CN111636122B - Bale plucking impurity removing device and removing method - Google Patents
Bale plucking impurity removing device and removing method Download PDFInfo
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- CN111636122B CN111636122B CN202010320374.7A CN202010320374A CN111636122B CN 111636122 B CN111636122 B CN 111636122B CN 202010320374 A CN202010320374 A CN 202010320374A CN 111636122 B CN111636122 B CN 111636122B
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- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01G—PRELIMINARY TREATMENT OF FIBRES, e.g. FOR SPINNING
- D01G9/00—Opening or cleaning fibres, e.g. scutching cotton
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- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01G—PRELIMINARY TREATMENT OF FIBRES, e.g. FOR SPINNING
- D01G9/00—Opening or cleaning fibres, e.g. scutching cotton
- D01G9/08—Opening or cleaning fibres, e.g. scutching cotton by means of air draught arrangements
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- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01G—PRELIMINARY TREATMENT OF FIBRES, e.g. FOR SPINNING
- D01G9/00—Opening or cleaning fibres, e.g. scutching cotton
- D01G9/14—Details of machines or apparatus
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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Abstract
The invention discloses a device for removing impurities in bale plucking, which comprises: the device comprises an impurity removal module, a visual detection module and a foreign fiber removal device, wherein the impurity removal module is used for removing impurities such as cotton seeds, broken shells and scrap iron in cotton fibers, the visual detection module is used for identifying foreign fibers mixed in the cotton fibers and impurities which are not removed in the previous process, and the foreign fiber removal device is used for removing the foreign fibers mixed in the cotton fibers and impurities which are not removed in the previous process, which are detected by the visual detection module; the magnetic force and the negative pressure suction force generated by the magnet and the impurity removal suction nozzle in the impurity removal module can effectively prevent light impurities in cotton fibers from easily returning to the cotton fibers along the blanking channel under the action of fiber conveying negative pressure airflow in the separation process, and the impurity removal effect is good; in the cotton grabbing process, the cotton blocks are further opened by using an impurity removal beater and a cotton carding roller, so that the opening degree of cotton fibers is better; the foreign fiber sorting of the cotton fibers is realized through the visual detection module; the invention has simple structure and good impurity removal effect, and realizes the online cleaning of impurities.
Description
Technical Field
The invention relates to the field of textile equipment, in particular to a device and a method for removing impurities in cotton plucking.
Background
In the process, firstly, a bale plucker is used for grabbing cotton bundles and cotton blocks from bundled cotton raw materials, and then the cotton bundles and the cotton blocks are conveyed to a subsequent machine through a negative pressure pipeline for processing and production of the next procedure; as the bale of cotton raw material is mixed with impurities such as scrap iron and the like, and the beater of the plucker runs at a high speed, the impurities can damage the beater after contacting the beater of the plucker, and the cotton grabbing speed and the cotton grabbing quality of the beater are influenced; at present, scrap iron is generally eliminated by arranging a magnetic absorption device in front of the motion direction of a beater, but the effect is not ideal; in addition, cotton bundles grabbed and delivered by a cotton grabbing and beating hand can also carry cotton seeds, seed scraps and other impurities, and the conventional impurity removal type cotton grabbing machine cannot be used for online removal.
