CN105151750A - Automatic silkworm cocoon quality sorting and picking method - Google Patents
Automatic silkworm cocoon quality sorting and picking method Download PDFInfo
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Abstract
The invention discloses an automatic silkworm cocoon quality sorting and picking method which comprises the following steps: 1) stacking checker cocooning frames with silkworm cocoons, automatically feeding the checker cocooning frames to a checker cocooning frame tray, and putting the checker cocooning frame tray on a checker cocooning frame tray transmission rail; 2) after feeding, identifying the types of the silkworm cocoons in the checker cocooning frames on the checker cocooning frame tray by a silkworm cocoon identification mechanism according to the shapes and the colors of the silkworm cocoons, and determining the positions where the corresponding types of silkworm cocoons are placed; 3) transmitting the checker cocooning frame tray to the positions below a first silkworm cocoon picking mechanism and a second silkworm cocoon picking mechanism in sequence through the checker cocooning frame tray transmission rail, wherein the first silkworm cocoon picking mechanism and the second silkworm cocoon picking mechanism respectively pick the corresponding types of precisely positioned silkworm cocoons to a first catch container and a second catch container. According to the automatic silkworm cocoon quality sorting and picking method, the sorting and picking working procedures are integrated in one working procedure, the automation degree is high, and the sorting and picking efficiency is greatly improved.
Description
Technical field
The present invention relates to silk cocoon and pluck field, specifically a kind of Cocoon Quality automatic sorting picking method.
Background technology
From the eighties in 20th century, China sericultural production will be promoted the use of paper cocooning frame as the Important Action improving silk cocoon and Quality of Stored Cocoon And Silk.Paper cocooning frame is compared with other nests, and bonscocoons rate is high, damaged cocoon is few, and silk is clean, is placed on small straw bundles to spin cocoons, harvesting of cocoon is convenient.Nowadays paper cocooning frame has become widely used nest in China's sericultural production, especially maximum with the use amount of cardboard paper cocooning frame.Along with a large amount of uses of paper cocooning frame, occurred the correlation technique for paper cocooning frame automatic cocoon-picking and equipment, but these technical patterns are complicated, still need human assistance, and without sensing, vision and quality sorting function, None-identified bonscocoons, damaged cocoon, dupion etc.
Silk cocoon is front at reel off raw silk from cocoons (filature), must select silkworm by different process requirement, by classification such as bonscocoons, damaged cocoons (comprising cannot filature, but can make the dupion of silk quilt), to meet the requirement of silk reeling technology.But select silkworm at present all by manually relying on naked eyes, completing by hand, labour intensity of manually selecting silkworm is large, and production efficiency is low, and homogeneity of product is poor, and Cocoon Quality is difficult to ensure.
In prior art, pluck cocoon, select silkworm as the operation of two separation, namely select silkworm after plucking cocoon, silk cocoon is stacked, not easily carry out automation to select silkworm process, reduce the processing speed of silk cocoon, and the exact relationship of silk cocoon quantity and weight, the bonscocoons rate etc. of paper cocooning frame cannot be learnt.
Summary of the invention
In view of this, the production efficiency that the present invention is directed to the existence of above-mentioned prior art is low, is difficult to realize automation and plucks the problem of selecting silkworm, provide a kind of Cocoon Quality automatic sorting picking method that can realize silk cocoon automatic sorting and harvesting.
Technical solution of the present invention is, provides a kind of Cocoon Quality automatic sorting picking method of following structure, comprises the following steps:
1) paper cocooning frame being equipped with silk cocoon is stacked, then toward containing a small bundle of straw, etc. for silkworms to spin cocoons on dish automatic charging, containing a small bundle of straw, etc. for silkworms to spin cocoons on dish and being placed on a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rail;
2) to complete after material loading by silk cocoon identification mechanism according to the shape of silk cocoon and color, identify the classification of the silk cocoon contained on a small bundle of straw, etc. for silkworms to spin cocoons on dish in paper cocooning frame, and determine the position at the silk cocoon place of respective classes;
3) below of a small bundle of straw, etc. for silkworms to spin cocoons on dish consecutive transmissions to the first harvesting of cocoon mechanism and the second harvesting of cocoon mechanism will be contained through a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rail, it, according to the silk cocoon of the respective classes be accurately positioned, plucks to the first bearing container and the second bearing container by the first harvesting of cocoon mechanism and the second harvesting of cocoon mechanism respectively.
