CN110420873A - Tealeaves removal of impurities production line and tealeaves impurity-removing method - Google Patents
Tealeaves removal of impurities production line and tealeaves impurity-removing method Download PDFInfo
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- CN110420873A CN110420873A CN201910763762.XA CN201910763762A CN110420873A CN 110420873 A CN110420873 A CN 110420873A CN 201910763762 A CN201910763762 A CN 201910763762A CN 110420873 A CN110420873 A CN 110420873A
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- tealeaves
- impurity
- equipment
- production line
- conveyor equipment
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- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23F—COFFEE; TEA; THEIR SUBSTITUTES; MANUFACTURE, PREPARATION, OR INFUSION THEREOF
- A23F3/00—Tea; Tea substitutes; Preparations thereof
- A23F3/06—Treating tea before extraction; Preparations produced thereby
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
- B07C5/08—Sorting according to size measured electrically or electronically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
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- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Polymers & Plastics (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The present invention provides a kind of tealeaves removal of impurities production line and tealeaves impurity-removing method, tealeaves removal of impurities production line includes: the conveyor equipment for conveying tealeaves；Tealeaves arranging-in-row device is used to be laid in while tealeaves tiles the feeding end of conveyor equipment；Impurities identification system, the impurity in tealeaves for identification, and mark position of the impurity in conveyor equipment；Manipulator is picked, the location information according to impurities identification system marks is used for, taking out arrival, it picks the impurity in the conveyor equipment in region.Through the invention, it realizes with the impurity in higher accuracy and efficiency removal tealeaves, reduces the damage in dedoping step to tealeaves.
Description
Technical field
The present invention relates to tealeaves processing technology field more particularly to a kind of tealeaves removal of impurities production lines and tealeaves impurity-removing method.
Background technique
Removal of impurities is the important step in Tea Production.Tealeaves can often be mixed into sandstone, cogongrass, waddy etc. in picking process
Impurity；These impurity are removed, by cleaning to ensure the quality of tealeaves.Currently, manually pick be tealeaves removal of impurities common work
Skill mode still manually picks and needs to expend a large amount of manpower, and working efficiency is low, also, due to the individual difference of operator
It is different, it is difficult to ensure the stability for picking removal effect of impurity.In order to improve the efficiency and the degree of automation of tealeaves removal of impurities, wind
Choosing, color sorting are also commonly used for tealeaves removal of impurities, but during selection by winnowing, color sorting, tealeaves is easily damaged by impact, tealeaves
Wound affects tea leaf quality, and a large amount of qualified tealeaves can also be got rid of with impurity by separation, and a large amount of tealeaves is caused
Waste.
Summary of the invention
The object of the present invention is to provide a kind of tealeaves removal of impurities production line and tealeaves impurity-removing methods, to realize compared with high accurancy and precision
Impurity in higher efficiency removal tealeaves, reduces the damage in dedoping step to tealeaves.
Following technical proposal can be used to realize in above-mentioned purpose of the invention:
The present invention provides a kind of tealeaves removal of impurities production line, comprising:
For conveying the conveyor equipment of tealeaves；
Tealeaves arranging-in-row device is used to be laid in while tealeaves tiles the feeding end of the conveyor equipment；
Impurities identification system, the impurity in tealeaves for identification, and mark position of the impurity in the conveyor equipment
It sets；
Manipulator is picked, the location information according to the impurities identification system marks is used for, taking out arrival, it picks area
The impurity in the conveyor equipment in domain.
In a preferred embodiment, the conveyor equipment is equipped with identification station and picks station, and the impurity is known
Other system is set to the identification station, and the manipulator of picking picks station described in；The identification station is set to described choose
Pick the side at the feeding end close to the conveyor equipment of station.
In a preferred embodiment, the impurities identification system includes:
At least one camera is used to clap the tealeaves in the conveyor equipment reached in its shooting area
According to；
Identification device for identification and marks the position of impurity in photo.
In a preferred embodiment, the impurities identification system includes multiple width directions along the conveyor equipment
The camera of distribution.
In a preferred embodiment, the impurities identification system includes shooting case and light source, and the shooting case is set to institute
It states in conveyor equipment, the both ends in the shooting bottom portion are equipped with the notch passed through for tealeaves, the camera and the light source
It is set in the shooting case.
In a preferred embodiment, the tealeaves arranging-in-row device includes the first vibrator, first vibrator and institute
The feeding end connection for stating conveyor equipment, for tealeaves to be laid in the conveyor equipment.
In a preferred embodiment, the tealeaves arranging-in-row device includes the feeding end set on the conveyor equipment and institute
State the second vibrator between the first vibrator.
In a preferred embodiment, the tealeaves arranging-in-row device includes the feeding end set on the conveyor equipment and institute
State the third vibrator between the second vibrator.
In a preferred embodiment, the tealeaves arranging-in-row device includes that at least one is used to adsorb the impurity in tealeaves
Magnetic bar.
In a preferred embodiment, the tealeaves arranging-in-row device includes that at least one is used to adsorb the impurity in tealeaves
Electrostatic adsorption bar.
In a preferred embodiment, the tealeaves arranging-in-row device includes the temporary bucket of tealeaves, and the temporary bucket of the tealeaves goes out
Material mouth is connect with the feeding end of the conveyor equipment.