Chinese utility model patent with publication number CN2599024Y introduces an impurity-removing bale plucker, which comprises a cotton table, a cotton plucking head group connected with a cotton conveying pipeline and a lifting device, wherein the cotton plucking head only performs lifting motion, the cotton table carries a cotton bag to perform reciprocating motion, and the cotton table can perform reciprocating motion on rollers; the cotton grabbing head comprises two cotton grabbing heads which are in a group, an output cotton bundle pipeline connected with a cotton conveying pipeline and two falling object boxes inclining downwards are arranged on a shell of the cotton grabbing head, and a cotton grabbing beater and an impurity removing beater are arranged inside the shell of the cotton grabbing head; clear away impurity on line through setting up the edulcoration hired roughneck, so can mix the cotton machine lug connection with the many storehouses at rear portion with plucker, no longer need set up the opener, can accomplish and remove the work of big miscellaneous, this utility model utilizes centrifugal force to get rid of great impurity, but its still has following defect: 1. in the separation process of impurities in the cotton bundles, the impurities with light weight are not thrown far during separation, the separation position is close to the fiber conveying area, and the light impurities are easy to return to cotton fibers along the blanking channel under the action of fiber conveying negative pressure airflow, so that the impurity removal effect is poor; the cotton grabbing heads in the utility model are two cotton grabbing heads in one group, each cotton grabbing head group consists of two single-beater cotton grabbing heads, although the loosening degree of the cotton grabbing bundles is good, the cotton grabbing bundles are small, and the cotton grabbing efficiency is low; 3. the foreign fibers present in the cotton bale cannot be removed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a cotton picking impurity removing device, impurities such as cotton seeds, broken shells, scrap iron and the like in cotton fibers are removed through an impurity removing module, and the magnetic force and the negative pressure suction force generated by a magnet and an impurity removing suction nozzle in the impurity removing module can effectively prevent light impurities in the cotton fibers from easily returning to the cotton fibers along a blanking channel under the action of fiber conveying negative pressure airflow in the separation process, so that the impurity removing effect is good; foreign fibers mixed in the cotton fibers and impurities which are not removed in the previous working procedure are identified through a visual detection module and are removed through a foreign fiber removing device, so that the foreign fiber sorting of the cotton fibers is realized; the invention has simple structure and good impurity removal effect, and realizes the online cleaning of impurities; on the other hand, the cotton blocks are further opened by the impurity removal beater and the cotton carding roller in the cotton grabbing process, so that the opening degree of cotton fibers is better.
The invention is realized by the following technical scheme.
A cotton bale impurity removing device comprising: the impurity removal module is used for removing impurities such as cotton seeds, broken shells, scrap iron and the like in the cotton fibers; the visual detection module is used for identifying foreign fibers mixed in the cotton fibers and sundries which are not removed in the previous process; and the foreign fiber removing device is used for removing foreign fibers mixed in the cotton fibers detected by the visual detection module and impurities which are not removed in the previous process.
Furthermore, the impurity removal module comprises an impurity removal beater, a triangular dust rod and a blanking channel, the impurity removal beater is positioned above the cotton grabbing beater, the triangular dust rod is positioned on one side of the impurity removal beater, and the blanking channel is positioned on one side of the triangular dust rod; the bottom of the blanking channel is connected with a blanking box; the impurity removal beater, the triangular dust rod, the blanking channel and the cotton grabbing beater are respectively composed of two groups which are arranged in a bilateral symmetry mode.
Further, magnet and edulcoration suction nozzle are set up to blanking case top, the edulcoration suction nozzle is fixed on magnet, the edulcoration suction nozzle produces the negative pressure through connecting the air pump.
Furthermore, the visual detection module is arranged on inclined plates on two sides above the impurity removal module, and comprises a CCD camera, a lens, a light source, an image acquisition card and a computer; the CCD camera and the light source are arranged on the inclined plates on the two sides above the impurity removal module at a proper angle and are connected with the computer through the image acquisition card.
Furthermore, the foreign fiber removing device comprises a cotton carding roller and a foreign fiber suction nozzle, the cotton carding roller is arranged at the upper position in the middle of the impurity removing beater at two sides, the foreign fiber suction nozzle is respectively positioned on the inclined plates at two sides above the impurity removing module, and the foreign fiber suction nozzle generates negative pressure by being connected with an air pump.
Further, the diameter of the cotton grabbing beater is slightly larger than that of the impurity removal beater, and the diameter of the cotton carding roller is larger than that of the cotton grabbing beater; and the cotton carding roller working interval covers two impurity removal beaters.
