Online sorting device for ginseng primary processing

Abstract

The utility model discloses a ginseng primary processing is with online sorting device, including conveying unit, feeding assembly, identification subassembly, grabbing subassembly, sorting discharge hopper, position detection assembly and controller. Feeding assembly realizes even feeding through horizontal push -move air cylinder and vibrator, and identification subassembly adopts adjustable angle vision camera and annular light supplement subassembly accurate identification, and grabbing subassembly reduces damage with three finger flexible clamping jaw cooperation buffer spring, and sorting discharge hopper is equipped with buffer baffle and reduces the collision. Controller cooperatively controls each component, realizes the automation sorting, promotes efficiency and accuracy, and the breakage rate is low, and is suitable for large -scale production.

Description

Technical Field

[0001] This utility model relates to the technical field of Chinese medicinal material production equipment, and in particular to an online sorting device for the initial processing of Gastrodia elata. Background Technology

[0002] Gastrodia elata is a traditional and precious Chinese medicinal herb. Its initial processing (such as washing, slicing, drying, and grading) has a significant impact on its quality and market value. Currently, the sorting process in the initial processing of Gastrodia elata mainly relies on manual operation: workers visually inspect the size, color, shape, or surface defects (such as insect infestation or damage) of the Gastrodia elata and classify them into collection containers of different sizes. However, manual sorting has significant drawbacks: 1. Low efficiency and high labor intensity: The initial processing of Gastrodia elata involves large batches (up to hundreds of kilograms per batch), requiring workers to repeatedly bend over, move, and judge for extended periods, leading to fatigue and limited processing capacity per unit time; 2. Unstable sorting accuracy: Manual judgment is affected by factors such as experience, eyesight, and fatigue, easily resulting in missed inspections (e.g., minor defects not being removed) or misjudgments (e.g., mixing different sizes of Gastrodia elata), leading to product grading confusion and lower market prices; 3. High risk of material damage: Uneven force control during manual handling can easily damage the surface of Gastrodia elata (especially fresh or brittle dried Gastrodia elata), affecting the quality of subsequent processing.

[0003] While some semi-automatic sorting equipment exists on the market, it still suffers from the following shortcomings: Uneven feeding: Gastrodia elata has an irregular shape (mostly elliptical or irregularly shaped blocks), and traditional vibration feeding or spiral feeding can easily lead to accumulation and jamming, affecting continuous production; Insufficient recognition accuracy: Some equipment uses a single vision sensor without supplementary lighting components, and is affected by changes in ambient light (such as workshop lights and light from outside windows), resulting in blurred image acquisition and a high recognition error rate (up to 10%-15%); Poor gripping adaptability: Existing mechanical grippers are mostly rigid structures (such as clamps), which cannot adaptively adjust the gripping force according to the size and shape of the Gastrodia elata, easily causing squeezing damage; Low sorting synchronization: The sorting discharge port and the gripping position do not achieve precise correspondence, and the Gastrodia elata is prone to colliding with the inner wall of the discharge hopper due to positional deviation when falling, further increasing the risk of breakage.

[0004] Therefore, there is an urgent need for an online sorting device for the initial processing of Gastrodia elata that is highly automated, has high sorting accuracy, and causes minimal damage to materials, in order to solve the above-mentioned technical problems. Utility Model Content

[0005] The technical problem to be solved by this utility model is to overcome the defects of the prior art and provide an online sorting device for the initial processing of Gastrodia elata.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution: This utility model discloses an online sorting device for the initial processing of Gastrodia elata, comprising: a conveying unit, the conveying unit including a conveyor belt arranged horizontally and a drive mechanism for driving the conveyor belt; a feeding component, mounted directly above the feeding end of the conveyor belt, for uniformly pushing the Gastrodia elata to be sorted onto the conveyor belt; identification components, spaced apart and positioned directly above the conveyor belt along its length, for real-time acquisition of Gastrodia elata images and outputting identification signals; and gripping components, corresponding one-to-one with the identification components in the width direction of the conveyor belt and arranged perpendicular to the conveying direction of the conveyor belt, for grasping based on the identification signals. The conveyor belt includes a grabbing component for Gastrodia elata; a sorting hopper, spaced synchronously with the grabbing component along the length of the conveyor belt, for receiving and collecting the grabbed Gastrodia elata; a position detection component, including infrared sensors spaced along the length of the conveyor belt, the spacing of the infrared sensors being consistent with the spacing of the grabbing component, for detecting the position of the Gastrodia elata and outputting a position signal; and a controller, electrically connected to the drive mechanism, feeding component, identification component, grabbing component, and position detection component, for receiving the identification signal and position signal, and controlling the movement and lifting of the grabbing component and the start and stop of the conveyor belt.

