes 1003 according to the results.

[0070] This invention utilizes a position scanning mechanism 6 to identify and detect the position of the material box 1102. The image processor processes the data and transmits the results to a controller. The controller connects to the front-to-back transmission mechanism 2, the left-to-right transmission mechanism 3, the up-to-down transmission mechanism 4, and the gripping module 5 to achieve automatic gripping and transfer of the material box. A vibrating feeding device 7 and a conveyor belt 8 are connected to ensure uniform feeding and conveying of the ginseng. The position scanning mechanism 6, the vision processing device 1004 of the image acquisition dark box 10, and the gantry robotic arm 9 are connected to achieve visual recognition and sorting of the ginseng. Machine vision recognition technology is used to detect the material box 1102 to be gripped, and the material box 1102 is moved to the appropriate position on the vibrating feeding device for tilting and feeding, improving the feeding efficiency of the ginseng. The photoelectric camera 1002 of the image acquisition dark box 10 acquires images of the ginseng, and the vision processing device 1004, combined with a deep learning network, calculates the maximum width, rotation angle, and optimal gripping point of the ginseng for gripping and sorting, ensuring high-yield and high-quality ginseng production.

[0071] The front and rear transmission mechanism 2 is equipped with a front and rear moving servo motor 201, a power gear 202, a rack 203, a motor base plate, a front and rear moving beam, and a guide rail. The front and rear moving servo motor 201 drives the power gear 202 to rotate. The power gear 202 meshes with the rack 203. The front and rear moving servo motor 201 is connected and mounted on the motor base plate. The motor base plate slides with the guide rail. The guide rail is mounted on the front and rear moving beam. The front and rear moving servo motor 201 drives the motor base plate to drive the upper and lower transmission mechanism 4 to move back and forth.

[0072] The left and right transmission mechanism 3 is equipped with a left and right movement servo motor 301, a second power gear 302, a second rack 303, a motor base plate, a guide rail, and a left and right movement beam. The left and right movement servo motor 301 drives the second power gear 302, which meshes with the second rack 303. The second rack 303 is mounted on the left and right movement beam, which is equipped with a guide rail. The guide rail is equipped with a motor base plate that slides with the guide rail. The left and right movement servo motor 301 is mounted on the motor base plate, and the left and right movement servo motor 301 drives the motor base plate to move the front and rear transmission mechanism 2 left and right.

[0073] The up-down transmission mechanism 4 is equipped with an up-down servo motor 401, a power gear 402, a rack 403, a guide rail 404, and a guide rail seat. The up-down servo motor 401 drives the power gear 402 to rotate. The power gear 402 meshes with the rack 403. The rack 403 is mounted on the guide rail 404, and the guide rail 404 is slidably mounted on the guide rail seat, so that the gripping module 5 moves up and down along the guide rail 404.

[0074] See Figures 2-9As can be seen, the gripping module 5 includes a robotic arm 501, a circular fixed platform 502, a robotic arm 503, a servo motor 504, and a stud 505. The top of the robotic arm 503 is connected to the up-down transmission mechanism 4, and the bottom of the robotic arm 503 is connected to the circular fixed platform 502. The bottom surface of the circular fixed platform 502 is connected to the servo motor 504, which is connected to the robotic arm 501 via the stud 505. The servo motor 504 provides power to drive the stud 505 to move up and down, thereby controlling the closing of the robotic arm 501. The robotic arm 501 grips the material box 1102 above the vibrating feeding device, and the robotic arm 503 bends to pour the ginseng out of the material box 1102.

[0075] See Figure 2 It is known that the position scanning mechanism 6 is located above the material placement mechanism 11. The position scanning mechanism 6 includes a camera integration mechanism 601, a fixed base 602, and a support base 603. The support base 603 is fixed above the frame, and the fixed base 602 is connected to the top of the support base 603. The camera integration mechanism 601 is connected to the fixed base 602. The scanning direction of the camera integration mechanism 601 is downward along the corner of the frame to obtain the image of the material box 1102 being transported, and compare its position with the standard position. After comparison processing, the information is sent to the control system to move it to the next designated module.

[0076] See Figure 11 , Figure 12 It can be seen that the vibrating feeding device 7 is equipped with a screen box 701, a vibrating motor 702, a screen 703, a support device 704, a control console 705, and a base 706.

[0077] The sieve box 701, vibrating motor 702, and sieve 703 are all fixed on the base 706. The sieve box 701 is open at one end, and the sieve 703 is installed at the opening. Side walls are provided on both sides of the sieve 703. One end of the sieve 703 is connected to the sieve box 701, and the other end of the sieve 703 is connected to the conveyor belt 8. The control console 705 controls the vibrating motor 702 to work, so that the base 706 vibrates and drives the red ginseng in the sieve box and sieve to vibrate continuously, ensuring that the red ginseng is evenly transported onto the conveyor belt 8 without blocking each other.