The impurity removing method of the cotton picking impurity removing device comprises the following steps:
step 1: firstly, when grabbing cotton, the cotton pressing roller and the ribs are pressed on the cotton bale, under the action of pressure, part of cotton layers of the cotton bale are raised among the ribs, and the cotton grabbing beater grabs cotton bundles when rotating;
step 2: the grabbed cotton bundles rotate to a working area of an impurity removal beater in the impurity removal module along with the cotton grabbing beater, the cotton bundles are peeled off by the quickly rotating impurity removal beater, the impurity removal beater drives the cotton bundles to impact the triangular dust rods, heavier impurities enter a blanking channel from gaps among the triangular dust rods under the action of centrifugal force, metal scraps in the impurities are adsorbed under the action of the magnet, and other impurities are attracted by negative pressure generated by the impurity removal suction nozzle and fall into a blanking box;
and step 3: the cotton bundles are peeled by the rapidly rotating impurity removal beater, then subjected to impurity removal and rotated to a working interval of a cotton carding roller in the foreign fiber removal device along with the impurity removal beater, the cotton carding roller peels off the impurity removal beater and further opens the cotton bundles, foreign fibers and impurities which are not removed in the cotton bundles are further exposed, and preparation is made for next impurity removal;
and 4, step 4: and finally, identifying the position information of the foreign fibers and the impurities by the computer through a visual detection module, controlling the foreign fiber suction nozzle to suck the impurities, and sucking the cotton fibers by the negative pressure air flow in the fiber conveying channel.
Further, the specific detection process in step 4 is as follows: the cotton fiber that fully opens in step 3, along with the cotton carding roller rotates to the working interval of visual detection module, the cotton fiber after combing on the cotton carding roller of two symmetrical CCD cameras that set up in the visual detection module this moment scans, whole breadth 1600mm, every second scans 1024 lines, every line scans 2048 pixels, can distinguish the foreign fiber of 0.8 millimeter size, the image data after the scanning is sent the computer and is analyzed, analytic system can convert image data into the four-channel colour gamut: the brightness, the red, the green and the blue are compared with standard cotton data according to the color, the geometric shape, the transparency and the reflected light of the foreign fiber to determine the position and the size of the foreign fiber, the computer calculates out accurate delay time and then sends out an instruction to a control electromagnetic valve of the foreign fiber suction nozzle at the corresponding position, when the foreign fiber or the impurity rotates to the position corresponding to the foreign fiber suction nozzle, the foreign fiber suction nozzle immediately generates negative pressure to suck the foreign fiber away and send the foreign fiber into a waste cotton collecting device.
Furthermore, in the visual inspection process, the specific process of image processing is as follows: firstly, carrying out gray level processing on an image acquired by a CCD camera: averaging the three-component brightness in the color image to obtain a gray value, wherein the calculation formula is as follows: f (i, j) ═ R (i, j) + G (i, j) + B (i, j))/3; then, a median filtering valve is used for carrying out denoising processing on the image, the basic principle of median filtering is that the median of pixel values of all pixel points in a neighborhood window taking a target pixel point as the center is taken as the pixel value of the point, the pixel values at the periphery are close to the true value of the point, and therefore the isolated noise point can be eliminated, and the calculation method is as follows: g (i, j) ═ med { f (i + m, j + n), (m, n ∈ W) }, where f (x, y) is the original image, g (x, y) is the processed image, and W is a 3 × 3 two-dimensional template; dividing the image by a global threshold dividing method, wherein the global threshold dividing method is based on the principle that an initial threshold is given firstly, then the image is calculated for multiple times, the threshold is improved circularly and is made to be optimal, the dividing threshold of the image is calculated repeatedly, the image is divided into two categories of a target and a background, and then the average gray level in each category is calculated to improve the threshold; and finally, obtaining the region boundary information of the target image by using a region circumscribed rectangle algorithm to complete the positioning of the foreign fibers, thereby preparing for the accurate removal of the foreign fibers.
Furthermore, the distance between the cotton grabbing beater and the rib is 3-5 mm, and along the cotton grabbing direction, the front cotton grabbing beater grabs forwards, and the rear cotton grabbing beater grabs reversely.