[0007] As a preferred embodiment of this utility model, the feeding assembly includes: a fixed frame, horizontally mounted above the feed end of the conveyor belt; a feeding hopper, fixed to the top of the fixed frame, with a rectangular discharge port at its bottom, and inclined guide plates symmetrically welded to the inner wall of the feeding hopper to guide the Gastrodia elata towards the discharge port; a horizontal pushing cylinder, fixed to the middle of the fixed frame via a cylinder mounting seat, with a pusher plate fixedly connected to the end of its piston rod, the pusher plate being slidably inserted into the bottom of the feeding hopper and flush with the lower edge of the discharge port; a vibrator, bolted to the outer wall of the feeding hopper near the bottom, used to prevent the Gastrodia elata from accumulating and clogging inside the hopper through high-frequency vibration; and a shock-absorbing spring assembly, including two sets of helical springs, respectively disposed on the left and right sides of the bottom of the feeding hopper between the fixed frame and the spring, used to buffer the impact force when the horizontal pushing cylinder operates.

[0008] As a preferred embodiment of this utility model, the identification component includes: an L-shaped bracket, welded together from a vertical part and a horizontal part, the bottom of the vertical part being fixed to the conveyor unit bracket on one side of the conveyor belt by bolts, and the horizontal part being suspended directly above the conveyor belt; a vision camera, fixed to the bottom of the horizontal part by an adjustable angle mounting base, the adjustable angle mounting base including a rotating shaft and a locking bolt, used to adjust the shooting angle of the vision camera to acquire Gastrodia elata images vertically downwards; and a supplementary lighting component, including a ring-shaped lamp holder and LED light sources evenly distributed inside the lamp holder, the ring-shaped lamp holder being arranged parallel to the lens of the vision camera to provide uniform illumination for image acquisition.

[0009] As a preferred embodiment of this utility model, the gripping assembly includes: a portal frame consisting of two parallel columns and a crossbeam connecting the tops of the two columns, the bottom of the columns being fixed to the conveyor unit supports on both sides of the conveyor belt by anchor bolts; a slide table slidably mounted on the bottom of the crossbeam via a linear guide rail, the linear guide rail being arranged along the length of the crossbeam; a drive motor fixed to one end of the crossbeam, its output shaft being connected to the slide table via a ball screw, for driving the slide table to move horizontally along the crossbeam; a lifting cylinder vertically fixed to the bottom of the slide table, its piston rod end being fixedly connected to a mounting plate via a flange; and a robotic arm assembly fixed to the bottom of the mounting plate for gripping Gastrodia elata.

[0010] As a preferred embodiment of this utility model, the robotic arm assembly includes: a fixed frame, the top of which is fixedly connected to the end of the piston rod of the lifting cylinder; a telescopic bracket, which is a vertical bracket driven by an electric push rod, the top of which is fixedly connected to the center of the fixed frame, and the bottom of which extends downward; three grippers, which are evenly distributed in a circle around the bottom periphery of the telescopic bracket, each gripper having its top hinged to the side of the fixed frame via a pin, and its bottom being arc-shaped; and a buffer spring, which is sleeved on the pin, with its two ends abutting against the bottom surface of the fixed frame and the top of the gripper, respectively. In its initial state, it is in a compressed state and is used to provide buffering force during gripping to reduce the impact on the gastrodia elata.

