CN116373006A

CN116373006A - Seed shearing equipment for ligusticum wallichii

Info

Publication number: CN116373006A
Application number: CN202310072547.1A
Authority: CN
Inventors: 周翔; 向方勇; 杜鹏飞; 谢佳; 刘成; 蔡谷; 周巧敏
Original assignee: Chengdu Yuheng Intelligent Technology Co ltd
Current assignee: Chengdu Yuheng Intelligent Technology Co ltd
Priority date: 2023-01-16
Filing date: 2023-01-16
Publication date: 2023-07-04

Abstract

The invention discloses Ligusticum wallichii seed shearing equipment, which comprises a conveying assembly, an image recognition mechanism and a seed shearing mechanism; the conveying assembly comprises a conveying mechanism and a clamp arranged on the conveying mechanism, and the clamp comprises a first clamping mechanism and a second clamping mechanism which are arranged at intervals so as to respectively clamp the two ends of the ligusticum wallichii stalks; the image recognition mechanism and the seed shearing mechanism are sequentially arranged at the side of the conveying path of the conveying mechanism along the conveying direction of the conveying mechanism; the image recognition mechanism recognizes and acquires the position of a node disc of the ligusticum wallichii stalks conveyed by the conveying assembly; the seed shearing mechanism comprises a plurality of shearing units, wherein the shearing units are distributed at intervals along a preset direction, and each shearing unit is movably adjustable along the preset direction; the seed shearing mechanism adjusts the positions of the shearing units according to the positions of the node plates of the ligusticum wallichii stalks acquired by the image recognition mechanism so as to shear the ligusticum wallichii stalks. The invention has high automation degree, effectively improves the shearing efficiency, reduces the labor intensity, and improves the size precision and consistency of the tuckahoe seeds obtained by shearing.

Description

Seed shearing equipment for ligusticum wallichii

Technical Field

The invention relates to the technical field of agricultural mechanical equipment, in particular to seed shearing equipment for ligusticum wallichii.

Background

Ligusticum wallichii is a plant of Ligusticum genus of Umbelliferae, has warm nature and pungent taste, has effects of promoting blood circulation, activating qi-flowing, dispelling pathogenic wind and relieving pain, and has high medicinal value. Chuan-xiong rhizome is less flowering and fruit bearing, so that the production adopts the asexual propagation mode of overground stem node (poria cocos seed). The ligusticum wallichii stalks are long rods, a plurality of node discs are unevenly distributed on the stalks, the ligusticum wallichii stalks with thick and strong nodes are selected, one end of the ground is cut into inclined openings (so as to distinguish directions and avoid reverse planting), the two ends of the node discs are reserved with certain length of stems to form cutting (seed) with length of 3-4 cm, the treated seed is planted according to a plant row spacing of 15 cm multiplied by 20 cm in a planting season, the buds are upwardly planted into soil, the planting depth is preferably 1-2 cm of the node discs to enable the node discs to be in contact with the soil, the node discs are half exposed, and the rice straw with thickness of 1-2 cm is covered after planting so as to reduce rain washing and sun exposure and keep the field soil moist after planting.

In the prior art, a mode of manually shearing seeds is generally adopted, scissors are manually adopted to shear the ligusticum chuanxiong stems section by section along the length direction of the ligusticum chuanxiong stems so as to obtain the poria cocos seeds, the lengths of the stems between adjacent sections of discs on the ligusticum chuanxiong stems are longer, and the required length of the poria cocos seeds is shorter, so that the poria cocos seeds meeting the requirements of the size can be obtained only by shearing the adjacent sections of discs twice, the labor intensity is high, the shearing efficiency is low, the precision of manually shearing the seeds is poor, the size deviation and the consistency of the poria cocos seeds are high, and the good seed rate and the germination rate of the poria cocos seeds are difficult to ensure.

Disclosure of Invention

The invention aims to solve the technical problems and the technical task provided by the invention are to improve the prior art, provide a Ligusticum wallichii seed shearing device, and solve the problems that the labor intensity is high, the shearing precision is poor, and the size precision and consistency of poria cocos seeds are difficult to guarantee in the prior art by adopting a manual seed shearing mode for Ligusticum wallichii stalks.

In order to solve the technical problems, the technical scheme of the invention is as follows:

a kind of seed shearing equipment of rhizoma Ligustici Chuanxiong comprises a conveying component, an image recognition mechanism and a seed shearing mechanism;

the conveying assembly comprises a conveying mechanism and a clamp arranged on the conveying mechanism, the clamp comprises a clamping mechanism I and a clamping mechanism II, and the clamping mechanism I and the clamping mechanism II are arranged at intervals in a preset direction I so as to respectively clamp two different positions of the ligusticum wallichii stalks;

the image recognition mechanism and the seed shearing mechanism are sequentially arranged at the side of the conveying path of the conveying mechanism along the conveying direction of the conveying mechanism;

the image recognition mechanism is used for recognizing and acquiring the position of a node disc of the ligusticum wallichii stalks conveyed by the conveying assembly;

the seed shearing mechanism comprises a plurality of shearing units for cutting off the ligusticum wallichii stalks, the shearing units are distributed at intervals along a preset direction, and each shearing unit is driven by an adjusting mechanism to be movably adjustable along the preset direction;

The seed shearing mechanism adjusts the positions of the shearing units according to the positions of the node discs of the ligusticum wallichii stalks acquired by the image recognition mechanism so as to shear the ligusticum wallichii stalks.

The invention discloses a seed cutting device for ligusticum wallichii, which comprises a first clamping mechanism and a second clamping mechanism, wherein the first clamping mechanism and the second clamping mechanism are arranged at intervals, the first clamping mechanism and the second clamping mechanism are used for clamping the ligusticum wallichii stalks at two different positions so as to effectively fix each ligusticum wallichii stalk, the ligusticum wallichii stalks are conveyed by a conveying mechanism in a stable posture, the accurate identification of the position of a node disc of the ligusticum wallichii stalks is facilitated by a subsequent image identification mechanism, the accurate cutting operation of the ligusticum wallichii stalks by a subsequent seed cutting mechanism is facilitated, the position of the node disc of the ligusticum wallichii stalks is acquired by the image identification mechanism in a mode of taking pictures to acquire images of the ligusticum wallichii stalks and analyzing the images, then the seed cutting mechanism adjusts the positions of each cutting unit according to the acquired position information of the node disc of the ligusticum wallichii stalks, so that the cutting units can accurately cut the ligusticum wallichii stalks, the degree of automation is high, the size precision and consistency of the cut-acquired poria seeds are improved, the seed cutting mechanism for the subsequent poria seeds can cut the ligusticum wallichii stalks in multiple sections simultaneously, and the traditional seed cutting device can cut the ligusticum wallichii seeds in multiple sections simultaneously, and the traditional seed cutting efficiency is effectively improved, and the traditional seed cutting efficiency is reduced.