Compared with the prior art, the invention has the beneficial effects that:
1. in the process of separating impurities in cotton bundles by the cotton picking impurity removing device, metal impurities separated from cotton fibers are collected by the magnet, other impurities separated from non-metal impurities in the cotton fibers are sucked into the blanking box by the impurity removing suction nozzle, and the impurities in the cotton fibers can be effectively prevented from being easily returned to the cotton fibers along the blanking channel under the action of fiber conveying negative pressure airflow in the separation process by the magnetic force and the negative pressure suction force generated by the magnet and the impurity removing suction nozzle, so that the impurity removing effect is good;
2. according to the cotton grabbing impurity removing device, the cotton grabbing head is grabbed by the double beaters, each beater grabs the cotton respectively, the grabbed cotton block is large, and the working efficiency is high; in the subsequent impurity removal process, the impurity removal beater and the cotton carding roller further open the cotton blocks, so that the opening degree of the cotton fibers is better;
3. the device for removing the cotton grabbing impurities identifies the foreign fibers and the position information of the impurities through the visual detection module, controls the foreign fiber suction nozzle to suck the impurities, and realizes the foreign fiber sorting of the cotton fibers by sucking the cotton fibers by the negative pressure air flow in the fiber conveying channel.
Drawings
FIG. 1 is a schematic view showing a construction of a bale plucking impurity removing apparatus according to the present invention.
In the figure: 1. an impurity removal module; 101. removing impurities and beating hands; 102. a triangular dust rod; 103. a blanking channel; 104. a cotton grabbing beater; 105. blanking the material box; 106. a magnet; 107. an impurity removal suction nozzle; 2. a visual detection module; 3. a foreign fiber removing device; 301. cotton carding rollers; 302. a different fiber suction nozzle; 4. cotton bale; 5. a cotton pressing roller; 6. a rib; 7. a fiber transfer passage.
Detailed Description
The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.
The present invention is described in further detail below with reference to the attached drawing figures.
A bale plucking impurity removal apparatus comprising: the impurity removal module 1 is used for removing impurities such as cotton seeds, broken shells, scrap iron and the like in cotton fibers; the visual detection module 2 is used for identifying foreign fibers mixed in the cotton fibers and impurities which are not removed in the previous working procedure; and the foreign fiber removing device 3 is used for removing foreign fibers mixed in the cotton fibers detected by the visual detection module and impurities which are not removed in the previous process.
Referring to fig. 1, the impurity removing module comprises an impurity removing beater 101, a triangular dust bar 102 and a blanking channel 103, wherein the impurity removing beater 101 is positioned above a cotton grabbing beater 104, the triangular dust bar 102 is positioned at one side of the impurity removing beater 101, and the blanking channel 103 is positioned at one side of the triangular dust bar 102; the bottom of the blanking channel 103 is connected with a blanking box 105; the impurity removal beater 101, the triangular dust rod 102, the blanking channel 103 and the cotton grabbing beater 104 are arranged in a bilateral symmetry mode; the impurity removal beater 101 peels off cotton fibers from the cotton grabbing beater 104 and then rotates to impact the triangular dust rod 102, and heavier and larger impurities and metal chips in the cotton fibers enter the blanking channel 103 under the action of centrifugal force.
A magnet 106 and an impurity removal suction nozzle 107 are arranged above the blanking box 105, the impurity removal suction nozzle 107 is fixed on the magnet 106, and the impurity removal suction nozzle 107 is connected with an air pump to generate negative pressure; the metal impurities separated from the cotton fibers are collected through the magnet 106, other impurities separated from the cotton fibers are sucked into the blanking box 105 through the impurity removing suction nozzle 107, and the impurities in the cotton fibers can be effectively prevented from being easily returned to the cotton fibers along the blanking channel 103 to remove under the action of fiber conveying negative pressure airflow in the separation process through the magnetic force and the negative pressure suction force generated by the magnet 106 and the impurity removing suction nozzle 107.
The visual detection module 2 is arranged on the inclined plates at two sides above the impurity removal module 1, and the visual detection module 2 comprises a CCD camera, a lens, a light source, an image acquisition card and a computer; the CCD camera and the light source are arranged on the inclined plates at two sides above the impurity removal module 1 at a proper angle and are connected with the computer through the image acquisition card.
Referring to fig. 1, the foreign fiber removing device 3 includes a cotton carding roller 301 and a foreign fiber suction nozzle 302, the cotton carding roller 301 is disposed above the middle of the impurity removing beater 101 at two sides, the foreign fiber suction nozzle 302 is respectively located on the inclined plates at two sides above the impurity removing module 1, and the foreign fiber suction nozzle 302 generates negative pressure by being connected to an air pump.