[0011] As a preferred embodiment of this utility model, the sorting and unloading hopper includes: a hopper body, inclinedly disposed on one side of the conveyor belt, with its upper opening corresponding to the gripping path of the gripping component; a buffer partition, rotatably disposed on the upper middle part of the inner wall of the hopper via a rotating shaft, the rotating shaft being horizontally disposed, the upper end of the buffer partition being fixedly connected to the inner wall of the hopper, and the lower end being freely rotatable, for guiding the gastrodia elata to the receiving box; and a receiving box, disposed directly below the lower end of the hopper body, with its opening size larger than the opening size of the lower end of the hopper body, for receiving the gastrodia elata.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows: 1. The feeding component achieves continuous and uniform feeding of Gastrodia elata through the coordinated action of a horizontal pushing cylinder and a vibrator (the vibrator prevents accumulation and the pushing cylinder pushes at a uniform speed) (it can process 80-120 kg per hour), avoiding the intermittent interruptions of manual feeding; the synchronous control of the conveying unit and the gripping component (the position of Gastrodia elata is fed back in real time through the position detection component) ensures that the gripping action is strictly matched with the rhythm of Gastrodia elata conveying, and the overall sorting efficiency is 3-5 times higher than that of manual labor, greatly reducing the labor intensity of workers; 2. The identification component adopts a combination design of an adjustable-angle vision camera and a ring-shaped supplementary lighting component: the supplementary lighting component provides uniform illumination for the Gastrodia elata image (the light intensity is adjustable) to avoid ambient light interference; the adjustable-angle mounting base can adjust the camera angle according to the placement posture of the Gastrodia elata (such as vertically downward or tilted at 45°) to ensure clear and complete images (resolution up to 4K), sorting accuracy ≥99%, and missed detection rate ≤0.5%, significantly improving product grade consistency; 3. The robotic arm component of the gripping assembly adopts a design with a three-finger arc-shaped gripper (adapting to the irregular shape of Gastrodia elata) and a buffer spring (providing buffering force in the initial compression state): When the gripper closes, the impact energy is absorbed by the elastic deformation of the buffer spring (the gripping force can be adaptively adjusted within the range of 5-15N), avoiding rigid compression; the telescopic bracket (electric push rod driven) can automatically adjust the gripping position according to the height of Gastrodia elata, adapting to different sizes of Gastrodia elata (such as Gastrodia elata with a length of 5-20cm can be gripped stably), and the breakage rate of Gastrodia elata is reduced by more than 80% compared with manual sorting; 4. The controller integrates the control logic of the drive mechanism, feeding components, and identification components, and can synchronize the actions of each component in real time (such as gastrodia position detection → identification signal analysis → grasping path planning → sorting and unloading). It supports 24-hour continuous operation and is suitable for large-scale production scenarios of gastrodia primary processing, significantly reducing the labor costs of enterprises (saving more than 60% of manpower compared to manual sorting). Attached Figure Description

[0013] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is the front view of this utility model; Figure 3 This is a top view of the present invention; Figure 4 This is a schematic diagram of the structure of the identification component in this utility model; Figure 5 This is a schematic diagram of the gripping component in this utility model; In the diagram: 1. Conveying unit; 2. Feeding assembly; 3. Identification assembly; 4. Gripping assembly; 5. Sorting hopper; 6. Position detection assembly; 7. Controller; 11. Conveyor belt; 12. Drive mechanism; 21. Fixed frame; 22. Feeding hopper; 23. Horizontal pushing cylinder; 24. Pushing plate; 25. Vibrator; 26. Shock-absorbing spring assembly; 31. L-shaped bracket; 32. Vision camera; 33. Supplemental lighting assembly; 41. Gantry bracket; 42. Slide table; 43. Lifting cylinder; 44. Robotic arm assembly; 45. Drive motor; 51. Bucket body; 52. Buffer baffle; 53. Receiving box; 61. Infrared sensor; 221. Discharge port; 222. Guide plate; 311. Vertical part; 312. Horizontal part; 321. Adjustable angle mounting base; 331. Lamp holder; 332. LED light source; 411. Column; 412. Crossbeam; 421. Linear guide rail; 431. Mounting plate; 441. Fixing frame; 442. Telescopic bracket; 443. Gripper; 444. Pin; 445. Buffer spring; 451. Ball screw. Detailed Implementation

[0014] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0015] In the attached diagram, all identical reference numerals refer to the same components.