Further, the sorting mechanism is arranged at the side of the conveying path of the conveying mechanism and comprises a plurality of clamping units for clamping tuckahoe seeds, the clamping units are distributed at intervals along a preset direction, and each clamping unit is movably adjustable along the preset direction;

the clamping unit clamps the position of the seed of the poria cocos on the stem of the ligusticum wallichii before the seed cutting mechanism does not cut off, and the seed of the poria cocos is temporarily clamped on the clamping unit after the seed cutting mechanism cuts off.

The ligusticum wallichii stalk is sheared by the seed shearing mechanism and is processed to obtain not only poria cocos seeds, but also a discarding section, wherein the discarding section is a stalk part with redundant length between adjacent sections, the poria cocos seeds and the discarding section can fall down together to be discharged after shearing by the seed shearing mechanism, the poria cocos seeds and the discarding section are easy to mix together so as to increase the difficulty of sorting subsequent materials, and the clamping unit is utilized to clamp the position of the poria cocos seeds on the ligusticum wallichii stalk before shearing, so that the poria cocos seeds can remain on the clamping unit after shearing processing, and the discarding section can directly fall down to be discharged, thereby effectively realizing separation of the poria cocos seeds and the discarding section.

Further, the sorting mechanism further comprises a moving mechanism, the clamping unit is driven by the moving mechanism to move so as to switch between a shearing position and a discharging position, when the clamping unit is in the shearing position, the clamping unit is close to a conveying path of the conveying mechanism so as to clamp a position where the seed of the poria cocos on the stem of the ligusticum wallichii is located for the shearing unit to shear, and when the clamping unit is in the discharging position, the clamping unit is far away from the conveying path of the conveying mechanism so as to release the seed of the poria cocos for discharging. The main function of the moving mechanism is to realize material sorting, and the clamping unit is moved away from the position of the discarding section by the moving mechanism, so that the poria cocos seeds and the discarding section are respectively subjected to blanking from different positions, and the material sorting is realized conveniently.

Further, the image recognition mechanism recognizes and acquires the ratio value of the diameter of each section disc of the ligusticum wallichii stalks and the diameter of the stalks, and the sorting mechanism controls the moving mechanism to act according to the ratio value of the diameter of the section disc of the ligusticum wallichii stalks and the diameter of the stalks, which is acquired by the image recognition mechanism, so that the clamping unit moves to the discharging positions at a plurality of different positions to separate the poria cocos seeds with different quality levels. Convenient realization material is sorted according to the looks of the article, and implementation is convenient, simple, and letter sorting efficiency is high.

Further, a material guiding chute is respectively arranged below the shearing position and each discharging position so as to respectively guide the falling materials into the material container. Various materials are orderly guided to corresponding material containers by utilizing the material guiding chute, and each material container can be conveniently replaced when being fully loaded, so that the operation continuity of the whole Ligusticum wallichii seed shearing device is ensured.

Further, the clamping unit is provided with an air blowing assembly, and the air blowing assembly blows the tuckahoe seeds to discharge when the clamping unit loosens the tuckahoe seeds. The clamping unit clamps the poria cocos seeds and releases the poria cocos seeds again, the poria cocos seeds can be adhered to the clamping unit, the poria cocos seeds cannot fall and discharge normally, the air blowing assembly is used for blowing the poria cocos seeds, the poria cocos seeds are enabled to be reliably discharged, the clamping unit loosens the poria cocos seeds to be discharged in a direct falling mode, the condition that the poria cocos seeds are blocked by the lower parts is easily caused, the reliability of the discharging is affected, and therefore the air blowing assembly is used for blowing the poria cocos seeds, the poria cocos seeds can have a certain movement amount in the transverse direction, and the discharging reliability is improved.

Further, sorting mechanism still includes baffle mechanism, baffle mechanism includes baffle and baffle actuating mechanism, the baffle is driven by baffle actuating mechanism in order to switch between blocking the position and dodging the position, the baffle is in when blocking the position the baffle is located the seed of the poria cocos and is blown out the route of subassembly by the air-blowing in order to block and guide the seed of the poria cocos whereabouts. The sizes of the segment discs of the tuckahoe seeds are different, so that the weight of each tuckahoe seed is different, the adhesion degree of the tuckahoe seed on the clamping unit is also different, the moving distance of the tuckahoe seed under the blowing action of the air blowing component is different, the difficulty of controlling the blanking position of the tuckahoe seed by controlling the blowing force of the air blowing component is high, the tuckahoe seed is blocked and guided to fall by the baffle, the tuckahoe seed is impacted on the baffle after being blown by the air blowing component, and then the tuckahoe seed falls along the baffle, so that the tuckahoe seed can be accurately blanked to a required position.

Further, the sorting mechanism and the seed shearing mechanism are combined into a composite functional assembly, the shearing unit and the clamping unit are connected into a whole to form a composite functional unit, and each composite functional unit is driven by the adjusting mechanism to be movably adjusted along a preset direction. The integrated level is high, the occupied volume is small, the cutting unit and the ligusticum wallichii stalks also need to carry out relative movement of feeding and retracting, the driving mechanism for driving the cutting unit to carry out feeding and retracting actions is shared by the moving mechanism for driving the clamping unit to carry out movement, the integrated level is greatly improved, the overall power consumption of the ligusticum wallichii seed cutting mechanism is reduced, the distribution of power sources for driving the cutting unit and the clamping unit to carry out actions is facilitated, and the overall volume is reduced.

Further, each of the shearing units includes two shearing members disposed at intervals along the predetermined direction, and the clamping unit is disposed between the two shearing members. The invention relates to a method for separating seeds of poria cocos, which comprises the steps of cutting discs on ligusticum wallichii stems and a small section of stems reserved at two ends of the discs, wherein the distance between adjacent discs on the whole ligusticum wallichii stems is longer, the seeds of poria cocos are obtained by directly cutting the stems between the adjacent discs once, the seeds of poria cocos meeting the size requirement can be obtained by cutting the stems between the adjacent discs twice, and a section of stems are discarded sections which need to be discarded.

Further, the shearing members comprise a cutting tool and a power mechanism for driving the cutting tool to act, and two shearing members in each shearing unit share one power mechanism. The structure is simple and compact, the volume and the cost are reduced, and the two shearing members can synchronously act, so that the shearing efficiency is ensured.

Further, the first clamping mechanism and the second clamping mechanism are elastic clamping mechanisms;

the clamping mechanism is arranged at the side of the conveying path of the conveying mechanism so as to drive the first clamping mechanism and the second clamping mechanism to be opened.

The elastic clamping mechanism is simple in structure, the ligusticum wallichii stalks are automatically clamped and fixed by utilizing elastic acting force, the elastic clamping mechanism can be conveniently opened to release and remove residual materials after shearing is finished, the elastic clamping mechanism can be kept in a clamping state due to the elastic action, after the shearing operation is finished, part of stalk residual materials are still clamped by the clamping mechanism I and the clamping mechanism II, the clamping mechanism I and the clamping mechanism II are opened by utilizing the clamping opening mechanism to automatically release the residual materials, the degree of automation is improved, the new ligusticum wallichii stalks are conveniently and repeatedly placed on the clamp, and the production efficiency is improved.