In a preferred embodiment, the conveyor equipment includes that the first speed ratio transmission equipment and the transmission of the second speed ratio are set
Standby, tealeaves is laid in the first end of the first speed ratio transmission equipment, the first speed ratio transmission by the tealeaves arranging-in-row device
The second end of equipment is connect with the first end of the second speed ratio transmission equipment, the identification region of the impurities identification system and institute
It states and picks the region of picking of manipulator and be set to the second speed ratio transmission equipment.
In a preferred embodiment, the tealeaves removal of impurities production line includes the discharge end for being set to the conveyor equipment
Tealeaves collection bucket.
In a preferred embodiment, the tealeaves removal of impurities production line includes reinspection endless apron, the reinspection circulation
It is used for conveyer belt in the feeding end that the tealeaves of the discharge end of the conveyor equipment is delivered to the tealeaves arranging-in-row device.
In a preferred embodiment, the reinspection endless apron includes horizontal transmission line and tilts transmission line, described
The feeding end of horizontal transmission line is connect with the discharge end of the conveyor equipment, and the discharge end of the horizontal transmission line inclines with described
Tealeaves is delivered up to the feeding end of the tealeaves arranging-in-row device by the feeding end connection of oblique transmission line, the inclination transmission line.
The present invention provides a kind of tealeaves impurity-removing method, comprising:
Tealeaves is laid in conveyor equipment with tiling by step S10；
Step S20 identifies the impurity in tealeaves, and marks impurity position；
Step S30 picks the impurity that manipulator takes out the impurity position marked in step S20.
In a preferred embodiment, in step S20, according to the color, shape and/or size of impurity, to identify impurity.
In a preferred embodiment, in the step S10, the vibration of a variety of vibration parameters is provided, tea is successively acted on
Leaf.
In a preferred embodiment, the vibration parameters include vibration frequency, along the direction of advance of tealeaves, the vibration
Frequency gradually reduces.
In a preferred embodiment, the conveyor equipment includes the first speed set gradually along the conveying direction of tealeaves
Than transmission equipment and the second speed ratio transmission equipment, the region of picking for picking manipulator is set set on second speed ratio transmission
It is standby；The conveying speed of the first speed ratio transmission equipment is less than the conveying speed of the second speed ratio transmission equipment.
The features of the present invention and advantage are: when using tealeaves provided by the invention removal of impurities production line, tealeaves arranging-in-row device will
Tealeaves is routed in conveyor equipment, so that tealeaves and impurity therein is tiled in conveyor equipment and is opened；Conveyor equipment is by tea
Leaf is delivered to impurities identification system and that picks manipulator picks region；Impurities identification system marks go out the position of impurity, pick
Manipulator takes out impurity according to the position marked.Picking manipulator has faster movement velocity, can be with higher essence
Exactness, efficiency take out impurity from tealeaves；It picks manipulator and movement is picked to the specific position implementation of label, conjunction can be reduced
The tealeaves of lattice is removed, and effectively reduces the damage to tealeaves, is conducive to the quality for improving tealeaves.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the structural schematic diagram of the first embodiment of tealeaves provided by the invention removal of impurities production line；
Fig. 2 is the axonometric drawing of second of embodiment of tealeaves provided by the invention removal of impurities production line；
Fig. 3 is the front view of tealeaves shown in Fig. 2 removal of impurities production line；
Fig. 4 is the top view of tealeaves shown in Fig. 2 removal of impurities production line；
Fig. 5 is the axonometric drawing that manipulator is picked in tealeaves shown in FIG. 1 removal of impurities production line；
Fig. 6 is the front view that manipulator is picked in tealeaves shown in FIG. 1 removal of impurities production line；
Fig. 7 is the schematic diagram of tealeaves impurity-removing method provided by the invention.
Drawing reference numeral explanation:
10, conveyor equipment；101, station is identified；102, station is picked；11, the first speed ratio transmission equipment；12, the second speed
Compare transmission equipment；131, first pulley mechanism；132, the second belt wheel mechanism；
20, manipulator is picked；21, withdrawing device；211, suction nozzle；212, suction source；213, support frame；22, mechanical arm；
221, first level pivoted arm；222, the second horizontal pivoted arm；223, vertical telescopic arm；224, support base；23, the second protective cover；
30, tealeaves arranging-in-row device；31, the temporary bucket of tealeaves；321, the first vibrator；322, the second vibrator；323, third
Vibrator；33, magnetic bar；34, electrostatic adsorption bar；35, the first protective cover；
40, impurities identification system；41, camera；42, identification device；43, case is shot；
50, endless apron is rechecked；51, horizontal transmission line；52, transmission line is tilted；53, receiving hopper；
61, tealeaves collection bucket；62, turnover box.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment one
As shown in Figure 1 and Figure 4, the present invention provides a kind of tealeaves removal of impurities production lines, comprising: for conveying the transmission of tealeaves
Carrying device 10 picks manipulator 20, tealeaves arranging-in-row device 30 and impurities identification system 40；Conveyor equipment 10 is equipped with belt,
Belt in the running, can drive the tealeaves on belt to move together；Tealeaves arranging-in-row device 30 is used to be laid in while tealeaves tiles
The feeding end of conveyor equipment 10；The impurity in tealeaves for identification of impurities identification system 40, and impurity is marked to set in conveyer belt
Position on standby 10；Pick manipulator 20 for according to impurities identification system 40 mark location information, take out arrival its pick
The impurity in conveyor equipment 10 in region.