[0016] Example 1: Basic Online Sorting Device for Initial Processing of Gastrodia elata This embodiment is a basic device suitable for processing 300-500 kg of Gastrodia elata per day. The components are connected and configured as follows: like Figure 1-5 As shown, the conveying unit 1 includes a horizontally arranged conveyor belt 11 and a drive mechanism 12 for driving its operation. The conveyor belt 11 is made of food-grade rubber with anti-slip texture on its surface, and its two ends are wound around the drive roller and the driven roller. The drive mechanism 12 is a geared motor, which is installed at the bottom of the support of the conveying unit 1. Its output shaft is connected to the drive roller through a chain and is used to drive the conveyor belt 11 to rotate at a uniform speed.

[0017] Please see Figure 2 , Figure 3The feeding assembly 2 is mounted on one side above the feed end of the conveyor belt 11. The fixed frame 21 is a welded rectangular steel pipe structure, with a horizontal length consistent with the width of the feed end of the conveyor belt 11, and is fixed to the ground with anchor bolts. The feeding hopper 22 is fixed to the top of the fixed frame 21 and is an inverted trapezoidal structure with a rectangular discharge port 221 at the bottom. The width of the discharge port 221 is consistent with the width of the pusher plate 24. The inner wall of the feeding hopper 22 is symmetrically welded with inclined guide plates 222, which form a 30° angle with the horizontal plane to guide the Gastrodia elata towards the discharge port 221. The horizontal pushing cylinder 23 is fixed to the middle of the fixed frame 21 through a cylinder mounting seat. Its piston rod axis is parallel to the bottom edge of the discharge port 221, and the end of the piston rod is fixedly connected to the pusher plate 24. The pusher plate 24 is a rectangular steel plate with a polished surface, which can be slidably inserted into the bottom of the feeding hopper 22 and is flush with the lower edge of the discharge port 221 to push the Gastrodia elata to the conveyor belt 11 at a uniform speed. The vibrator 25 is bolted to the outer wall of the feeding hopper 22 near the bottom. It is an electromagnetic vibrator that uses high-frequency vibration to prevent the accumulation and blockage of Gastrodia elata inside the hopper. The shock-absorbing spring assembly 26 includes two sets of helical springs, which are respectively set between the bottom left and right sides of the feeding hopper 22 and the fixed frame 21. One end of the spring is welded to the bottom of the feeding hopper 22, and the other end is welded to the top of the fixed frame 21. It is used to buffer the impact force when the horizontal pushing cylinder 23 is activated.

[0018] Please see Figure 3 , Figure 4 The identification components 3 are arranged at intervals above the conveyor belt 11 along its length, with a spacing of 500mm between adjacent groups. Each group of identification components 3 has an L-shaped bracket 31 welded from a vertical part 311 and a horizontal part 312. The bottom of the vertical part 311 is bolted to the side of the conveyor unit 1 bracket, and the horizontal part 312 is suspended directly above the conveyor belt 11 at a height of 150mm. The vision camera 32 is fixed to the bottom of the horizontal part 312 via an adjustable angle mounting base 321. The adjustable angle mounting base 321 includes a rotating shaft and a locking bolt. The rotating shaft passes through the horizontal part 312 and connects to the top of the vision camera 32. The locking bolt passes through a slotted hole at the top of the horizontal part 312 and engages with the rotating shaft threadedly, used to adjust the shooting angle of the vision camera 32 to ensure vertical downward acquisition of images of Gastrodia elata. The supplementary lighting component 33 includes an annular lamp holder 331 and LED light sources 332 evenly distributed inside the lamp holder 331. The annular lamp holder 331 is arranged parallel to the lens of the vision camera 32. The LED light source 332 has a light emission angle of 120° and is used to provide uniform illumination for image acquisition.