[0078] The side walls of the sieve box 701 and the sieve screen 703 are equipped with spaced support devices 704, which serve as connecting supports to ensure stable vibration and reduce dynamic loads on the foundation structure.

[0079] See Figure 5 , Figure 12It is known that the conveyor belt 8 includes a servo motor 801, a strip 802, and a roller 803. One end of the strip 802 is connected to the servo motor 801, and the other end is connected to the roller 803. The servo motor 801 drives the conveyor belt 8 through the strip 802 and the roller 803, so that the red ginseng is transported on the conveyor belt. After the image acquisition dark box recognizes the ginseng, the gantry robotic arm places the red ginseng into different material storage boxes according to different standards based on the recognition results.

[0080] See Figure 5 , Figure 14 It can be seen that the gantry robotic arm 9 is placed on the image acquisition dark box 10 and is equipped with a front-to-back transmission mechanism 901; a left-to-right transmission mechanism 902; and a top-to-bottom transmission mechanism 903.

[0081] The front and rear transmission mechanism 2 901 is set in the same way as the front and rear transmission mechanism 2; the left and right transmission mechanism 2 902 is set in the same way as the left and right transmission mechanism 3; the up and down transmission mechanism 2 903 is set in the same way as the up and down transmission mechanism 4.

[0082] The robotic arm 2 904 is mounted on the vertical transmission mechanism 2 903, which is mounted on the front-rear transmission mechanism 2 901. The front-rear transmission mechanism 2 901 is mounted on the left-right transmission mechanism 2 902. The robotic arm 2 904 grips the red ginseng on the conveyor belt 8 based on the recognition results of the image acquisition dark box 10. The cooperation of the front-rear transmission mechanism 2 901, the left-right transmission mechanism 2 902, and the vertical transmission mechanism 2 903 ensures that the red ginseng is gripped into different material storage boxes.

[0083] See Figure 1 , Figure 5 , Figure 14 It is known that the conveyor belt 8 passes under the image acquisition dark box 10, which is equipped with a frame 1001; a photoelectric camera 1002; a material storage box 1003; and a vision processing device 1004. The frame 1001 is used to house the gantry robot arm 9, the photoelectric camera 1002, and the vision processing device 1004. The photoelectric camera 1002 is positioned directly above the conveyor belt 8 for image acquisition. The vision processing device 1004 is positioned on one side of the frame 1001 and is electrically connected to the photoelectric camera 1002. After receiving the image information from the photoelectric camera 1002, the vision processing device 1004 calculates the maximum width, rotation angle, and optimal gripping point (the optimal gripping point is the midpoint of the maximum width of the red ginseng) on ​​the conveyor belt. The material storage box 1003 is located at the bottom of the frame 1001 and below the conveyor belt 8.

[0084] When the image acquisition dark box 10 is actually used in production, the frame 1001 is enclosed with a wall panel, which can reduce the impact of ambient light on sorting.

[0085] The gantry robotic arm 9 grips the red ginseng according to the recognition results of the photoelectric camera 1002 and the vision processing device 1004, and the material storage box 1003 stores the red ginseng gripped by the gantry robotic arm 9.

[0086] The height of the material storage box 1003 is less than the bottom surface of the conveyor belt 8, which makes it convenient for the material storage box 1003 to be pulled and stored under the conveyor belt.

[0087] The controller is electrically connected to the forward / backward servo motor 201, the left / right servo motor 301, the up / down servo motor 401, servo motor 504, the camera integration mechanism 601, the vibration motor 702, and the servo motor 801. Correspondingly, the controller is electrically connected to the servo motors of the forward / backward transmission mechanism 901, the left / right transmission mechanism 902, and the up / down transmission mechanism 903.

[0088] See Figure 1 , 2 It can be seen that the red ginseng is placed at the material placement mechanism 11.

[0089] The working principle and process of this utility model are as follows:

[0090] The ginseng to be tested is placed in the material box 1102 of the material placement mechanism 11. The front-to-back transmission mechanism 2, the left-to-right transmission mechanism 3, the up-to-down transmission mechanism 4, and the gripping module 5 move the material box 1102. The position scanning detection mechanism 6 detects and acquires image information and performs camera recognition processing to determine whether it has moved to the appropriate position. The material is then poured onto the vibrating feeding device 7. The vibrating feeding device 7 uses a vibrating motor to make the ginseng vibrate continuously in the screen box 701 and the screen 703 to ensure that the ginseng does not block each other. The ginseng is then transported to the conveyor belt 8. The photoelectric camera 1002 acquires images of the ginseng. The vision processing device 1004 can combine a deep learning network to calculate the maximum width, rotation angle, and optimal gripping point of the ginseng. The gantry robotic arm 9 grips the ginseng according to different standards and places it into different material storage boxes based on the recognition results of the photoelectric camera 1002 and the vision processing device 1004. After sorting, the ginseng is transported to subsequent processing machinery for processing.