Adopt above method, the present invention compared with prior art, have the following advantages: adopt the present invention, the paper cocooning frame stacked is toward containing a small bundle of straw, etc. for silkworms to spin cocoons on dish automatic charging, to complete after material loading by silk cocoon identification mechanism according to the shape of silk cocoon and color, identify the classification of the silk cocoon contained on a small bundle of straw, etc. for silkworms to spin cocoons on dish in paper cocooning frame, and determine the position at the silk cocoon place of respective classes, the below of a small bundle of straw, etc. for silkworms to spin cocoons on dish consecutive transmissions to the first harvesting of cocoon mechanism and the second harvesting of cocoon mechanism will be contained through a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rail, first harvesting of cocoon mechanism and the second harvesting of cocoon mechanism are according to the silk cocoon of the respective classes be accurately positioned, it is plucked respectively to the first bearing container and the second bearing container.The operation of sorting and harvesting is integrated in an operation by the present invention, and automatically complete the work of sorting when plucking, degree of automation is high, greatly improves the efficiency that sorting is plucked.
As improvement, described a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rail at least comprises two that are parallel to each other, and two described a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rails are provided with corresponding Sheng a small bundle of straw, etc. for silkworms to spin cocoons on dish, and the transmission direction of the two is contrary, is provided with a small bundle of straw, etc. for silkworms to spin cocoons on dish translation mechanism between two a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rails.Due to the one-way of a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rail, a small bundle of straw, etc. for silkworms to spin cocoons on dish plucked needs therefrom to take off and material loading again, after being provided with two a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rails transmitted in opposite directions, when while when completing harvesting, then by a small bundle of straw, etc. for silkworms to spin cocoons on dish translation mechanism, a small bundle of straw, etc. for silkworms to spin cocoons on dish is moved to a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rail of another side, article two, a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rail works simultaneously, decreases the time that a small bundle of straw, etc. for silkworms to spin cocoons on dish picks and places, and improves the degree of utilization of a small bundle of straw, etc. for silkworms to spin cocoons on dish.
As improvement, described Sheng a small bundle of straw, etc. for silkworms to spin cocoons on dish is provided with fore-aft travel baffle plate, and during automatic charging, front shifting board rises, and wait that plucking paper cocooning frame is pushed into Sheng a small bundle of straw, etc. for silkworms to spin cocoons on dish, front shifting board declines automatically; After silk cocoon is plucked, rear active baffle rises automatically, and paper cocooning frame is withdrawn from and contained a small bundle of straw, etc. for silkworms to spin cocoons on dish, and rear active baffle declines.By the design of fore-aft travel baffle plate, automatic charging and the blanking of containing a small bundle of straw, etc. for silkworms to spin cocoons on dish can be realized smoothly.
As improvement, contain the classification of silk cocoon in paper cocooning frame on a small bundle of straw, etc. for silkworms to spin cocoons on dish in the identification of silk cocoon identification mechanism after, the quantity of record respective classes silk cocoon, and be that the first bearing container and the second bearing container are equipped with corresponding weigher, obtain the quantity of respective classes silk cocoon and the relation of weight.Above technical scheme can obtain the bonscocoons rate of containing a small bundle of straw, etc. for silkworms to spin cocoons on dish, simultaneously due to the quantity of the silk cocoon of unit weight, have important relation with silkworm egg, nursing (or cocooning) environment, Quality of Mulberry Leaves, raising means etc., therefore the quantity of respective classes silk cocoon and the relation of weight can be used as the reference data improving raise competence and provide important.
As improvement, described silk cocoon identification mechanism comprises a pair camera installed respectively and contain above and below a small bundle of straw, etc. for silkworms to spin cocoons on dish, the image overlooking each silk cocoon shape of lower sign and color in a small bundle of straw, etc. for silkworms to spin cocoons on dish is contained in the camera shooting of top, and the image looking up each silk cocoon shape of lower sign and color in a small bundle of straw, etc. for silkworms to spin cocoons on dish is contained in the camera shooting of below.