Further, at least one of the first clamping mechanism and the second clamping mechanism has a movable degree of freedom along a preset direction I relative to the conveying mechanism so as to straighten the stem of the ligusticum wallichii clamped between the first clamping mechanism and the second clamping mechanism. Because at least one of the first clamping mechanism and the second clamping mechanism has the freedom of movement along the connecting line direction of the first clamping mechanism and the second clamping mechanism, the space between the first clamping mechanism and the second clamping mechanism can be adjusted so as to clamp and fix the ligusticum wallichii stalks with different lengths, the space between the first clamping mechanism and the second clamping mechanism can be increased so as to stretch the clamped ligusticum wallichii stalks to a straightening state, the subsequent accurate acquisition of the position of a node disc on the ligusticum wallichii stalks is facilitated to carry out accurate shearing, and the size precision and consistency of the poria cocos seeds obtained by shearing are improved.

Compared with the prior art, the invention has the advantages that:

the ligusticum wallichii seed shearing equipment conveys the ligusticum wallichii stalks in a stable posture by the conveying mechanism, then the position of the node disc on the ligusticum wallichii stalks can be accurately identified and acquired by the image identification mechanism, and the seed shearing mechanism is further adjusted according to the acquired position information of the node disc on the ligusticum wallichii stalks, so that the accurate shearing of the ligusticum wallichii stalks is realized, and the size precision and consistency of the poria cocos seeds obtained by shearing are improved;

The seed shearing mechanism of the invention can simultaneously shear the ligusticum chuanxiong stems in multiple sections, can simultaneously shear a plurality of poria cocos seeds and continuously operate, effectively improves the shearing efficiency, replaces the traditional manual seed shearing mode, and effectively reduces the labor intensity.

The ligusticum wallichii seed shearing equipment has compact structure and small occupied volume, can automatically sort materials, and has high automation degree.

Drawings

FIG. 1 is a schematic view of a cut Ligusticum wallichii stalk;

FIG. 2 is a schematic top view of a first embodiment of the seed cutting apparatus for Ligusticum wallichii;

FIG. 3 is a schematic side elevational view of the transport assembly;

FIG. 4 is a schematic top view of a conveyor assembly;

FIG. 5 is a schematic structural view of a clamp;

FIG. 6 is a schematic view of a first clamping mechanism;

FIG. 7 is an exploded view of the first clamping mechanism;

FIG. 8 is a schematic diagram of a second clamping mechanism;

FIG. 9 is an exploded view of the second clamping mechanism;

FIG. 10 is a schematic view of a seed cutting mechanism;

FIG. 11 is a schematic view of the structure of the shear unit;

FIG. 12 is a schematic top view of a second embodiment of a seed cutting apparatus for Ligusticum wallichii;

FIG. 13 is a schematic illustration of the mating of the seed cutting mechanism with the sorting mechanism;

FIG. 14 is a schematic view of another embodiment of a seed cutting mechanism in combination with a sorting mechanism;

FIG. 15 is a schematic view of a shutter of the shutter mechanism in a retracted position in a direction perpendicular to the predetermined direction;

FIG. 16 is a schematic illustration of a shutter of the shutter mechanism in a blocking position perpendicular to a predetermined direction;

FIG. 17 is a schematic view of the structure of the shear unit;

FIG. 18 is a schematic view showing a combination of a seed cutting mechanism and a sorting mechanism of a third embodiment of a seed cutting apparatus for Ligusticum wallichii;

fig. 19 is a schematic view of a three-dimensional structure of a combination of a seed cutting mechanism and a sorting mechanism;

FIG. 20 is a schematic view of the combination of a shear unit and a clamping unit;

FIG. 21 is a schematic view showing the overall structure of the Ligusticum wallichii seed shearing apparatus according to the present invention;

fig. 22 is a schematic structural diagram of a first clamping mechanism and an opening mechanism in the fourth embodiment.

In the figure:

the conveying assembly 100, the image recognition mechanism 200, the seed shearing mechanism 300, the sorting mechanism 400, the clamp 10, the clamping mechanism 1, the clamping mechanism 2, the sliding guide mechanism 3, the sliding shaft 31, the sliding cylinder 32, the clamping mechanism 11, the clamping mechanism 12, the elastic piece 13, the pin 14, the clamping piece 15, the introducing part 151, the clamping part 152, the control part 16, the cover 17, the guide groove 18, the driving groove 19, the counterweight 41, the elastic member 42, the base member 5, the conveying mechanism 6, the clip opening mechanism 7, the cylinder 71, the pushing piece 72, the background plate 202, the camera 201, the shearing unit 310, the shearing member 311, the cutting tool 312, the first 3121 of the shearing blade, the second 3122 of the shearing blade, the power mechanism 313, the crank link mechanism 314, the base body 315, the adjusting mechanism 320, the clamping unit 410, the air blowing assembly, the moving mechanism 422, the baffle mechanism 430, the baffle 431, the baffle driving mechanism 432, the guide chute 441, the material container 442, the ligusticum chuanxiong rhizome 500, the poria cocos seed 501, and the discarding segment 502.

Detailed Description

The technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The embodiment of the invention discloses seed shearing equipment for ligusticum wallichii, which effectively improves seed shearing efficiency and precision, improves the dimensional precision and consistency of the obtained poria cocos seeds and is beneficial to subsequent planting and growth and development of the poria cocos seeds.

Firstly, as shown in fig. 1, the distance between adjacent sections on the ligusticum wallichii stalk 500 is long, the total length of the required poria cocos seeds 501 is about 4cm, a small section of stalk is reserved at two axial ends of the sections, the length of the upper section of stalk is about 1cm, the length of the lower section of stalk is about 3cm, therefore, the poria cocos seeds with the size meeting the requirements cannot be obtained by cutting the stalk between the adjacent sections once, the poria cocos seeds 501 with the size meeting the requirements can be obtained by cutting the stalk between the adjacent sections twice, one section of stalk between the adjacent sections is needed to be discarded, the whole length is defined as a discarding section 502, the poria cocos seeds 501 are used for planting, and the poria cocos seeds 501 obtained after cutting processing and the discarding section 502 are needed to be sorted.

Example 1

As shown in fig. 2, a Ligusticum wallichii seed cutting device mainly comprises a conveying assembly 100, an image recognition mechanism 200 and a seed cutting mechanism 300;

the conveying assembly 100 comprises a conveying mechanism 6 and a clamp 10 arranged on the conveying mechanism 6, wherein the clamp 10 comprises a clamping mechanism I1 and a clamping mechanism II 2, and the clamping mechanism I1 and the clamping mechanism II 2 are arranged at intervals in a preset direction I so as to respectively clamp two different positions of a ligusticum wallichii stalk;

the image recognition mechanism 200 and the seed shearing mechanism 300 are sequentially arranged at the side of the conveying path of the conveying mechanism 6 along the conveying direction of the conveying mechanism 6;

the image recognition mechanism 200 is used for recognizing and acquiring the position of a node disc of the ligusticum wallichii stalks conveyed by the conveying assembly 100;

the seed cutting mechanism 300 comprises a plurality of cutting units 310 for cutting off stems of Ligusticum wallichii, wherein the cutting units 310 are distributed at intervals along a preset direction, and each cutting unit 310 is driven by an adjusting mechanism 320 to be movable and adjustable along the preset direction;

the seed cutting mechanism 300 adjusts the position of each cutting unit 310 according to the node position of the ligusticum wallichii stalks obtained by the image recognition mechanism 200 so as to cut the ligusticum wallichii stalks.