[0091] The advantages of this embodiment are:

[0092] (1) By setting up the material placement mechanism 11, the material is placed into the material box 1102. The material box 1102 is neatly placed in the material rack 1101, which is convenient for the gripping module to pick up. The bottom of the material rack 1101 is equipped with pulleys, which is convenient for replacing the material box 1102 and moving the material rack 1101.

[0093] (2) By setting up an image acquisition dark box 10, a clear and complete image is achieved by using a photoelectric camera. Visual recognition is used to sort the red ginseng to be sorted. The information is sent to the visual processing device according to the recognition result. The visual processing device calculates the maximum width, the degree of curvature of the red ginseng and the optimal gripping point, which improves the detection accuracy and reduces the probability of false detection and missed detection.

[0094] (3) By setting up a front and rear transmission mechanism 2, a left and right transmission mechanism 3, an up and down transmission mechanism 4 and a gripping module 5 to grip the material box 1102, the material box 1102 is moved precisely in the X, Y and Z directions and transported to the top of the vibrating feeding device 7.

[0095] (4) By setting up a vibrating feeding device 7, a screen box 701, a vibrating motor 702, a screen 703, a support device 704, a control console 705, and a base 706, the red ginseng in the screen box and screen is continuously vibrated to ensure that the red ginseng conveyed to the conveyor belt does not block each other. This improves feeding efficiency, reduces labor consumption, and saves on the cost of manual feeding.

[0096] The above description is only a preferred embodiment of the present utility model and does not limit the scope of the present utility model. All equivalent structural changes made based on the content of the present utility model specification and drawings are included within the scope of the present utility model.

Claims

1. A fully automatic feeding and sorting device for red ginseng, comprising a frame (1), characterized in that: The frame (1) is equipped with a front and rear transmission mechanism (2), a left and right transmission mechanism (3), an up and down transmission mechanism (4), a gripping module (5), a position scanning mechanism (6), a vibrating feeding device (7), a conveyor belt (8), a gantry robotic arm (9), an image acquisition dark box (10), and a material placement mechanism (11). The gripping module (5) is connected to the bottom end of the upper and lower transmission mechanism (4). The upper and lower transmission mechanism (4) is connected to the front and rear transmission mechanism (2) through the guide rail seat. The front and rear transmission mechanism (2) is connected to the left and right transmission mechanism (3) through the front and rear moving beam. The front and rear transmission mechanism (2), the left and right transmission mechanism (3), and the upper and lower transmission mechanism (4) work together to drive the gripping module (5) to clamp the material box (1102) on the material placement mechanism (11) to the vibrating feeding device (7). The position scanning mechanism (6) is equipped with a camera integration mechanism (601), which is equipped with an optical camera and an image processor. The camera integration mechanism (601) is fixed on a fixed base (602), which is set on a left and right transmission mechanism (3). The position scanning mechanism (6) is electrically connected to the controller and transmits image information to the controller. The vibrating feeding device (7) vibrates the tilted red ginseng. The continuous vibration of the vibrating motor (702) causes the red ginseng to vibrate continuously in the sieve box (701) and the sieve screen (703). One end of the sieve box (701) and the sieve screen (703) is lower and the other end is higher. During the vibration process, the red ginseng moves from the sieve box (701) to the sieve screen (703). The feed end of the conveyor belt (8) is connected to the discharge end of the screen (703), and the conveyor belt (8) passes through the lower part of the image acquisition dark box (10); The truss robotic arm (9) grips the red ginseng on the conveyor belt (8); The image acquisition dark box (10) acquires the image information of red ginseng on the conveyor belt and transmits it to the controller. The controller controls the gantry robotic arm (9) to pick up the ginseng and put it into different material storage boxes (1003) according to the results.

2. The fully automatic feeding and sorting device for red ginseng according to claim 1, characterized in that: The front and rear transmission mechanism (2) is provided with a front and rear moving servo motor (201), a power gear (202), a rack (203), a motor base plate, a front and rear moving beam, and a guide rail. The front and rear moving servo motor (201) drives the power gear (202) to rotate. The power gear (202) meshes with the rack (203). The front and rear moving servo motor (201) is connected and mounted on the motor base plate. The motor base plate slides with the guide rail. The guide rail is mounted on the front and rear moving beam. The front and rear moving servo motor (201) drives the motor base plate to drive the upper and lower transmission mechanism (4) to move back and forth.