As improvement, described a small bundle of straw, etc. for silkworms to spin cocoons on dish translation mechanism comprises cross slide way, upright guide rail and magnetic chuck, and described magnetic chuck and upright guide rail are upper and lower to be removablely connected, and described upright guide rail is connected with cross slide way level is removable.After completing a working cycle, magnetic chuck energising is drawn and is contained a small bundle of straw, etc. for silkworms to spin cocoons on dish, but up under the effect of upright guide rail, and upright guide rail is moved horizontally on another adjacent a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rail on cross slide way, Sheng a small bundle of straw, etc. for silkworms to spin cocoons on dish is dropped to magnetic chuck power-off after assigned address, complete mobile a small bundle of straw, etc. for silkworms to spin cocoons on operation.
Accompanying drawing explanation
Fig. 1 is the structural representation of Cocoon Quality automatic sorting picking machine;
Fig. 2 is the view of containing a small bundle of straw, etc. for silkworms to spin cocoons on dish material loading;
Fig. 3 is the structural representation of sorting picker;
Fig. 4 is the structural representation of a small bundle of straw, etc. for silkworms to spin cocoons on dish translation mechanism;
As shown in the figure, 1, frame, 2, paper cocooning frame, 3, a small bundle of straw, etc. for silkworms to spin cocoons on dish is contained, 4, a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rail, the 5, first harvesting of cocoon mechanism, 6, the second harvesting of cocoon mechanism, the 7, first bearing container, the 8, second bearing container, 9, a small bundle of straw, etc. for silkworms to spin cocoons on dish translation mechanism, 10, silk cocoon identification mechanism, 11, push rod, 12, camera, 13, the 3rd harvesting of cocoon mechanism, the 14, the 3rd bearing container.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the invention will be further described, but the present invention is not restricted to these embodiments.
The present invention contain any make on marrow of the present invention and scope substitute, amendment, equivalent method and scheme.To have the present invention to make the public and understand thoroughly, in the following preferred embodiment of the present invention, describe concrete details in detail, and do not have the description of these details also can understand the present invention completely for a person skilled in the art.
A kind of Cocoon Quality automatic sorting picking method of the present invention, comprises the following steps:
1) paper cocooning frame being equipped with silk cocoon is stacked, then toward containing a small bundle of straw, etc. for silkworms to spin cocoons on dish automatic charging, containing a small bundle of straw, etc. for silkworms to spin cocoons on dish and being placed on a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rail;
2) to complete after material loading by silk cocoon identification mechanism according to the shape of silk cocoon and color, identify the classification of the silk cocoon contained on a small bundle of straw, etc. for silkworms to spin cocoons on dish in paper cocooning frame, and determine the position at the silk cocoon place of respective classes;
3) below of a small bundle of straw, etc. for silkworms to spin cocoons on dish consecutive transmissions to the first harvesting of cocoon mechanism and the second harvesting of cocoon mechanism will be contained through a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rail, it, according to the silk cocoon of the respective classes be accurately positioned, plucks to the first bearing container and the second bearing container by the first harvesting of cocoon mechanism and the second harvesting of cocoon mechanism respectively.
As shown in Figure 1, above step can based on the automatic sorting picking machine of following structure, described automatic sorting picking machine comprises the Sheng a small bundle of straw, etc. for silkworms to spin cocoons on dish 3 for holding paper cocooning frame 2, a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rail 4 and sorting picker, described Sheng a small bundle of straw, etc. for silkworms to spin cocoons on dish 3 is placed on a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rail 4, described sorting picker comprises silk cocoon identification mechanism and silk cocoon harvesting of cocoon mechanism, described sorting picker at least comprises the first harvesting of cocoon mechanism 5 and the second harvesting of cocoon mechanism 6, diverse location in the transmission direction that the first described harvesting of cocoon mechanism 5 and the second harvesting of cocoon mechanism 6 are positioned at a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rail 4, first bearing container 7 and second bearing container 8 corresponding with the first harvesting of cocoon mechanism 5 and the second harvesting of cocoon mechanism 6 is provided with below a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rail 4,
It is (clear in order to illustrate that described a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rail 4 at least comprises two of being parallel to each other, the actual use of the present embodiment is two), two described a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rails 4 are provided with corresponding Sheng a small bundle of straw, etc. for silkworms to spin cocoons on dish 3, and the transmission direction of the two is contrary, is provided with a small bundle of straw, etc. for silkworms to spin cocoons on dish translation mechanism 9 between two a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rails 4.