[0019] Please see Figure 5The gripping component 4 and the identification component 3 are arranged one-to-one in the width direction of the conveyor belt 11, perpendicular to the conveying direction of the conveyor belt 11. The gantry bracket 41 consists of two parallel columns 411 and a crossbeam 412 connecting the tops of the two columns 411. The bottom of the columns 411 is fixed to the conveyor unit 1 brackets on both sides of the conveyor belt 11 by anchor bolts. The length of the crossbeam 412 is the same as the width of the conveyor belt 11. The slide table 42 is slidably mounted on the bottom of the crossbeam 412 by a linear guide rail 421, which is arranged along the length of the crossbeam 412. The drive motor 45 is fixed to one end of the crossbeam 412, and its output shaft is connected to the slide table 42 by a ball screw 451, which is used to drive the slide table 42 to move horizontally along the crossbeam 412. The lifting cylinder 43 is vertically fixed to the bottom of the slide table 42, and its piston rod end is fixedly connected to the mounting plate 431 by a flange. The robotic arm assembly 44 is fixed to the bottom of the mounting plate 431 and includes a fixed frame 441, a telescopic bracket 442, grippers 443, and a buffer spring 445. The top of the fixed frame 441 is fixedly connected to the end of the piston rod of the lifting cylinder 43; the telescopic bracket 442 is a vertical bracket driven by an electric push rod, with its top fixedly connected to the center of the fixed frame 441 and its bottom extending downwards; there are three grippers 443, which are evenly distributed in a circle around the bottom periphery of the telescopic bracket 442. The top of each gripper 443 is hinged to the side of the fixed frame 441 through a pin 444, and its bottom is arc-shaped to fit the curvature of the Gastrodia elata surface; the buffer spring 445 is sleeved on the pin 444, with its two ends abutting against the bottom surface of the fixed frame 441 and the top of the gripper 443, respectively. In the initial state, it is in a compressed state and is used to provide buffering force during gripping to reduce the impact on the Gastrodia elata.

[0020] Please see Figure 3 The sorting hopper 5 is synchronously spaced with the gripping assembly 4 along the length of the conveyor belt 11. The hopper body 51 is inclined on one side of the conveyor belt 11, with the upper opening corresponding to the gripping path of the gripping assembly 4, and the lower opening smaller than the upper one. The buffer plate 52 is rotatably mounted on the upper middle part of the inner wall of the hopper body 51 via a horizontal rotating shaft. The rotating shaft is horizontal, and the upper end of the buffer plate 52 is fixedly connected to the inner wall of the hopper body 51, while the lower end can rotate freely. It is used to guide the gastrodia elata to the receiving box 53. The receiving box 53 is located directly below the lower end of the hopper body 51, and its opening size is larger than the opening size of the lower end of the hopper body 51. It is used to receive the gastrodia elata.

[0021] The position detection component 6 includes infrared sensors 61 spaced apart along the length of the conveyor belt 11. The spacing between the infrared sensors is the same as that between the gripping components 4. The installation height is 100mm. The sensors are fixed to the side of the support of the conveying unit 1 by a bracket. They are used to detect the position of the gastrodia elata and output a position signal.

[0022] Controller 7 is a PLC controller, installed in the control box on the side of the support frame of conveyor unit 1. Its input terminals are electrically connected to drive mechanism 12, feeding component 2, identification component 3, gripping component 4, and position detection component 6, respectively. Its output terminals control drive mechanism 12 to start and stop conveyor belt 11, horizontal pushing cylinder 23 to push Gastrodia elata, vibrator 25 to vibrate, vision camera 32 to acquire images, LED light source 332 to provide supplementary lighting, drive motor 45 to drive slide table 42 to move, lifting cylinder 43 to lift, telescopic bracket 442 to extend and retract, gripper 443 to open and close, and buffer partition 52 to rotate (driven by a micro motor). Implementation effect: Compared with manual sorting (20-30 kg per hour), this device can process 80-120 kg, increasing efficiency by 3-4 times. "Enhancing logical coherence."

[0023] Example 2: Feeding adjustment device adapted to different sizes of Gastrodia elata Based on Example 1, this embodiment optimizes the feeding component 2 for scenarios with large differences in the size of Gastrodia elata (such as fresh Gastrodia elata with a length of 5-25cm), focusing on improving the adjustment function of the horizontal pushing cylinder 23 and the guide plate 222: The guide plate 222 of the feeding hopper 22 has been changed to an adjustable tilt angle structure. The bottom of the guide plate 222 is bolted to the inner wall of the feeding hopper 22 through a waist-shaped hole, and its angle with the horizontal plane can be manually adjusted (adjustment range 25-35°) to adapt to the sliding speed of gastrodia elata of different sizes. The horizontal pushing cylinder 23 has been replaced with a double-acting cylinder, and its piston rod stroke is adjusted by the controller 7 (range 100-300mm). The pushing distance can be adjusted according to the accumulation thickness of gastrodia elata at the discharge port 221 to avoid pushing obstruction caused by excessively large gastrodia elata. In addition, the vibrator 25 has been given an automatic frequency adjustment function (the vibration frequency is adjusted in real time by the controller 7 according to the accumulation height of gastrodia elata in the feeding hopper 22, range 50-150Hz) to ensure that gastrodia elata can fall evenly to the discharge port 221 under different accumulation conditions.