Specifically, as shown in fig. 3 and fig. 4, the conveying mechanism 6 is a circulating conveying mechanism, the conveying mechanism 6 is provided with an annular conveying loop, the conveying mechanism 6 can be one of a belt conveying mechanism and a chain conveying mechanism, the structure is simple and easy to implement, the circulating conveying of the clamp 10 can be realized for continuous production, the clamp 10 is provided with a plurality of clamping mechanisms along the conveying direction of the conveying mechanism 6 on the conveying mechanism 6, so that the conveying mechanism 6 can simultaneously convey a plurality of ligusticum wallichii stalks, and the ligusticum wallichii stalks sequentially pass through the image recognition mechanism 200 and the seed shearing mechanism 300 one by one, in the embodiment, the connecting line direction (the preset direction) of the first clamping mechanism 1 and the second clamping mechanism 2 is vertical to or inclined to the conveying direction of the conveying mechanism 6, or the connecting line direction of the first clamping mechanism 1 and the second clamping mechanism 2 is along the conveying direction of the conveying mechanism 6, and the clamp 10 is mainly used for respectively clamping two ends of the stalks, so that the ligusticum wallichii stalks can be conveyed forward in a stable posture, the ligusticum wallichii stalks can be conveniently recognized by the first clamping mechanism 1 and the second clamping mechanism 2, and the ligusticum wallichii stalks can be accurately sheared by the position of the ligusticum wallichii stalks on the disc, and the ligusticum wallichii stalks are accurately cut by the position of the seedling disc;

In this embodiment, as shown in fig. 3 and fig. 5, the conveying mechanism 6 includes two parallel chain conveying mechanisms, the first and

second clamping mechanisms

1 and 2 are respectively disposed on one chain conveying mechanism, and the two chain conveying mechanisms are driven by a sprocket assembly to ensure motion synchronism, ensure that a relatively stable positional relationship between the first and

second clamping mechanisms

1 and 2 is maintained in a conveying process, avoid dislocation caused by unsynchronized movement between the first and

second clamping mechanisms

1 and 2, and further lead to pulling and breaking of the ligusticum chuanxiong stalks, improve conveying reliability, and further, the circulation paths of the two chain conveying mechanisms are disposed on a plane along a horizontal plane direction, and the two chain conveying mechanisms are disposed at intervals in a height direction, so that the first and

second clamping mechanisms

1 and 2 are disposed at intervals in the height direction, and further, the first preset direction is along a vertical direction, and the length direction of the ligusticum chuanxiong stalks is along the vertical direction when the ligusticum chuanxiong stalks are clamped on a clamp, so that the ligusticum chuanxiong stalks are pulled and straightened for subsequent image equipment and seed cutting.

The clamping mechanisms 1 and 2 of the clamp 10 are elastic clamping mechanisms, the clamping mechanism 1 and 2 clamp and fix the ligusticum stalks by using elastic force, the structure is simple, the implementation is easy, the operation is convenient, the clamping mechanisms 1 and 2 can be opened only by overcoming the elastic force, the ligusticum stalks can be conveniently placed into the clamping mechanisms 1 and 2 to clamp and fix, the residual materials remained on the clamping mechanisms 1 and 2 can be conveniently released and removed after the seed shearing is finished, in the embodiment, as shown in fig. 4, the conveying assembly 100 further comprises a clamping opening mechanism 7, the clamping opening mechanism 7 is arranged at the side of the conveying mechanism 6 to drive the clamping mechanisms 1 and 2 to be opened, the image recognition mechanism 200, the seed shearing mechanism 300 and the clamping opening mechanism 7 are sequentially arranged along the conveying direction of the conveying mechanism 6, that is, the clamp holding the stem of Ligusticum wallichii is firstly subjected to image recognition by the image recognition mechanism 200 under the drive of the conveying mechanism 6 to obtain the position of the node disc of the stem of Ligusticum wallichii, then the clamp holding the stem of Ligusticum wallichii moves to the position of the seed shearing mechanism 300, the seed shearing mechanism 300 shears the stem of Ligusticum wallichii, a small section of residue remains on the first and second clamping mechanisms 1 and 2 after shearing, then the clamp continues to move to the position of the first and second clamping mechanisms 7, the first and second clamping mechanisms 1 and 2 can be opened by the first and second clamping mechanisms 7 respectively, the residue remaining on the first and second clamping mechanisms 1 and 2 after shearing can be automatically released and removed without manual intervention, the efficiency is improved, the labor intensity is reduced, and the first clamping mechanism 7 comprises an air cylinder 71 and a pushing member 72, the pushing member 72 is driven by the air cylinder 71 to move so as to push the first clamping mechanism 1 and the second clamping mechanism 2 to open, specifically, one end of the air cylinder 71 is hinged on a main body support where the conveying mechanism 6 is located, the other end of the air cylinder 71 is hinged with one end of the pushing member 72, the middle part of the pushing member 72 is rotatably connected on the main body support where the conveying mechanism 6 is located, and the air cylinder 71 drives the pushing member 72 to rotate when performing telescopic action, so that the pushing member 72 pushes the first clamping mechanism 1 and the second clamping mechanism 2 to switch the first clamping mechanism and the second clamping mechanism to an open state;

As shown in fig. 5 to 9, in order to improve the reliability of opening the first clamping mechanism 1 and the second clamping mechanism 2, the first clamping mechanism 1 and the second clamping mechanism 2 are respectively provided with a control part 16 for pushing the pushing piece 72, the pushing piece 72 directly acts on the control part 16 when rotating, so that the first clamping mechanism 1 and the second clamping mechanism 2 are opened, in this embodiment, the first clamping mechanism 1 and the second clamping mechanism 2 respectively comprise a first clamping piece 11, a second clamping piece 12 and an elastic mechanism, the elastic mechanism is arranged between the first clamping piece 11 and the second clamping piece 12 to elastically clamp the first clamping piece 11 and the second clamping piece 12, the structure is simple, the implementation is easy, the first clamping piece 11 and the second clamping piece 12 can be separated by reversely overcoming the elastic force of the elastic mechanism, the clamp can put the stem of the ligusticum wallichii to be processed between the first clamp 11 and the second clamp 12 or release and remove the residual materials between the first clamp 11 and the second clamp 12, the operation is convenient and simple, furthermore, the first clamp 11 and the second clamp 12 are respectively provided with a clamping piece 15 for directly clamping and contacting the stem of the ligusticum wallichii, the clamping pieces 15 are flexible pieces, the first clamp 11 and the second clamp 12 clamp and fix the stem of the ligusticum wallichii under the elastic force of the elastic mechanism, the clamping force is too large to cause damage to the ligusticum wallichii stalks, and too small to reliably clamp the ligusticum wallichii stalks for straightening, and the flexible piece is in direct contact with the ligusticum wallichii stalks, so that the contact area with the ligusticum wallichii stalks can be increased, the damage to the ligusticum wallichii stalks caused by the too large force generated on the local part of the ligusticum wallichii stalks is avoided, and the ligusticum wallichii stalks are stably clamped for straightening the ligusticum wallichii stalks;