As shown in Figure 2, described Sheng a small bundle of straw, etc. for silkworms to spin cocoons on dish 3 is provided with fore-aft travel baffle plate, and during automatic charging, front shifting board 3.1 rises, and wait that plucking paper cocooning frame 2 is pushed into Sheng a small bundle of straw, etc. for silkworms to spin cocoons on dish 3, front shifting board 3.1 declines automatically; After silk cocoon is plucked, rear active baffle 3.2 rises automatically, and paper cocooning frame 2 is withdrawn from and contained a small bundle of straw, etc. for silkworms to spin cocoons on dish 3, and rear active baffle 3.2 declines.The automatic charging of paper cocooning frame 2 pushes Sheng a small bundle of straw, etc. for silkworms to spin cocoons on dish 3 by push rod 11 and completes.
After identifying the classification of containing silk cocoon in paper cocooning frame 2 on a small bundle of straw, etc. for silkworms to spin cocoons on dish 3 at silk cocoon identification mechanism 10, the quantity of record respective classes silk cocoon, and be that the first bearing container 7 and the second bearing container 8 are equipped with corresponding weigher, obtain the quantity of respective classes silk cocoon and the relation of weight.Above technical scheme can obtain the bonscocoons rate of containing a small bundle of straw, etc. for silkworms to spin cocoons on dish, simultaneously due to the quantity of the silk cocoon of unit weight, have important relation with silkworm egg, nursing (or cocooning) environment, Quality of Mulberry Leaves, raising means etc., therefore the quantity of respective classes silk cocoon and the relation of weight can be used as the reference data improving raise competence and provide important.
As shown in Figure 3, described silk cocoon identification mechanism 10 comprises a pair camera 12 installed respectively and contain above and below a small bundle of straw, etc. for silkworms to spin cocoons on dish, the image overlooking each silk cocoon shape of lower sign and color in a small bundle of straw, etc. for silkworms to spin cocoons on dish is contained in the camera shooting of top, and the image looking up each silk cocoon shape of lower sign and color in a small bundle of straw, etc. for silkworms to spin cocoons on dish is contained in the camera shooting of below.
Described sorting picker also comprises the 3rd harvesting of cocoon mechanism 13, is provided with three bearing container 14 corresponding with the 3rd harvesting of cocoon mechanism 13 below a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rail 4; The first described harvesting of cocoon mechanism is for plucking dupion, the second described harvesting of cocoon mechanism is for plucking damaged cocoon, the 3rd described harvesting of cocoon mechanism is for plucking bonscocoons, or, the first described harvesting of cocoon mechanism is for plucking damaged cocoon, the second described harvesting of cocoon mechanism is for plucking dupion, and the 3rd described harvesting of cocoon mechanism is for plucking bonscocoons.First complete the harvesting of dupion and damaged cocoon, remaining is bonscocoons, is disposablely plucked by bonscocoons into the 3rd bearing container.The first described harvesting of cocoon mechanism, the second harvesting of cocoon mechanism and the 3rd harvesting of cocoon mechanism adopt electromagnetism picking hands to realize, and when Sheng a small bundle of straw, etc. for silkworms to spin cocoons on dish arrives corresponding electromagnetism finger below, the striker action of corresponding electromagnet, extracts corresponding silk cocoon.At bonscocoons station, be provided with one group and point one to one with a small bundle of straw, etc. for silkworms to spin cocoons on lattice of paper cocooning frame, the action simultaneously of all harvesting fingers, disposable harvesting all remains silk cocoon.
As shown in Figure 4, described a small bundle of straw, etc. for silkworms to spin cocoons on dish translation mechanism 9 comprises cross slide way 9.1, upright guide rail 9.2 and magnetic chuck 9.3, described magnetic chuck 9.3 is connected with upright guide rail about 9.2 is removable, and described upright guide rail 9.2 is connected with cross slide way 9.1 level is removable.After completing a working cycle, magnetic chuck energising is drawn and is contained a small bundle of straw, etc. for silkworms to spin cocoons on dish, but up under the effect of upright guide rail, and upright guide rail is moved horizontally on another adjacent a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rail on cross slide way, Sheng a small bundle of straw, etc. for silkworms to spin cocoons on dish is dropped to magnetic chuck power-off after assigned address, complete mobile a small bundle of straw, etc. for silkworms to spin cocoons on operation.