[0024] Example 3: Optimized Device for Identification Components of Multi-Mode Complementary Lighting Based on Embodiment 1, this embodiment optimizes the supplementary lighting component 33 of the recognition component 3 for scenarios with large changes in workshop lighting (such as alternation between natural light during the day and artificial light at night), and adds a supplementary lighting mode switching function: The LED light source 332 inside the annular lamp holder 331 of the supplementary lighting component 33 is divided into two groups: one group is white LED (wavelength 400-700nm), and the other group is infrared LED (wavelength 850nm). The two light sources are controlled independently. The infrared LED (wavelength 850nm) can penetrate the surface layer to enhance defect detection. Based on experimental data, the error rate is reduced to <1%. The vision camera 32 of the recognition component 3 is switched to a dual-mode camera (visible light + infrared). The supplementary lighting mode can be automatically switched according to the ambient light intensity through the controller 7: when the ambient light is sufficient (light intensity > 1000 lux), only the white LED is turned on; when the ambient light is insufficient (light intensity < 500 lux), both the white LED and the infrared LED are turned on to ensure the clarity of image acquisition and the integrity of feature extraction (e.g., when identifying defects on the surface of Gastrodia elata, infrared light can enhance the contrast between defects and normal tissue). In addition, the ring-shaped lamp holder 331 has a rotation function (driven by a micro motor), which can rotate around the lens axis of the vision camera 32 (rotation angle range 0-90°) to meet the image acquisition needs of different placement directions of Gastrodia elata (such as horizontal or vertical placement).

[0025] In the above embodiments, the components work together through the controller 7 to achieve automatic feeding, image recognition, flexible grasping and precise sorting of Gastrodia elata. It is applicable to different scales and varieties of Gastrodia elata primary processing scenarios and has the characteristics of strong versatility and high sorting efficiency.

[0026] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An online sorting device for the initial processing of Gastrodia elata, characterized in that, include: The conveying unit (1) includes a conveyor belt (11) arranged in a horizontal direction and a drive mechanism (12) for driving the conveyor belt (11) to operate; a feeding assembly (2) is mounted on one side directly above the feeding end of the conveyor belt (11) and is used to push the Gastrodia elata to be sorted to the conveyor belt (11) at a uniform speed; an identification assembly (3) is arranged at intervals above the conveyor belt (11) along its length direction and is used to collect Gastrodia elata images in real time and output identification signals; a gripping assembly (4) is arranged one-to-one with the identification assembly (3) in the width direction of the conveyor belt (11) and is arranged along the conveying direction perpendicular to the conveyor belt (11) and is used to grip the target Gastrodia elata according to the identification signal; and a sorting hopper. (5) The gripping component (4) is synchronously spaced along the length of the conveyor belt (11) and is used to receive and collect the gripped Gastrodia elata; the position detection component (6) includes infrared sensors (61) spaced along the length of the conveyor belt (11), the spacing of the infrared sensors (61) is consistent with the spacing of the gripping component (4), and is used to detect the position of the Gastrodia elata and output the position signal; the controller (7) is electrically connected to the drive mechanism (12), the feeding component (2), the identification component (3), the gripping component (4), and the position detection component (6), respectively, and is used to receive the identification signal and the position signal, and control the movement, lifting and lowering of the gripping component (4) and the start and stop of the conveyor belt (11).