As shown in fig. 7, the clamping piece 15 is a flexible elastic piece, which may be a metal elastic piece or an elastic piece made of other materials, the flexible elastic piece on the first clamping piece 11 and the flexible elastic piece on the second clamping piece 12 are in mirror symmetry structures, the flexible elastic piece is formed by bending a long strip-shaped metal sheet, the flexible elastic piece comprises a guiding portion 151 and a clamping portion 152, the end portion of the flexible elastic piece is bent in a direction away from the other flexible elastic piece to form the guiding portion 151, an inlet with gradually reduced width is formed between the guiding portions 151 of the two flexible elastic pieces, the guiding function is achieved for the ligusticum chuanxiong straw entering between the two flexible elastic pieces, the ligusticum chuanxiong straw is conveniently clamped between the two flexible elastic pieces, the middle portion of the flexible elastic piece is bent in a direction away from the other flexible elastic piece to form the clamping portion 152, a positioning clamping area with a certain space is formed between the clamping portions 152 of the two flexible elastic pieces, the positioning clamping area is used for accommodating the ligusticum chuanxiong straw, the ligusticum chuanxiong straw can be positioned and fixed on the clamping mechanism 1 and the clamping mechanism 2, and the ligusticum chuanxiong straw can be accurately sheared;

The elastic mechanism consists of an elastic piece 13 and a pin shaft 14, the first clamping piece 11 is fixedly connected with the pin shaft 14 through threads, the second clamping piece 12 is slidably arranged on the pin shaft 14, the elastic piece 13 is specifically a spring, the elastic piece 13 drives the second clamping piece 12 to linearly slide along the pin shaft 14 to approach the first clamping piece 11, namely the elastic piece 13 drives the first clamping piece 11 and the second clamping piece 12 to be in an elastic clamping state, the pin shafts 14 are arranged in parallel, and each pin shaft 14 is respectively sleeved with a spring, so that the accuracy and stability of the movement of the second clamping piece 12 can be improved, and the first clamping mechanism 1 and the second clamping mechanism 2 can be accurately opened and clamped; the clamping device further comprises a cover body 17, wherein the cover body 17 covers the first clamping piece 11 and the second clamping piece 12, specifically, the cover body 17 is fixedly connected with the first clamping piece 11, the cover body 17 covers the movable range of the second clamping piece 12, so that dust and the like can be prevented from entering between the first clamping piece 11 and the second clamping piece 12 to influence normal opening and closing, and long-acting stable operation of the first clamping mechanism 1 and the second clamping mechanism 2 is ensured;

the control part 16 is a deflector rod connected to the second clamping piece 12, the pushing piece 72 rotates under the driving of the air cylinder 71, and when the pushing piece 72 rotates, the control part 16 is pushed to drive the second clamping piece 12 to slide along the pin 14 so as to be far away from the first clamping piece 11, so that the first clamping mechanism 1 and the second clamping mechanism 2 are opened, and the clamping is convenient and rapid to open.

In this embodiment, the first clamping mechanism 1 is fixedly disposed on a chain type conveying mechanism on the upper side of the conveying mechanism 6, the second clamping mechanism 2 has a movable degree of freedom along a connecting line direction between the first clamping mechanism 1 and the second clamping mechanism 2 relative to the chain type conveying mechanism on the lower side of the conveying mechanism 6, specifically, the second clamping mechanism 2 can move up and down relative to the conveying mechanism 6, so that when the first clamping mechanism 1 and the second clamping mechanism 2 respectively clamp two ends of a ligusticum wallichii stalk, the distance between the first clamping mechanism 1 and the second clamping mechanism 2 can be increased through the movement of the second clamping mechanism 2, thereby straightening and fixing the ligusticum wallichii stalk, facilitating the subsequent accurate acquisition of a node disc position on the ligusticum wallichii stalk and the accurate shearing, specifically, the lower chain type conveying mechanism is fixedly connected with a base member 5, the second clamping mechanism 2 is slidably connected on the base member 5 through a sliding guide mechanism 3, the sliding direction of the sliding guide mechanism 3 is along the vertical direction, the second clamping mechanism 2 can slide up and down relative to the conveying mechanism 6, specifically, the sliding guide mechanism 3 comprises a sliding shaft 31 and a sliding sleeve 31, the sliding sleeve 31 is slidably disposed on the sliding sleeve 31 along the vertical direction of the sliding sleeve 31, and the sliding sleeve 31 is further, and the sliding sleeve 32 is slidably mounted along the sliding sleeve 31, and the sliding sleeve 31 is further in the sliding sleeve 32, and the sliding sleeve is arranged along the sliding sleeve 31, and the sliding sleeve is in the sliding sleeve 32, and the sliding sleeve is in the sliding sleeve, and the sliding sleeve is in the sliding sleeve, the sliding sleeve is in the sliding sleeve; in order to keep the ligusticum wallichii stalks in a straightening state, a stretching mechanism is further arranged, the stretching mechanism is used for driving the clamping mechanism II 2 to slide downwards to be away from the clamping mechanism I1, so that the ligusticum wallichii stalks clamped between the clamping mechanism II 2 and the clamping mechanism I1 are straightened, specifically, the stretching mechanism adopts a counterweight 41, the counterweight 41 is connected to the sliding shaft 31, the clamping mechanism II 2 is arranged on the counterweight 41, the gravity direction of the counterweight 41 is downward, and the ligusticum wallichii stalks clamped between the clamping mechanism II 2 and the clamping mechanism I1 are automatically straightened by utilizing the gravity of the counterweight 41 without arranging additional power components. Other types of components can be adopted in the stretching mechanism, for example, an elastic member is adopted in the stretching mechanism, the elastic member can be a spring, an elastic belt and the like, the second clamping mechanism 2 is driven to move in a direction away from the first clamping mechanism 1 by using elastic force applied by the elastic member, and the ligusticum wallichii stalks clamped between the first clamping mechanism 1 and the second clamping mechanism 2 can be automatically straightened, so that the structure is simple, the implementation is easy, and the cost is low.