In order to prevent cotton fibers from being entangled and ensure that cotton bundles smoothly circulate among the cotton grabbing beater 104, the impurity removal beater 101 and the cotton carding roller 301 in sequence, the diameter of the cotton grabbing beater 104 is slightly larger than that of the impurity removal beater 101, and the diameter of the cotton carding roller 301 is larger than that of the cotton grabbing beater 104; the working interval of the cotton carding roller 301 covers two impurity removal beaters 101.
The invention also provides an impurity removing method of the cotton picking impurity removing device, which comprises the following steps:
step 1: firstly, when grabbing cotton, the cotton pressing roller 5 and the ribs 6 are pressed on the cotton bale 4, under the action of pressure, part of cotton layers of the cotton bale are raised among the ribs, and the cotton grabbing beater 104 grabs cotton bundles when rotating;
step 2: the grabbed cotton bundles rotate to the working area of the impurity removal beater 101 in the impurity removal module 1 along with the cotton grabbing beater 104, the cotton bundles are peeled off by the impurity removal beater 101 which rotates rapidly, the impurity removal beater 101 carries the cotton bundles to impact the triangular dust bars 102, heavier impurities enter the blanking channel 103 from gaps among the triangular dust bars 102 under the action of centrifugal force, metal scraps in the impurities are adsorbed under the action of the magnet 106, and other impurities are attracted by negative pressure generated by the impurity removal suction nozzle 107 to fall into the blanking box 105;
and step 3: the cotton bundles are peeled by the rapidly rotating impurity removal beater 101, then impurity removal is carried out, the cotton bundles rotate to a working interval of a cotton carding roller 301 in the foreign fiber removal device 3 along with the impurity removal beater 101, the cotton carding roller 301 peels the cotton bundles off the impurity removal beater 101 and further opens the cotton bundles, foreign fibers and impurities which are not removed in the cotton bundles are further exposed, and preparation is made for next impurity removal;
and 4, step 4: finally, the computer identifies the position information of the foreign fiber and the impurity through the visual detection module 2, and controls the foreign fiber suction nozzle 302 to suck the impurity, and the cotton fiber is sucked by the negative pressure airflow in the fiber conveying channel 7.
The specific detection process of the step 4 is as follows: the cotton fiber that fully opens in step 3, along with comb and parallel cotton fibers, the work interval of visual detection module 2 is rotated to comb and parallel cotton fibers, the cotton fiber after combing on comb and parallel cotton fibers 301 of two symmetrical CCD cameras that set up in visual detection module 2 this moment scans, whole breadth 1600mm, every second scans 1024 lines, every line scans 2048 pixels, can distinguish the foreign fiber of 0.8 millimeter size, the image data after the scanning is sent the computer and is analyzed, analytic system can change image data into the four-channel colour gamut: the brightness, the red, the green and the blue are compared with standard cotton data according to the color, the geometric shape, the transparency and the reflected light of the foreign fiber to determine the position and the size of the foreign fiber, the computer calculates out accurate delay time and then sends out an instruction to a control electromagnetic valve of the foreign fiber suction nozzle 302 at the corresponding position, when the foreign fiber or the impurity rotates to the position corresponding to the foreign fiber suction nozzle 302, the foreign fiber suction nozzle 302 immediately generates negative pressure to suck the foreign fiber away and send the foreign fiber into a waste cotton collecting device.
Furthermore, in the visual inspection process, the specific process of image processing is as follows: firstly, carrying out gray level processing on an image acquired by a CCD camera: averaging the three-component brightness in the color image to obtain a gray value, wherein the calculation formula is as follows: f (i, j) ═ R (i, j) + G (i, j) + B (i, j))/3; then, a median filtering valve is used for carrying out denoising processing on the image, the basic principle of median filtering is that the median of pixel values of all pixel points in a neighborhood window taking a target pixel point as the center is taken as the pixel value of the point, the pixel values at the periphery are close to the true value of the point, and therefore the isolated noise point can be eliminated, and the calculation method is as follows: g (i, j) ═ med { f (i + m, j + n), (m, n ∈ W) }, where f (x, y) is the original image, g (x, y) is the processed image, and W is a 3 × 3 two-dimensional template; dividing the image by a global threshold dividing method, wherein the global threshold dividing method is based on the principle that an initial threshold is given firstly, then the image is calculated for multiple times, the threshold is improved circularly and is made to be optimal, the dividing threshold of the image is calculated repeatedly, the image is divided into two categories of a target and a background, and then the average gray level in each category is calculated to improve the threshold; and finally, obtaining the region boundary information of the target image by using a region circumscribed rectangle algorithm to complete the positioning of the foreign fibers, thereby preparing for the accurate removal of the foreign fibers.