When using tealeaves removal of impurities production line, tealeaves is routed in conveyor equipment 10 by tealeaves arranging-in-row device 30, makes tea
Leaf and impurity therein tile in conveyor equipment 10 to be opened, and is identified in order to subsequent to tealeaves and impurity；Conveyer belt is set
Tealeaves is delivered to impurities identification system 40 and that picks manipulator 20 picks region by standby 10；Impurities identification system 40 marks
The position of impurity picks manipulator 20 according to the position marked, impurity is taken out.Picking manipulator 20 has faster movement
Speed can be taken out impurity with higher efficiency from tealeaves；Also, it is real to the specific position of label for picking manipulator 20
It applies and picks movement, qualified tealeaves can be reduced and be removed, the damage to tealeaves is effectively reduced, be conducive to improve tealeaves
Quality.
The identification of impurity and label are completed by impurities identification system 40, and impurity picks taking-up by picking manipulator
20 complete, and the two substep carries out.In order to further increase working efficiency, conveyor equipment 10 is equipped with identification 101 He of station
Pick station 102, impurities identification system 40 is set to identification station 101, picks manipulator 20 and is set to and picks station 102；Identify work
Position 101 is set to the side for picking the feeding end of close conveyor equipment 10 of station 102, drive of the tealeaves in conveyor equipment 10
Under, successively by identifying station 101 and picking station 102, after completing identification and the label of impurity on identification station 101, fortune
It moves and picks station 102, carry out impurity picks taking-up.In this way, impurities identification system 40 and pick manipulator 20 can be simultaneously
Operation reduces work pause, is conducive to the working efficiency for improving removal of impurities.
The structure and workflow of tealeaves removal of impurities production line is described above, next to impurities identification therein
System 40 is specifically introduced.
Impurities identification system 40 includes identification device 42 and at least one camera 41, and camera 41 is used for its bat of arrival
The tealeaves in conveyor equipment 10 taken the photograph in region is taken pictures, and identification device 42 for identification and marks impurity in photo
Position.Camera 41 is installed on identification station 101, camera 41 can region to the segment length in conveyor equipment 10 into
Row shooting, the region are the shooting area of camera 41 namely the identification region of impurities identification system 40, and camera 41 is shot
Photo on each coordinate points and conveyor equipment 10 on shooting area each coordinate points correspond.Photo is sent to
Identification device 42 identifies the impurity in photo by identification device 42, and marks the coordinate points of each impurity, the mark
Remember that coordinate points out are registered as impurity position.
The tealeaves and impurity therein for completing the shooting area of shooting, move under the drive of conveyor equipment 10 and pick
The coordinate points in region are picked in region, corresponding with the coordinate points of shooting area；Identification device 42 is by the seat of the impurity position of label
Pointing information is transferred to the control device for picking manipulator 20, drives tealeaves and impurity therein to exist according to conveyor equipment 10
Shooting area and run duration, movement velocity and the move distance between region are picked, it is available to pick each impurity in region
Coordinate points, pick manipulator 20 and the impurity of each coordinate points carried out picking taking-up.
The color of the impurity such as sandstone, waddy has differences with the color of tealeaves, in some embodiments, identification device
42 identify impurity by color.
The shape of the impurity such as sandstone, waddy, cogongrass, animal hair has differences with the shape of tealeaves, in some embodiment party
In formula, identification device 42 identifies impurity by shape.
The particle of sandstone is usually smaller, and there are larger differences with the size of tealeaves, in some embodiments, identification device
42 identify impurity by size.
In one embodiment of the present invention, identification device 42 includes display device, the photo transmission that camera 41 is shot
To display device, the screen of display device shows the photo, and the coordinate points on screen are opposite with each coordinate points on photo
It answers；Operator observes the photo, identify the impurity in photo, and click screen, and identification device 42 will be clicked on screen
Position is recorded as impurity position, to obtain the coordinate points of each impurity position in photo.Operator is observed by screen, more
Convenient for identification, while by way of click, the position of impurity can be more efficiently marked.For ease of operation, it shows
The screen of device is touch display screen.
As shown in Figure 1 and Figure 4, impurities identification system 40 includes multiple cameras 41, and multiple cameras 41 are set along conveyer belt
Standby 10 width direction is distributed, and better covers shooting area, image data captured by multiple cameras 41 can synthesize
One photo, to improve photographic quality, convenient for identification.Preferably, camera 41 is installed on the top of conveyor equipment 10, camera lens
It is shot downward.
In order to further increase photographic quality, impurities identification system 40 includes shooting case 43 and light source, and shooting case 43 is set to
In conveyor equipment 10, the both ends of shooting 43 bottom of case are equipped with the notch passed through for tealeaves, and camera 41 and light source are set to bat
It takes the photograph in case 43.The cabinet of shooting case 43 can obstruct extraneous light and enter in case, and light source is to the conveyor equipment in shooting case 43
10 are irradiated, and to reduce the interference of extraneous light, keep the light of shooting area more stable, are conducive to ensure captured photo
Quality.Further, light source includes the illuminator of multiple inner walls for being distributed in shooting case, and multiple illuminators are along multiple directions pair
Conveyor equipment 10 is irradiated, it is possible to reduce the shade on the tealeaves of shooting area and impurity therein.