Below only just preferred embodiment of the present invention is described, but can not be interpreted as it is limitations on claims.The present invention is not only confined to above embodiment, and its concrete structure allows to change.In a word, all various changes done in the protection domain of independent claims of the present invention are all in protection scope of the present invention.
Claims (6)
1. a Cocoon Quality automatic sorting picking method, comprises the following steps:
1) paper cocooning frame being equipped with silk cocoon is stacked, then toward containing a small bundle of straw, etc. for silkworms to spin cocoons on dish automatic charging, containing a small bundle of straw, etc. for silkworms to spin cocoons on dish and being placed on a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rail;
2) to complete after material loading by silk cocoon identification mechanism according to the shape of silk cocoon and color, identify the classification of the silk cocoon contained on a small bundle of straw, etc. for silkworms to spin cocoons on dish in paper cocooning frame, and determine the position at the silk cocoon place of respective classes;
3) below of a small bundle of straw, etc. for silkworms to spin cocoons on dish consecutive transmissions to the first harvesting of cocoon mechanism and the second harvesting of cocoon mechanism will be contained through a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rail, it, according to the silk cocoon of the respective classes be accurately positioned, plucks to the first bearing container and the second bearing container by the first harvesting of cocoon mechanism and the second harvesting of cocoon mechanism respectively.
2. Cocoon Quality automatic sorting picking method according to claim 1, it is characterized in that: described a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rail (4) at least comprises two that are parallel to each other, two described a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rails (4) are provided with corresponding Sheng a small bundle of straw, etc. for silkworms to spin cocoons on dish (3), and the transmission direction of the two is contrary, is provided with a small bundle of straw, etc. for silkworms to spin cocoons on dish translation mechanism (9) between two a small bundle of straw, etc. for silkworms to spin cocoons on dish transporting rails (4).
3. Cocoon Quality automatic sorting picking method according to claim 1 and 2, it is characterized in that: described Sheng a small bundle of straw, etc. for silkworms to spin cocoons on dish (3) is provided with fore-aft travel baffle plate, during automatic charging, front shifting board (3.1) rises, wait that plucking paper cocooning frame (2) is pushed into Sheng a small bundle of straw, etc. for silkworms to spin cocoons on dish (3), front shifting board (3.1) declines automatically; After silk cocoon is plucked, rear active baffle (3.2) rises automatically, and paper cocooning frame (2) is withdrawn from and contained a small bundle of straw, etc. for silkworms to spin cocoons on dish (3), and rear active baffle (3.2) declines.
4. Cocoon Quality automatic sorting picking method according to claim 1, it is characterized in that: after identifying the classification of containing silk cocoon in the upper paper cocooning frame (2) of a small bundle of straw, etc. for silkworms to spin cocoons on dish (3) at silk cocoon identification mechanism (10), the quantity of record respective classes silk cocoon, and be that the first bearing container (7) and the second bearing container (8) are equipped with corresponding weigher, obtain the quantity of respective classes silk cocoon and the relation of weight.
5. the Cocoon Quality automatic sorting picking method according to claim 1 or 4, it is characterized in that: described silk cocoon identification mechanism (10) comprises a pair camera (12) installed respectively and contain above and below a small bundle of straw, etc. for silkworms to spin cocoons on dish, the image overlooking each silk cocoon shape of lower sign and color in a small bundle of straw, etc. for silkworms to spin cocoons on dish is contained in the camera shooting of top, and the image looking up each silk cocoon shape of lower sign and color in a small bundle of straw, etc. for silkworms to spin cocoons on dish is contained in the camera shooting of below.
6. Cocoon Quality automatic sorting picking method according to claim 2, it is characterized in that: described a small bundle of straw, etc. for silkworms to spin cocoons on dish translation mechanism (9) comprises cross slide way (9.1), upright guide rail (9.2) and magnetic chuck (9.3), described magnetic chuck (9.3) and upright guide rail (9.2) are upper and lower to be removablely connected, and described upright guide rail (9.2) is connected with cross slide way (9.1) level is removable.
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| CN106964565A (en) * | 2017-05-08 | 2017-07-21 | 中国计量大学 | Full-automatic male and female silkworm chrysalis method for separating |
| CN106964565B (en) * | 2017-05-08 | 2019-04-19 | 中国计量大学 | Full-automatic male and female silkworm chrysalis method for separating |
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