As shown in fig. 1, the image recognition mechanism 200 in this embodiment mainly includes a camera 201, the camera 201 is opposite to the ligusticum wallichii stalks clamped by the first clamping mechanism 1 and the second clamping mechanism 2 to take a picture, then the data processing unit of the image recognition mechanism 200 performs recognition processing on the image, calculates the position of the node disc and the diameter of the node disc, then the seed cutting mechanism 300 adjusts the position of each cutting unit 310 according to the node disc position of the ligusticum wallichii stalks acquired by the image recognition mechanism 200, thereby realizing precise cutting of the ligusticum wallichii stalks, ensuring that the cutting position falls at a reasonable position on the ligusticum wallichii stalks, avoiding that the cutting position falls at the node disc or is far away from the node disc, ensuring that the cut-off seeds accurately meet the requirements, improving the dimensional accuracy and consistency of the poria cocos seeds, preferably, the image recognition mechanism 200 also includes a background plate 202, the background plate 202 and the camera 201 are respectively located at two opposite sides of the conveying path of the conveying mechanism 6, namely the conveying path of the conveying mechanism 6 passes through the background plate 202 and the camera 201, the image recognition mechanism 1 and the second clamping mechanism 2 are prevented from falling at the node disc or far from the node disc, in other words, and the quality of the image recognition mechanism 200 is improved, and the quality of the image recognition is ensured by the image recognition mechanism 200 is ensured by the image recognition mechanism 2.

The image recognition mechanism 200 acquires an image of a stem of ligusticum wallichii, and extracts coordinate information of each node disc in the stem of ligusticum wallichii based on the image specifically includes:

acquiring a pre-trained neural network model;

inputting the image into the neural network model, and outputting a plurality of target detection frames (x, y, w, h, i) representing the node, wherein (x, y) is the center point coordinate of the target detection frame, w is the width of the target detection frame, h is the height of the target detection frame, and i is the confidence of the target detection frame;

and taking the coordinates (x, y) as the coordinates of the joint disc under a camera coordinate system, and generating the coordinate information of the joint disc under a world coordinate system through coordinate system transformation.

Wherein pre-training the neural network model comprises:

constructing an initialized network model, wherein the network model comprises a semantic segmentation model;

acquiring a training data set and a test data set which are formed by image samples of a joint disc containing artificial marks;

the network model is trained and tested based on the training dataset and the test dataset.

As shown in fig. 10, the seed cutting mechanism 300 includes a plurality of cutting units 310 that are distributed at intervals along a preset direction, that is, the cutting units 310 are distributed at intervals along the length direction of the straightened ligusticum wallichii stalks, the distribution of the sections on the ligusticum wallichii stalks is uneven, and the sections on different ligusticum wallichii stalks are different, so that when each new ligusticum wallichii stalk is cut, the positions of the cutting units 310 are generally required to be adjusted, the labor intensity of a manual adjustment mode is high, each cutting unit 310 is respectively driven by an adjusting mechanism 320 to move along the preset direction, the seed cutting mechanism 300 receives the sections of the ligusticum wallichii stalks obtained by the image recognition mechanism 200, then the adjusting mechanism 320 adjusts the positions of the cutting units 310 according to the sections, the automation degree is high, the labor intensity is reduced, the adjusting efficiency and the precision are improved, and the whole cutting operation efficiency are further improved, the adjusting mechanism 320 can be a cylinder, an electric push rod, a screw pair and the like, the driving direction of the adjusting mechanism 320 is along the preset direction of the cutting units 310, the cutting unit 310 is flexible, the cutting efficiency is enabled to be more accurate, the cutting of the ligusticum wallichii stalks can be more accurately matched with the cutting units 300, and the seed cutting precision is further improved, and the precision of the seed cutting mechanism is more convenient to cut by multiple sections of the ligusticum wallichii stalks is improved, and the precision is more than the cutting mechanism is more than the cutting precision can be cut.

Each shearing unit 310 comprises two shearing members 311 which are arranged at intervals along a preset direction, the distance between the two shearing members 311 in the preset direction is fixed or adjustable, when shearing is performed, the node disc on the stem of the ligusticum wallichii is positioned between the two shearing members 311, namely, the two shearing members 311 are respectively positioned at two axial sides of the node disc, so that the poria cocos seeds can be obtained once by one action of each shearing unit, in other words, a plurality of poria cocos seeds can be obtained by one action of the ligusticum wallichii shearing assembly, the efficiency of shearing seeds is further improved, and the shearing processing time is shortened. The shearing member 311 refers to a device for cutting off the ligusticum wallichii stalks, the shearing member 311 can be various devices with cutting-off functions, in particular can be a component of a type such as an electric saw, a cutter, a scissor and the like, and based on the material characteristics of the ligusticum wallichii stalks, the component of the type such as the cutter, the scissor and the like can be preferably adopted, so that the reliable cutting-off can be ensured, meanwhile, the structure is simplified and compact, the implementation is convenient, the cost is low, and the driving power consumption is low;

specifically, as shown in fig. 11, the cutting member 311 includes a cutting tool 312 and a power mechanism 313 for driving the cutting tool 312 to operate, the power mechanism 313 is a power source for driving the cutting tool 312 to operate, the power mechanism 313 may be a cylinder, a hydraulic cylinder, a motor assembly, etc., the cutting tool 312 may specifically be a cutter, a scissors, etc., and the cutting tool 312 is driven to operate by the power mechanism 313 instead of manual operation, thereby improving the degree of automation, effectively reducing the labor intensity, and improving the efficiency and precision of the cutting operation. In this embodiment, the scissors adopted by the cutting tool 312 include a first scissors blade 3121 and a second scissors blade 3122, the first scissors blade 3121 and the second scissors blade 3122 are hinged on the base 315 of the cutting member 311, the first scissors blade 3121 and the second scissors blade 3122 are respectively in transmission connection with the power mechanism 313 arranged on the base 315 through the crank link mechanism 314, the power mechanism 313 specifically adopts a cylinder, the linear motion of the power mechanism 313 drives the first scissors blade 3121 and the second scissors blade 3122 to rotate through the crank link mechanism 314 so as to cut the ligusticum chuanxiong stalks, the structure is simple and compact, the occupied space is small, the implementation is easy, the cost is low, the action reliability is high, the ligusticum chuanxiong stalks can be reliably cut, and the efficiency of cutting the ligusticum chuanxiong stalks to obtain the poria cocos seeds is ensured;

Preferably, the two shearing members 311 in each shearing unit 310 share a power mechanism 313, so that the structure is more simplified and compact, the occupied volume is reduced, the two shearing members 311 in each shearing unit 310 can synchronously act, the shearing reliability and efficiency are improved, in particular, the single power mechanism 313 is respectively in transmission connection with one cutting tool 312 through a crank connecting rod mechanism 314, the two cutting tools 312 in each shearing unit 310 share rotation shafts, namely, the rotation shafts of one group of first 3121 and second 3122 shearing blades on the base 315 are coaxial with the rotation shafts of the other group of first 3121 and second 3122 shearing blades on the base 315, the structure is compact, and the synchronous and consistent actions of the two cutting tools 312 on each shearing unit 310 are also ensured, so that the ligusticum chuanxiong stalks are efficiently sheared to obtain the poria variety.