Impurities identification system 40 is discussed in detail above, next introduces tealeaves arranging-in-row device 30.
As shown in Figure 2 and Figure 4, tealeaves arranging-in-row device 30 includes the temporary bucket 31 of tealeaves, and the temporary bucket 31 of tealeaves is equipped with tealeaves and arranges
Outlet.
In some embodiments, tealeaves outlet downward, and along the width direction of conveyor equipment 10 be arranged.It passes
During sending 10 uniform motion of carrying device, tealeaves in the temporary bucket 31 of tealeaves by tealeaves outlet, under fall on conveyor equipment
On 10, it may be implemented to be laid in conveyor equipment 10 while tealeaves tiles.
In other embodiments, tealeaves arranging-in-row device 30 includes the first vibrator 321, the setting of the first vibrator 321
In the feeding end of conveyor equipment 10, for tealeaves to be laid in conveyor equipment 10.As shown in Fig. 2, the temporary bucket 31 of tealeaves
It is installed on the top of the first vibrator 321；First vibrator 321 includes the first delivery face, the tealeaves discharge of the temporary bucket 31 of tealeaves
Mouth delivers face towards first, falls on the first delivery face under tealeaves, and the first delivery face drives tealeaves to the upper of conveyor equipment 10
Expect that end is advanced, meanwhile, vibration motion is made in the first delivery face, drives tealeaves to be vibrated, so that tealeaves gradually drawout.
Specifically, the first vibrator 321 can use jigging conveyer or oscillating feeder.Such as: the first vibrator
321 include frame body, conveyer belt and cam mechanism, and conveyer belt is installed on frame body by roller, and the first delivery face is conveyer belt
Top surface, roller energy driving conveying belt movement, makes the tealeaves on the first delivery face travel forward；Cam mechanism and conveying band connection,
To drive conveyer belt to make vibration motion.
Preferably, the first delivery face vibrates in the horizontal direction vertical with its direction of advance, in order to sprawl tealeaves
It opens.
Further, tealeaves arranging-in-row device 30 includes the second vibrator 322, and the structure of the second vibrator 322 can be with the
One vibrator 321 is identical, can not also be identical.Second vibrator 322 is set to feeding end and the first vibration of conveyor equipment 10
Between dynamic device 321.Second vibrator 322 is equipped with the second delivery face, and the second delivery face is lower than the first delivery face, on the first delivery face
Tealeaves under fall on the second delivery face, the second delivery face drives tealeaves to continue to advance to the feeding end of conveyor equipment 10, meanwhile,
Make vibration motion in the second delivery face.
First vibrator 321 and the second vibrator 322 can be set as different vibration parameters, such as different vibration frequencies
Rate and/or different direction of vibration etc. realize different vibration modes, and the first delivery face and the second delivery face are with different vibrations
Model function can make tealeaves disperse more uniform in tealeaves, optimize the effect of laying.
Further, tealeaves arranging-in-row device 30 includes third vibrator 323, and the structure of third vibrator 323 can be with
First vibrator 321 is identical, can not also be identical.Third vibrator 323 is set to the feeding end and second of conveyor equipment 10
Between vibrator 322.Third vibrator 323 is equipped with third and delivers face, and third delivers face lower than the second delivery face, the second delivery face
On tealeaves under fall on third delivery face, third delivery face drive tealeaves continue to the feeding end of conveyor equipment 10 advance, together
When, vibration motion is made in third delivery face.First vibrator 321, the second vibrator 322 and third vibrator 323 can be set as
Different vibration parameters, such as different vibration frequencies, different amplitudes and/or different direction of vibration etc., are realized different
Vibration mode, the first delivery face, the second delivery face and third delivery face act on tealeaves with different vibration modes, can be further
Optimize the effect of laying.As shown in Figure 1, be mixed into reduce foreign matter, the second vibrator and third vibrator are equipped with the
One protective cover.
First vibrator 321, the second vibrator 322 and third vibrator 323 are continuous shaking, and tealeaves is kept in bucket 31
Tealeaves is fallen on the first vibrator 321, and the first vibrator 321 drives tealeaves to travel forward, and makes to fall on the second vibration under tealeaves
On device 322；Second vibrator 322 drives tealeaves to travel forward, and makes to fall on third vibrator 323 under tealeaves；Third vibration
Device 323 drives tealeaves to travel forward, and makes to fall in conveyor equipment 10 under tealeaves.The shapes and sizes of the tealeaves of different categories
It has differences, the vibration frequency of the first vibrator 321, the second vibrator 322 and third vibrator 323 can be adjusted respectively
It is whole, to be adapted from the tealeaves of different categories.The vibration frequency of the vibration frequency P1 of first vibrator 321, the second vibrator 322
The vibration frequency P3 of P2 and third vibrator 323 can be sequentially increased, and can also be sequentially reduced.For example, for shape rule degree
Poor tealeaves, can be set to P1 > P2 > P3, and the first vibrator 321 makes tealeaves scatter first with higher vibration frequency；
Then by the second vibrator 322 and third vibrator 323, make tealeaves further it is scattered simultaneously, also disperse tealeaves
It is more uniform.