Referring to fig. 1, because the cotton layer between the cotton pressing roller 5 and the rib 6 is in a raised state under the action of pressure, the cotton grabbing beater 104 grabs in the raised area, so that the distance between the cotton grabbing beater 104 and the rib is 3-5 mm, and the cutter point of the cotton grabbing beater 104 is ensured to grab the cotton layer only in the raised area; according to the arrow in fig. 1, in the cotton-grabbing direction, the front cotton-grabbing beater 104 is gripping forward, and the rear cotton-grabbing beater 104 is gripping backward; the cotton layer that cotton hired 104 grabbed of grabbing behind is the cotton layer that the warp hired 3 torn, and there is the roll-up phenomenon in the cotton layer, so the cotton bundle that hired 6 grabbed is great, in order to avoid the front and back hired the condition that the cotton bundle size is inconsistent, as shown in fig. 1, preceding cotton hired 104 of grabbing and the cotton hired 104 of grabbing behind keep certain difference in height (preceding low back height), just so can realize evenly grabbing.
In summary, the working principle of the invention is as follows: the impurities such as cotton seeds, broken shells and scrap iron in the cotton fibers are removed through the impurity removal module, the cotton fibers are peeled off from the cotton grabbing beater 104 through the impurity removal beater 101 and then rotationally impact the triangular dust rod 102, heavy and large impurities and metal chips in the cotton fibers enter the blanking channel 103 under the action of centrifugal force, the metal impurities separated from the cotton fibers are collected by utilizing magnetic force and negative pressure suction force generated by the magnet 106 and the impurity removal suction nozzle 107, other impurities separated from the cotton fibers are sucked into the blanking box 105, and the impurities in the cotton fibers are effectively prevented from being easily returned to the cotton fibers along the blanking channel 103 to be removed under the action of fiber conveying negative pressure air flow in the separation process; foreign fibers mixed in the cotton fibers and sundries which are not removed in the previous process are identified through the visual detection module 2 and are removed through the foreign fiber removing device 3, so that the foreign fiber sorting of the cotton fibers is realized.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention.
Claims (8)
1. A bale plucking impurity removal apparatus, characterized by comprising: the impurity removal module (1) is used for removing impurities of cotton seeds, broken shells and scrap iron in cotton fibers; the visual detection module (2) is used for identifying foreign fibers mixed in the cotton fibers and sundries which are not removed in the previous process; the foreign fiber removing device (3) is used for removing foreign fibers mixed in the cotton fibers detected by the visual detection module and sundries which are not removed in the previous process, the foreign fiber removing module comprises a foreign fiber removing beater (101), a triangular dust rod (102) and a blanking channel (103), the foreign fiber removing beater (101) is positioned above the cotton grabbing beater (104), the triangular dust rod (102) is positioned on one side of the foreign fiber removing beater (101), and the blanking channel (103) is positioned on one side of the triangular dust rod (102); the bottom of the blanking channel (103) is connected with a blanking box (105); a magnet (106) and an impurity removal suction nozzle (107) are arranged above the blanking box (105); the foreign fiber removing device (3) comprises a cotton carding roller (301) and a foreign fiber suction nozzle (302);
the impurity removing method of the cotton picking impurity removing device comprises the following steps:
step 1: firstly, when grabbing cotton, a cotton pressing roller (5) and ribs (6) are pressed on a cotton bale (4), part of cotton layers of the cotton bale are raised among the ribs under the action of pressure, and the cotton grabbing beater (104) grabs cotton bundles when rotating;
step 2: the grabbed cotton bundles rotate to a working area of an impurity removal beater (101) in the impurity removal module (1) along with the cotton grabbing beater (104), the cotton bundles are peeled off by the impurity removal beater (101) which rotates rapidly, the impurity removal beater (101) drives the cotton bundles to impact the triangular dust rods (102), heavier impurities enter a blanking channel (103) from gaps among the triangular dust rods (102) under the action of centrifugal force, metal scraps in the impurities are adsorbed under the action of a magnet (106), and other impurities are attracted by negative pressure generated by an impurity removal suction nozzle (107) and fall into a blanking box (105);
and step 3: the cotton bundles are peeled by the rapidly rotating impurity removal beater (101), then subjected to impurity removal and rotated to a working interval of a cotton carding roller (301) in the foreign fiber removal device (3) along with the impurity removal beater (101), the cotton carding roller (301) peels off the impurity removal beater (101) from the cotton bundles and further opens the cotton bundles, foreign fibers and impurities which are not removed in the cotton bundles are further exposed, and preparation is made for next impurity removal;
and 4, step 4: and finally, the computer identifies the position information of the impurities through the visual detection module (2), and controls the foreign fiber suction nozzle (302) to suck the impurities, and the cotton fibers are sucked by the negative pressure airflow in the fiber conveying channel (7).