Example two

The ligusticum wallichii seed shearing equipment in the first embodiment uses the seed shearing mechanism 300 to shear the ligusticum wallichii stalks to obtain the poria cocos seeds 501 and the discarding section 502 at the same time, only the poria cocos seeds have the planting function, the poria cocos seeds 501 and the discarding section 502 need to be sorted, and the poria cocos seeds 501 and the discarding section 502 fall and discharge together after the seed shearing mechanism 300 shears the ligusticum wallichii stalks, so that the poria cocos seeds and the discarding section are easy to mix together to increase the difficulty of sorting subsequent materials, and therefore, as shown in fig. 12, the sorting mechanism 400 is arranged to sort the ligusticum wallichii stalks while the seed shearing mechanism 300 shears the ligusticum wallichii stalks, so that the poria cocos seeds 501 and the discarding section 502 can be effectively separated;

Specifically, as shown in fig. 13, the sorting mechanism 400 is disposed at a side of the conveying path of the conveying mechanism 6, the sorting mechanism 400 includes a plurality of clamping units 410 for clamping seeds, the clamping units 410 are distributed at intervals along a preset direction, and each clamping unit 410 is movably adjustable along the preset direction;

the clamping unit 410 clamps the position of the tuckahoe seed on the stem of the ligusticum wallichii before the seed shearing mechanism 300 does not perform cutting action, the discarding segment automatically drops and discharges as the seed shearing mechanism 300 does not clamp the seed shearing mechanism, and the tuckahoe seed is temporarily clamped on the clamping unit 410, so that the tuckahoe seed is separated from the discarding segment;

preferably, each clamping unit 410 is driven by the adjusting mechanism 320 to movably adjust along a preset direction, the sorting mechanism 400 receives the node position of the ligusticum wallichii stalk obtained by the image identifying mechanism 200, and then the adjusting mechanism 320 adjusts the position of the clamping unit 410 according to the node position, so that the degree of automation is high, and the position of the clamping unit 410 can be accurately adjusted to enable the clamping unit 410 to accurately clamp the position of the poria cocos seed on the ligusticum wallichii stalk.

Since the seeds are temporarily held on the holding unit 410, a manner of discharging the seeds in a separated manner can be adopted, that is, the discarded segments fall down and discharge firstly because the discarded segments are not held, the seeds are temporarily held on the holding unit 410, the release time of the holding unit 410 can be controlled to control the time of releasing the seeds, so that the discarded segments and the seeds are discharged at different times from the same position, for example, a screening mechanism can be arranged below the holding unit 410, the screening mechanism mainly comprises a funnel with a large upper part and a small lower part, two inverted V-shaped screening channels are arranged at the discharge port of the funnel, a screening door is arranged at the discharge port of the funnel, the screening door is used for controlling the opening and closing of the two screening channels, so that the discarded segments which fall down firstly discharge the materials from one screening channel, then the screening door acts to enable the screening channel through which the discarded segments pass to be closed, then the holding unit 410 releases the seeds to release the seeds, the seeds and discharge the materials along the other screening channel, and the sorting of the materials is realized.

In addition, a manner of discharging the discarded segments and the seeds from different positions may be adopted, specifically, as shown in fig. 14, the sorting mechanism 400 further includes a moving mechanism 422, the clamping unit 410 is driven by the moving mechanism 422 to move to switch between a cutting position and a discharging position, when the clamping unit 410 is in the cutting position, the clamping unit 410 is close to the conveying path of the conveying mechanism 6 to clamp the position of the seeds on the ligusticum wallichii stalks for cutting by the cutting unit 310, and when the clamping unit 410 is in the discharging position, the clamping unit 410 is far away from the conveying path of the conveying mechanism 6 to release the seeds for discharging. The moving direction of the moving mechanism 422 may be defined as a preset direction two, the preset direction two may be set as a straight line direction perpendicular to the preset direction one, and the preset direction two is perpendicular to the conveying path direction of the conveying mechanism 6, after the shearing unit 310 shears the ligusticum stalks, the discarding segment directly falls down to discharge, while the poria cocos seeds are clamped on the clamping unit 410 and cannot fall down along with the discarding segment to discharge, the moving mechanism 422 drives the clamping unit 410 to move along the preset direction two, so that the poria cocos seeds are moved to another position to leave the blanking position of the discarding segment, and then the clamping unit 410 releases the poria cocos seeds for blanking, so that sorting of materials is conveniently and simply realized, and the preset direction two may also be other directions, as long as the poria cocos seeds and the discarding segment can be blanked from different positions respectively; the moving mechanism 422 can drive the clamping unit 410 to move to a plurality of blanking positions along a preset direction II, so that the quality and phase sorting of the poria cocos seeds can be realized, specifically, the image recognition mechanism 200 recognizes and acquires the ratio value of the diameters of all the sections of the ligusticum wallichii stalks conveyed by the conveying assembly 100 to the diameters of the stalks, and the sorting mechanism 400 controls the moving mechanism 422 to move the clamping unit 410 to the blanking positions at a plurality of different positions according to the ratio value of the diameters of all the sections of the ligusticum wallichii stalks acquired by the image recognition mechanism 200, so that the poria cocos seeds with different quality and phase grades can be respectively blanked from different blanking positions, and the quality and phase sorting of the poria cocos seeds can be realized conveniently;

Specifically, extracting the ratio value of the node diameter to the stalk diameter based on the image collected by the image recognition mechanism 200 includes:

sequentially carrying out graying treatment, gaussian blur and binarization treatment on the image to generate a black-and-white image;

extracting the diameter of the stem node disc and the diameter of the stem based on the black-and-white image black connected domain;

and calculating the ratio value of the diameter of the node disc to the diameter of the stalk.

In actual production, it is found that not only the ratio value of the diameter of the node disc to the diameter of the stem is positively correlated with the germination rate of the tuckahoe seed, but also the germination rate of the tuckahoe seed is positively correlated with whether the node disc of the tuckahoe seed has a bud disc, therefore, preferably, after the image recognition mechanism 200 recognizes and acquires the ratio value of the diameter of each node disc to the diameter of the stem of the ligusticum chuanxiong rhizome conveyed by the conveying assembly 100, the recognition and judgment are performed on whether the node disc contains the bud disc, or only the node disc containing the bud disc is sheared to obtain the tuckahoe seed, or all the node discs are sheared to obtain the tuckahoe seed, and then the sorting mechanism 400 performs blanking on the tuck seed from the blanking positions of different positions according to whether the node disc contains the bud disc to realize sorting;

identifying whether a bud disk is contained on the node disk specifically comprises:

Acquiring a pre-trained neural network model; inputting the image into the neural network model, and outputting a plurality of first target detection frames representing the node disc and a plurality of second target detection frames representing the bud disc; when the first target detection frame and the second target detection frame are partially overlapped, judging that the node disc corresponding to the first target detection frame contains the bud disc;

pre-training the neural network model, comprising: constructing an initialized network model, wherein the network model comprises a semantic segmentation model; acquiring a training data set and a testing data set which are formed by image samples of the artificial marked node disc and the artificial marked bud disc; the network model is trained and tested based on the training dataset and the test dataset.