Preferably, the first delivery face, the second delivery face and third delivery face are tilted down along direction of advance, in order to band
Dynamic tealeaves travels forward.
In one embodiment of the present invention, as shown in Figure 2 and Figure 4, tealeaves arranging-in-row device 30 is used for including at least one
The magnetic bar 33 of the impurity in tealeaves is adsorbed, magnetic bar 33 is set on the channel that tealeaves flows through in tealeaves arranging-in-row device 30, magnetic force
Stick 33 can adsorb the magnetic impurities such as metal in tealeaves, with pick manipulator 20 and match, remove to higher efficiency
Impurity.
In one embodiment of the present invention, tealeaves arranging-in-row device 30 includes that at least one is used to adsorb the impurity in tealeaves
Electrostatic adsorption bar 34, electrostatic adsorption bar 34 is set in tealeaves arranging-in-row device 30 on the channel that flows through of tealeaves, electrostatic adsorption bar 34
The impurity such as animal hair in tealeaves can be adsorbed, with pick manipulator 20 and match, remove impurity to higher efficiency.
For example, tealeaves arranging-in-row device 30 includes two magnetic bars 33 and an electrostatic adsorption bar 34, two magnetic bars 33 divide
Not She Yu first delivery face discharge port and second delivery face discharge port, electrostatic adsorption bar 34 be set to third delivery face discharging
Mouthful.Magnetic bar 33 and electrostatic adsorption bar 34 can reduce the type of the impurity in the tealeaves being applied in conveyor equipment 10, from
And impurity is identified convenient for impurities identification system 40, improve recognition efficiency.
Tealeaves arranging-in-row device 30 is described above, next introduces the specific structure of conveyor equipment 10.
As shown in Figures 2 and 3, conveyor equipment 10 includes the first speed ratio transmission equipment 11 and the second speed ratio transmission equipment
12, the first speed ratio transmission equipment is equipped with the first feed belt, when the first feed belt operates, tealeaves thereon can be driven to Forward
It is dynamic；Second speed ratio transmission equipment is equipped with the second feed belt, when the second feed belt operates, tealeaves thereon can be driven to Forward
It is dynamic.Tealeaves is laid in the first end of the first speed ratio transmission equipment 11 by tealeaves arranging-in-row device 30, the first speed ratio transmission equipment 11
Second end is connect with the first end of the second speed ratio transmission equipment 12, the shooting area of camera 41 and picks picking for manipulator 20
Region is set to the second speed ratio transmission equipment 12.The position that third delivers face is higher than the first end of the first speed ratio transmission equipment 11
Position, the position of the second end of the first speed ratio transmission equipment 11 are higher than the position of the first end of the second speed ratio transmission equipment 12.The
The conveying speed V2 of the conveying speed V1 of one speed ratio transmission equipment 11 and the second speed ratio transmission equipment 12 can be adjusted separately,
I.e. either V1>V2, is also possible to V1<V2.It, can be to the tea for reaching shooting area by adjusting the conveying speed ratio of the two
The laying effect of leaf is adjusted, and optimizes the working efficiency of removal of impurities.For example, tealeaves can be reduced in the second speed as V1 < V2
Than the distribution density on transmission equipment 12, so that tealeaves and impurity therein lay more to disperse, convenient for identifying and picking；When
When tealeaves excessively disperses, then adjustable is V1 > V2, to increase distribution density of the tealeaves on the second speed ratio transmission equipment 12,
Be conducive to improve dust removal rate.
Specifically, as shown in Figures 2 and 3, conveyor equipment 10 includes motor, connects the motor and the second speed ratio biography
Send the first pulley mechanism 131 of equipment 12, and the first speed ratio transmission equipment 11 of connection and the second speed ratio transmission equipment 12 the
Two belt wheel mechanisms 132 drive the start and stop synchronous with the second speed ratio transmission equipment 12 of the first speed ratio transmission equipment 11 by motor,
Tealeaves is reduced to accumulate in the first end of the second speed ratio transmission equipment 12.By adjusting the belt wheel in the second belt wheel mechanism 132
Size, may be implemented to adjust the conveying speed ratio between the first speed ratio transmission equipment 11 and the second speed ratio transmission equipment 12
It is whole.
Further, the two sides of the first speed ratio transmission equipment 11 and the two sides of the second speed ratio transmission equipment 12 are respectively equipped with gear
The loss of tealeaves is reduced to prevent tealeaves from falling from two sides in side.
Show in one embodiment of the present invention, such as Fig. 2, tealeaves removal of impurities production line includes being set to the second speed ratio transmission equipment
The tealeaves collection bucket 61 of 12 second end, tealeaves are completed after identifying and picking on the second speed ratio transmission equipment 12, are transported to
Tealeaves collection bucket 61.Specifically, the lower section of tealeaves collection bucket 61 is equipped with turnover box 62.Preferably, the lower section of tealeaves collection bucket 61
Equipped with weighing device, turnover box 62 is placed on weighing device, in order to measure to the tealeaves for completing removal of impurities.