3. The fully automatic feeding and sorting device for red ginseng according to claim 1, characterized in that: The left and right transmission mechanism (3) is provided with a left and right moving servo motor (301), a second power gear (302), a second rack (303), a motor base plate, a guide rail, and a left and right moving beam; the left and right moving servo motor (301) drives the second power gear (302), the second power gear (302) meshes with the second rack (303), the second rack (303) is set on the left and right moving beam, the left and right moving beam is provided with a guide rail, the guide rail is provided with a motor base plate that slides with the guide rail, the left and right moving servo motor (301) is set on the motor base plate, the left and right moving servo motor (301) drives the motor base plate to drive the front and rear transmission mechanism (2) to move left and right.

4. The fully automatic feeding and sorting device for red ginseng according to claim 1, characterized in that: The up-and-down transmission mechanism (4) is equipped with an up-and-down moving servo motor (401), a power gear three (402), a rack three (403), a guide rail (404), and a guide rail seat. The up-and-down moving servo motor (401) drives the power gear three (402) to rotate. The power gear three (402) meshes with the rack three (403). The rack three (403) is set on the guide rail (404), and the guide rail (404) is slidably set on the guide rail seat, so that the gripping module (5) moves up and down along the guide rail (404).

5. The fully automatic feeding and sorting device for red ginseng according to claim 1, characterized in that: The grasping module (5) includes a robotic arm (501), a circular fixed platform (502), a robotic arm (503), a servo motor (504), and a stud (505). The top of the robotic arm (503) is connected to the upper and lower transmission mechanism (4), and the bottom of the robotic arm (503) is connected to the circular fixed platform (502). The bottom surface of the circular fixed platform (502) is connected to the servo motor (504), and the servo motor (504) is connected to the robotic arm (501) through the stud (505).

6. The fully automatic feeding and sorting device for red ginseng according to claim 1, characterized in that: The position scanning mechanism (6) is located above the material placement mechanism (11). The position scanning mechanism (6) includes a camera integration mechanism (601), a fixed seat (602), and a support seat (603). The support seat (603) is fixed above the frame. The top of the support seat (603) is connected to the fixed seat (602), and the fixed seat (602) is connected to the camera integration mechanism (601).

7. The fully automatic feeding and sorting device for red ginseng according to claim 1, characterized in that: The vibrating feeding device (7) is provided with a screen box (701), a vibrating motor (702), a screen (703), a support device (704), a control console (705), and a base (706). The screen box (701), the vibrating motor (702), and the screen (703) are all fixed on the base (706). One end of the screen box (701) is open, and the screen (703) is provided at the opening. Side walls are provided on both sides of the screen (703). One end of the screen (703) is connected to the screen box (701), and the other end of the screen (703) is connected to the conveyor belt (8). The side walls of the screen box (701) and the screen (703) are provided with support devices (704) arranged at intervals.

8. The fully automatic feeding and sorting device for red ginseng according to claim 1, characterized in that: The conveyor belt (8) includes a second servo motor (801), a strip (802), and a roller (803). One end of the strip (802) is connected to the second servo motor (801), and the other end is connected to the roller (803). The conveyor belt (8) is driven by the second servo motor (801) through the strip (802) and the roller (803).

9. The fully automatic feeding and sorting device for red ginseng according to claim 1, characterized in that: The truss robotic arm (9) is placed on the image acquisition dark box (10) and is equipped with a front-to-back transmission mechanism (901); a left-to-right transmission mechanism (902); and a top-to-bottom transmission mechanism (903). The front-to-back transmission mechanism (901) is the same as the front-to-back transmission mechanism (2); the left-to-right transmission mechanism (902) is the same as the left-to-right transmission mechanism (3); and the top-to-bottom transmission mechanism (903) is the same as the top-to-bottom transmission mechanism (4).

10. The fully automatic feeding and sorting device for red ginseng according to claim 1, characterized in that: The image acquisition dark box (10) is equipped with a frame (1001); a photoelectric camera (1002); a material storage box (1003); and a vision processing device (1004). The frame (1001) is used to set up the gantry robot arm (9), the photoelectric camera (1002) and the vision processing device (1004). The photoelectric camera (1002) is set directly above the conveyor belt (8) for image acquisition. The vision processing device (1004) is set on one side of the frame (1001). The vision processing device (1004) is electrically connected to the photoelectric camera (1002) and receives the image information from the photoelectric camera (1002).

Images