2. The impurity removing device for cotton picking impurity of claim 1, wherein the impurity removing beater (101), the triangular dust rod (102), the blanking channel (103) and the cotton picking beater (104) are arranged in two groups, and are arranged symmetrically.
3. The bale plucking impurity removal device as claimed in claim 2, wherein the impurity removal suction nozzle (107) is fixed to the magnet (106), and the impurity removal suction nozzle (107) generates negative pressure by connecting to an air pump.
4. The cotton picking impurity removing device according to claim 1, wherein the visual detection module (2) is installed on the inclined plates at two sides above the impurity removing module (1), and the visual detection module (2) comprises a CCD camera and lens, a light source, an image acquisition card and a computer; the CCD camera and the light source are arranged on inclined plates on two sides above the impurity removal module (1) at a proper angle and are connected with a computer through an image acquisition card.
5. The bale plucking impurity removing device according to claim 1, wherein the cotton carding roller (301) is arranged at an upper position in the middle of the impurity removing beater (101) at two sides, the foreign fiber suction nozzles (302) are respectively arranged on the inclined plates at two sides above the impurity removing module (1), and the foreign fiber suction nozzles (302) generate negative pressure by being connected with an air pump.
6. A cotton picking impurity removing device according to claim 2, characterized in that the diameter of the cotton picking beater (104) is larger than that of the impurity removing beater (101), and the diameter of the carding roller (301) is larger than that of the cotton picking beater (104); the working interval of the cotton carding roller (301) covers two impurity removal beaters (101).
7. The bale plucking impurity removal device according to claim 1, wherein the specific detection process of the step 4 is as follows: the cotton fiber that fully opens in step 3, along with comb and parallel cotton fibers, the work interval of visual detection module (2) is rotated to in comb and parallel cotton fibers, the cotton fiber after combing on comb and parallel cotton fibers, whole machine breadth 1600mm, every second scanning 1024 lines, every line scanning 2048 pixels, can distinguish the foreign fiber of 0.8 millimeter size, the image data after the scanning is sent the computer and is analyzed, analytic system can change image data into the four-channel colour gamut: the brightness, the red, the green and the blue are compared with standard cotton data according to the color, the geometric shape, the transparency and the reflected light of the foreign fiber to determine the position and the size of the foreign fiber, the computer calculates out accurate delay time and then sends out an instruction to a control electromagnetic valve of the foreign fiber suction nozzle (302) at the corresponding position, when the foreign fiber rotates to the position corresponding to the foreign fiber suction nozzle (302), the foreign fiber suction nozzle (302) immediately generates negative pressure, and the foreign fiber is sucked away and sent to a waste cotton collecting device.
8. The impurity removing device for cotton picking according to claim 2, wherein the distance between the cotton picking beater (104) and the rib is 3-5 mm, and the front cotton picking beater (104) is forward grabbing and the rear cotton picking beater (104) is reverse grabbing along the cotton picking direction.
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