Different batches, the place of production tealeaves in impure situation have differences, therefore, completed through tealeaves removal of impurities production line
After primary removal of impurities, under some cases, can also there be impurity in tealeaves, need to carry out removal of impurities processing again.For this purpose, such as Fig. 1 and Fig. 3
Shown, which cleans production line including rechecking endless apron 50, and when tealeaves needs to carry out secondary removal of impurities, operator can
Tealeaves in tealeaves or turnover box 62 in the second end of second speed ratio transmission equipment 12 is transported to reinspection endless apron
On 50, by rechecking endless apron 50, tealeaves is transported back into the temporary bucket 31 of tealeaves.
Further, reinspection endless apron 50 includes horizontal transmission line 51 and inclination transmission line 52, horizontal transmission line 51
The side of conveyor equipment 10 is set to inclination transmission line 52, the feeding end of horizontal transmission line 51 is set to the transmission of the second speed ratio and sets
The discharge end of standby 12 second end, horizontal transmission line 51 is connect with the feeding end of inclination transmission line 52, and inclination transmission line 52 goes out
Material end is connect with the temporary bucket 31 of tealeaves, and tealeaves is delivered up to the temporary bucket 31 of tealeaves by inclination transmission line 52.Specifically, horizontal to pass
It is connected between the discharge end of line sending 51 and the feeding end for tilting transmission line 52 by receiving hopper 53.Preferably, horizontal transmission line 51
It is equipped with cover with inclination transmission line 52, is mixed into impurity during flowing back into the temporary bucket of tealeaves to avoid tealeaves.
Conveyor equipment 10 and its corollary equipment is described above, next describes in detail to picking manipulator 20.
As shown in Fig. 1, Fig. 4-Fig. 6, picking manipulator 20 includes mechanical arm 22 and the movable end set on mechanical arm 22
Withdrawing device 21, mechanical arm 22 can drive withdrawing device 21 to move in conveyor equipment 10, and withdrawing device 21 can be adsorbed
Or fix impurity；Under the drive of mechanical arm 22, withdrawing device 21 corresponds to 10 covered area, institute of conveyor equipment
Domain, that as picks manipulator 20 picks region.
In one embodiment of the present invention, mechanical arm 22 includes support base 224, the 221, second level of first level pivoted arm
Pivoted arm 222 and vertical telescopic arm 223；The first end of first level pivoted arm 221 is installed on support base 224, first level pivoted arm 221
It can be rotated on support base 224；The first end of second horizontal pivoted arm 222 is installed on the second end of first level pivoted arm 221, and second
Horizontal pivoted arm 222 can rotate on first level pivoted arm 221；The upper end of vertical telescopic arm 223 is installed on the second horizontal pivoted arm 222
Second end, withdrawing device 21 is installed on the lower end of vertical telescopic arm 223, and vertical telescopic arm 223 can drive 21 phase of withdrawing device
Pivoted arm 222 horizontal for second moves up and down.By the rotational angle and the second horizontal pivoted arm that control first level pivoted arm 221
222 rotational angle can make withdrawing device 21 quickly reach the coordinate points of impurity position；Vertical telescopic arm 223, which drives, to be taken out
Device 21 is moved downward close to impurity；It is vertical flexible after withdrawing device 21 completes the absorption or fixed movement of a coordinate points
Arm 223 drives withdrawing device 21 to move up to and keeps set distance with conveyor equipment 10, and the then drive of mechanical arm 22 takes
Device 21 is moved to next coordinate points out.
Preferably, the rotation axis of the rotation axis of first level pivoted arm 221 and the second horizontal pivoted arm 222 along the vertical direction,
And it is parallel.Vertical telescopic arm 223 can select cylinder or electric cylinders to drive.
Withdrawing device 21 takes away away for isolating impurity from tealeaves.The working method of withdrawing device 21 can be with
There are many kinds of, for example, withdrawing device 21 includes that electrostatic ball or magnet can pass through adsorption capacity when withdrawing device is close to impurity
Impurity is fixed in withdrawing device 21, and is taken away from tealeaves.In one embodiment of the present invention, withdrawing device 21 includes
Suction nozzle 211 and the suction source 212 being connect with suction nozzle 211, the absorption mouth down setting of suction nozzle 211, when suction nozzle 211 is close to impurity
When, suction source 212 works, and siphons away impurity by suction nozzle.Specifically, suction source 212 includes dust catcher.
As shown in Figure 5 and Figure 6, withdrawing device 21 includes support frame 213, and the upper end of support frame 213 is fixed on vertical flexible
Arm 223, suction nozzle 211 are fixed on the lower end of vertical telescopic arm, and the upper end of suction nozzle 211 is equipped with port, and the port is by tracheae (in figure
It is not shown) it is connect with suction source 212.
Further, the adsorption orifice of suction nozzle 211 is set as cylindrical, and the magnitude range of internal diameter is φ 5mm- φ 20mm.It is preferred that
Ground, the internal diameter of adsorption orifice are φ 10mm.Set suitably sized for adsorption orifice, in order to the type with the impurity to be adsorbed
It is adapted with size, efficiency is picked in raising.