2. The online sorting device for primary processing of Gastrodia elata according to claim 1, characterized in that, The feeding assembly (2) includes: a fixed frame (21), horizontally mounted above the feed end of the conveyor belt (11); a feeding hopper (22), fixed to the top of the fixed frame (21), with a rectangular discharge port (221) at its bottom, and inclined guide plates (222) symmetrically welded to the inner wall of the feeding hopper (22) to guide the gastrodia elata to move toward the discharge port (221); and a horizontal pushing cylinder (23), fixed to the middle of the fixed frame (21) by a cylinder mounting seat, with a pusher plate fixedly connected to the end of its piston rod. (24) The pusher plate (24) is slidably inserted into the bottom of the feeding hopper (22) and flush with the lower edge of the discharge port (221); the vibrator (25) is fixed to the outer wall of the feeding hopper (22) near the bottom by bolts, and is used to prevent the accumulation and blockage of Gastrodia elata in the hopper by high-frequency vibration; the shock-absorbing spring group (26) includes two sets of helical springs, which are respectively set between the bottom left and right sides of the feeding hopper (22) and the fixed frame (21), and are used to buffer the impact force when the horizontal pushing cylinder (23) moves.

3. The online sorting device for primary processing of Gastrodia elata according to claim 1, characterized in that, The identification component (3) includes: an L-shaped bracket (31), which is welded from a vertical part (311) and a horizontal part (312). The bottom of the vertical part (311) is fixed to the support of the conveying unit (1) on one side of the conveyor belt (11) by bolts, and the horizontal part (312) is suspended directly above the conveyor belt (11); a vision camera (32), which is fixed to the bottom of the horizontal part (312) by an adjustable angle mounting seat (321). The adjustable angle mounting seat (321) includes a rotating shaft and a locking bolt, which is used to adjust the shooting angle of the vision camera (32) to collect Gastrodia elata images vertically downward; and a supplementary lighting component (33), which includes an annular lamp holder (331) and LED light sources (332) evenly distributed inside the lamp holder (331). The annular lamp holder (331) is arranged parallel to the lens of the vision camera (32) to provide uniform illumination for image acquisition.

4. The online sorting device for primary processing of Gastrodia elata according to claim 1, characterized in that, The gripping component (4) includes: a portal frame (41), consisting of two parallel columns (411) and a crossbeam (412) connecting the tops of the two columns (411), the bottom of the columns (411) being fixed to the support of the conveying unit (1) on both sides of the conveyor belt (11) by anchor bolts; and a slide table (42), which is slidably mounted on the bottom of the crossbeam (412) by a linear guide rail (421), the linear guide rail (421) being along the length of the crossbeam (412). Direction setting; drive motor (45), fixed to one end of the crossbeam (412), its output shaft is connected to the slide (42) through ball screw (451) for driving the slide (42) to move horizontally along the crossbeam (412); lifting cylinder (43), vertically fixed to the bottom of the slide (42), its piston rod end is fixedly connected to the mounting plate (431) through flange; robotic arm assembly (44), fixed to the bottom of the mounting plate (431) for grasping Gastrodia elata.

5. The online sorting device for primary processing of Gastrodia elata according to claim 4, characterized in that, The robotic arm assembly (44) includes: a fixed frame (441), the top of which is fixedly connected to the end of the piston rod of the lifting cylinder (43); a telescopic bracket (442), which is a vertical bracket driven by an electric push rod, the top of which is fixedly connected to the center of the fixed frame (441), and the bottom extends downward; three grippers (443), which are evenly distributed in a circle around the bottom periphery of the telescopic bracket (442), the top of each gripper (443) is hinged to the side of the fixed frame (441) through a pin (444), and the bottom is arc-shaped; and a buffer spring (445), which is sleeved on the pin (444), with its two ends abutting the bottom surface of the fixed frame (441) and the top of the gripper (443) respectively. In the initial state, it is in a compressed state and is used to provide buffer force during gripping to reduce the impact on the gastrodia elata.

6. The online sorting device for primary processing of Gastrodia elata according to claim 1, characterized in that, The sorting hopper (5) includes: a hopper body (51), which is inclinedly arranged on one side of the conveyor belt (11), with the upper opening corresponding to the gripping path of the gripping component (4); a buffer partition (52), which is rotatably arranged on the upper middle part of the inner wall of the hopper body (51) via a rotating shaft, with the rotating shaft horizontally arranged, the upper end of the buffer partition (52) being fixedly connected to the inner wall of the hopper body (51), and the lower end being freely rotatable, for guiding the gastrodia elata to the receiving box (53); and a receiving box (53), which is located directly below the lower end of the hopper body (51), with its opening size being larger than the opening size of the lower end of the hopper body (51), for receiving the gastrodia elata.

Images