In one embodiment of the present invention, picks station 102 and second protective cover 23 is set, pick manipulator 20 and be installed on this
In second protective cover 23, the both ends bottom of the second protective cover 23 is equipped with the cover bottom opening passed through for conveyor equipment 10 and tealeaves.
Embodiment two
The present invention provides a kind of tealeaves impurity-removing methods, as shown in fig. 7, this method comprises:
Tealeaves is laid in conveyor equipment 10 with tiling by step S10；
Step S20 identifies the impurity in tealeaves, and marks impurity position；
Step S30 picks the impurity that manipulator 20 takes out the impurity position marked in step S20.
In one embodiment of the present invention, tealeaves is routed to conveyor equipment 10 by hand by operator by step S10
On.
In another embodiment of the present invention, in step S10, the vibration of a variety of vibration parameters is provided, is successively acted on
Tealeaves.Preferably, vibration parameters include vibration frequency, and along the direction of advance of tealeaves, vibration frequency is incrementally increased.Specifically, it walks
Rapid S10 is implemented using above-mentioned tealeaves arranging-in-row device 30, the vibration of the vibration frequency of the first vibrator 321, the second vibrator 322
The vibration frequency of dynamic frequency and third vibrator 323 is sequentially reduced, and tealeaves is more uniformly applied to conveyor equipment 10
On.
In one embodiment of the present invention, conveyor equipment 10 include along tealeaves conveying direction set gradually first
Speed ratio transmission equipment 11 and the second speed ratio transmission equipment 12, the shooting area of camera 41 and that picks manipulator 20 pick region
Set on the second speed ratio transmission equipment 12；The conveying speed of first speed ratio transmission equipment 11 is defeated less than the second speed ratio transmission equipment 12
Speed is sent, to reduce distribution density of the tealeaves on the second speed ratio transmission equipment 12, tealeaves and impurity therein is made to lay more
Bonus point dissipates, convenient for identifying and picking.
In order to improve camera 41 shooting photo quality, and convenient for pick manipulator 20 take out impurity, shooting
When with picking, conveyor equipment 10 stops movement.
The foregoing is merely several embodiments of the present invention, and those skilled in the art is according to application documents disclosure
Various changes or modifications can be carried out without departing from the spirit and scope of the present invention to the embodiment of the present invention.
Claims (20)
- The production line 1. a kind of tealeaves cleans characterized by comprisingFor conveying the conveyor equipment of tealeaves；Tealeaves arranging-in-row device is used to be laid in while tealeaves tiles the feeding end of the conveyor equipment；Impurities identification system, the impurity in tealeaves for identification, and mark position of the impurity in the conveyor equipment；Manipulator is picked, the location information according to the impurities identification system marks is used for, taking out arrival, it is picked in region The conveyor equipment on impurity.
- The production line 2. tealeaves according to claim 1 cleans, which is characterized in that the conveyor equipment is equipped with identification work Position is set to the identification station with station, the impurities identification system is picked, and the manipulator of picking picks station described in；The identification station is set to the side at the feeding end close to the conveyor equipment for picking station.
- The production line 3. tealeaves according to claim 1 cleans, which is characterized in that the impurities identification system includes:At least one camera is used to take pictures to the tealeaves in the conveyor equipment reached in its shooting area；Identification device for identification and marks the position of impurity in photo.
- The production line 4. tealeaves according to claim 3 cleans, which is characterized in that the impurities identification system includes multiple edges The camera of the width direction distribution of the conveyor equipment.
- The production line 5. tealeaves according to claim 3 cleans, which is characterized in that the impurities identification system includes shooting case And light source, the shooting case are set in the conveyor equipment, the both ends in the shooting bottom portion are equipped with the slot passed through for tealeaves Mouthful, the camera and the light source are set in the shooting case.
- The production line 6. tealeaves according to claim 1 cleans, which is characterized in that the tealeaves arranging-in-row device includes the first vibration Dynamic device, first vibrator connect with the feeding end of the conveyor equipment, set for tealeaves to be laid in the conveyer belt It is standby upper.
- The production line 7. tealeaves according to claim 6 cleans, which is characterized in that the tealeaves arranging-in-row device includes being set to institute State the second vibrator between the feeding end of conveyor equipment and first vibrator.
- The production line 8. tealeaves according to claim 7 cleans, which is characterized in that the tealeaves arranging-in-row device includes being set to institute State the third vibrator between the feeding end of conveyor equipment and second vibrator.
- The production line 9. tealeaves according to claim 1 cleans, which is characterized in that the tealeaves arranging-in-row device includes at least one A magnetic bar for being used to adsorb the impurity in tealeaves.
- 10. according to claim 1 or tealeaves described in 9 clean production line, which is characterized in that the tealeaves arranging-in-row device include extremely Few one for adsorbing the electrostatic adsorption bar of the impurity in tealeaves.
- The production line 11. tealeaves according to claim 1 cleans, which is characterized in that the tealeaves arranging-in-row device includes tealeaves The discharge port of temporary bucket, the temporary bucket of the tealeaves is connect with the feeding end of the conveyor equipment.
- The production line 12. tealeaves according to claim 1 cleans, which is characterized in that the conveyor equipment includes the first speed Than transmission equipment and the second speed ratio transmission equipment, tealeaves is laid in the first speed ratio transmission equipment by the tealeaves arranging-in-row device First end, the second end of the first speed ratio transmission equipment is connect with the first end of the second speed ratio transmission equipment, described The identification region of impurities identification system and the region of picking for picking manipulator are set to the second speed ratio transmission equipment.
- The production line 13. tealeaves according to claim 1 cleans, which is characterized in that the tealeaves removal of impurities production line includes setting It is placed in the tealeaves collection bucket of the discharge end of the conveyor equipment.
- The production line 14. tealeaves according to claim 1 cleans, which is characterized in that the tealeaves removal of impurities production line includes multiple Endless apron is examined, the reinspection endless apron is used to the tealeaves of the discharge end of the conveyor equipment being delivered to the tea The feeding end of leaf arranging-in-row device.
- The production line 15. tealeaves according to claim 14 cleans, which is characterized in that the reinspection endless apron includes water Flat pass line sending and inclination transmission line, the feeding end of the horizontal transmission line is connect with the discharge end of the conveyor equipment, described The discharge end of horizontal transmission line with it is described inclination transmission line feeding end connect, the inclination transmission line by tealeaves be delivered up to The feeding end of the tealeaves arranging-in-row device.
- 16. a kind of tealeaves impurity-removing method characterized by comprisingTealeaves is laid in conveyor equipment with tiling by step S10；Step S20 identifies the impurity in tealeaves, and marks impurity position；Step S30 picks the impurity that manipulator takes out the impurity position marked in step S20.
- 17. tealeaves impurity-removing method according to claim 16, which is characterized in that in the step S20, according to the face of impurity Color, shape and/or size, to identify impurity.
- 18. tealeaves impurity-removing method according to claim 16, which is characterized in that in the step S10, provide a variety of vibrations The vibration of parameter, successively acts on tealeaves.
- 19. tealeaves impurity-removing method according to claim 18, which is characterized in that the vibration parameters include vibration frequency, Along the direction of advance of tealeaves, the vibration frequency is gradually reduced.
- 20. tealeaves impurity-removing method according to claim 18, which is characterized in that the conveyor equipment includes along tealeaves The the first speed ratio transmission equipment and the second speed ratio transmission equipment that conveying direction is set gradually, it is described pick manipulator pick region Set on the second speed ratio transmission equipment；The conveying speed of the first speed ratio transmission equipment is less than the conveying speed of the second speed ratio transmission equipment.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910763762.XA CN110420873A (en) | 2019-08-19 | 2019-08-19 | Tealeaves removal of impurities production line and tealeaves impurity-removing method |
| CN202410937484.6A CN118698898A (en) | 2019-08-19 | 2019-08-19 | Tea impurity removal production line and tea impurity removal method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910763762.XA CN110420873A (en) | 2019-08-19 | 2019-08-19 | Tealeaves removal of impurities production line and tealeaves impurity-removing method |
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| CN202410937484.6A Division CN118698898A (en) | 2019-08-19 | 2019-08-19 | Tea impurity removal production line and tea impurity removal method |
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| CN202410937484.6A Pending CN118698898A (en) | 2019-08-19 | 2019-08-19 | Tea impurity removal production line and tea impurity removal method |
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Cited By (5)
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| CN110449381A (en) * | 2019-08-19 | 2019-11-15 | 黄山小罐茶业有限公司 | Tealeaves impurity picks manipulator |
| CN111298968A (en) * | 2020-02-26 | 2020-06-19 | 西南大学 | System is selected separately to clothing workshop rubbish |
| CN113102282A (en) * | 2021-03-24 | 2021-07-13 | 慕贝尔汽车部件（太仓）有限公司 | Automatic detection method and system for workpiece surface flaws |
| CN113652778A (en) * | 2020-12-30 | 2021-11-16 | 苏州多道自动化科技有限公司 | AI impurity removing and carding method and system of rotor spinning machine |
| CN115815148A (en) * | 2023-02-17 | 2023-03-21 | 绵阳师范学院 | Multistage dry-type separator of moss tea tealeaves |
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| CN110449381A (en) * | 2019-08-19 | 2019-11-15 | 黄山小罐茶业有限公司 | Tealeaves impurity picks manipulator |
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| CN111298968B (en) * | 2020-02-26 | 2021-06-08 | 西南大学 | System is selected separately to clothing workshop rubbish |
| CN113652778A (en) * | 2020-12-30 | 2021-11-16 | 苏州多道自动化科技有限公司 | AI impurity removing and carding method and system of rotor spinning machine |
| CN113102282A (en) * | 2021-03-24 | 2021-07-13 | 慕贝尔汽车部件（太仓）有限公司 | Automatic detection method and system for workpiece surface flaws |
| CN113102282B (en) * | 2021-03-24 | 2022-07-26 | 慕贝尔汽车部件（太仓）有限公司 | Automatic detection method and system for workpiece surface flaws |
| CN115815148A (en) * | 2023-02-17 | 2023-03-21 | 绵阳师范学院 | Multistage dry-type separator of moss tea tealeaves |
| CN115815148B (en) * | 2023-02-17 | 2023-04-28 | 绵阳师范学院 | Multistage dry-type separator of tongue tea tealeaves |
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