Because the smaller scale of the bud disc in the whole image of the ligusticum wallichii stalk may cause the condition that the model training result is poor, the method for pre-training the neural network model can also be as follows: constructing an initialized network model, wherein the network model comprises a semantic segmentation model; acquiring a training data set and a test data set which are formed by an integral image of a node disc containing artificial marks and a node disc region image sample containing a bud disc; and training and testing the network model based on the training data set and the test data set, wherein the IOU values of the predicted frame and the real frame are deleted during training, and only one real frame is left by using an NMS method.

Further, a material guiding chute 441 is respectively arranged below the shearing position and each discharging position, the material guiding chute 441 receives falling materials and guides the falling materials into each material container 442, the material guiding chute 441 is a smooth inclined surface groove inclined to the horizontal plane, the seeds and the discarding sections can smoothly slide along the inclined surface groove without blocking, the inclined surface groove can reduce the impact generated when the materials fall, the seeds are prevented from being damaged due to the impact, each material container is of a replaceable structure, the new empty material container can be conveniently replaced to receive the stored materials when the materials are fully loaded, and the continuous operation of the whole ligusticum chuanxiong seed shearing device is ensured.

Each clamping unit 410 is driven by one moving mechanism 422 to independently move along the second preset direction, so that each clamping unit 410 is driven by the corresponding moving mechanism 422 to move to the blanking position meeting the requirement of the quality and blanking; or, as shown in fig. 14, all the clamping units 410 are integrally driven by a moving mechanism 422 to move along a second preset direction, the moving mechanism 422 specifically adopts a linear moving mechanism, which may be an air cylinder, a hydraulic cylinder, an electric push rod, a screw pair mechanism, or the like, the moving mechanism 422 drives all the clamping units 410 to integrally move, when all the clamping units 410 integrally move to a blanking position, the clamping units 410 release the tuckahoe seeds meeting the quality and phase requirements of the blanking position, the tuckahoe seeds not meeting the quality and phase requirements are still clamped by the clamping units 410, then all the clamping units 410 integrally move to another blanking position, the clamping units 410 release the tuckahoe seeds meeting the quality and phase requirements of the blanking position, and the like are similarly moved to realize the quality and phase sorting of the tuckahoe seeds.

The clamping unit 410 clamps the seeds and releases the seeds, the seeds may be adhered to the clamping unit, and the seeds can fall down along the gravity direction linearly when the clamping unit 410 releases the seeds, and are easily blocked by the lower parts to influence the discharging reliability, so as shown in fig. 14, the clamping unit 410 is provided with the air blowing assembly 421, the air blowing assembly 421 blows the seeds to discharge when the clamping unit 410 releases the seeds, the air blowing assembly 421 mainly comprises an air nozzle, the air nozzle is connected to an air source through an air pipe, and the air blowing assembly 421 blows high-pressure air to blow the seeds, so that the seeds are prevented from adhering to the clamping unit 410, the seeds are prevented from falling down along a parabolic motion track, the seeds are prevented from falling down linearly and being blocked by the lower parts, and the discharging reliability is improved.

The diameters of the discs of the tuckahoe seeds are different, so that the weight of each tuckahoe seed is different, the adhesion degree of the tuckahoe seed on the clamping unit is also different, in other words, the moving distance of the tuckahoe seed under the blowing action of the air blowing component is different, in other words, the tuckahoe seed is difficult to fall to an accurate position only under the blowing action of the air blowing component, which is unfavorable for accurate sorting, thus as shown in fig. 15 and 16, a baffle mechanism 430 is arranged for guiding the tuckahoe seed blanking, the baffle mechanism 430 comprises a baffle 431 and a baffle driving mechanism 432, the baffle 431 is driven by the baffle driving mechanism 432 to switch between a blocking position and a avoiding position, the baffle 431 is positioned on a path blown by the tuckahoe seed blowing component 421 when the baffle 431 is positioned in the blocking position so as to block and guide the tuckahoe seed to fall, the baffle 431 avoids the clamping unit 410 so as to normally clamp the tuckahoe seed, the baffle 431 is prevented from blocking the position between the clamping unit 410 and the hemlock, the baffle 431 is prevented from normally clamping the position of the tuckahoe seed on the hemlock 410, the baffle 431 is also arranged in a straight line along the blocking position and the baffle 431 and the sliding mode, and the baffle 431 is also arranged in a vertical position opposite to the blocking position, which is similar to the baffle mechanism 430, and is arranged in a vertical position and is opposite to the clamping mechanism, and is in a vertical position, and is opposite to the clamping mechanism, the baffle mechanism 430 integrally moves along the second preset direction under the driving of the moving mechanism 422, when the seed shearing mechanism for ligusticum chuanxiong is operated, the baffle mechanism 430 is firstly in a state that the baffle 431 is in a yielding position, the clamping unit 410 is driven by the moving mechanism 422 to approach the ligusticum chuanxiong stem, the clamping unit 410 clamps the position of the poria cocos seed on the ligusticum chuanxiong stem, then the shearing unit 310 shears the ligusticum chuanxiong stem to separate the poria cocos seed from the ligusticum chuanxiong stem, the reject section 502 directly falls into the material frame, then the clamping unit 410 is driven by the moving mechanism 422 to reversely move, then the baffle mechanism 430 is switched to a state that the baffle 431 is in a blocking position, the moving mechanism 422 drives the clamping unit 410 and the baffle mechanism 430 to integrally move to a position of a required blanking position, the poria cocos seed is loosened by the clamping unit 410, and the air blowing assembly 421 performs an air blowing action, so that the poria cocos seed is blown out and then falls down in a parabola form, the poria cocos seed is impacted on the baffle 431 to be blocked by the baffle 431 and is guided to fall onto a corresponding guide chute 441 below, then the poria cocos seed is guided by the baffle 431 to move along the guide chute, and the position of the guide chute 441 is more accurate, and the material is more slipped down into the material container.

In this embodiment, as shown in fig. 12 to 14, the sorting mechanism 400 and the seed shearing mechanism 300 are independent mechanisms, the sorting mechanism 400 and the seed shearing mechanism 300 are respectively located at two sides of the conveying path of the conveying mechanism 6, and when the clamping units 410 of the sorting mechanism 400 are provided, as shown in fig. 13, 14 and 17, each of the shearing units 310 may only include one shearing member 311, the clamping units 410 clamp the position of the seed carrier on the ligusticum wallichii stalks before the seed shearing mechanism 300 performs the cutting action, the positions of the shearing units 310 are adjusted so that each shearing unit 310 is opposite to one side of the corresponding node disc in the axial direction for cutting, and then each shearing unit 310 is moved to the other side of the node disc in the axial direction (or the whole ligusticum wallichii stalks moves relative to the ligusticum wallichii shearing assembly so that each shearing unit 310 is aligned with the other side of the node disc in the axial direction) for cutting, so as to obtain the seed carrier meeting the size requirement;

of course, each of the shearing units 310 in this embodiment may be the same as the shearing unit 310 described in the first embodiment, that is, each of the shearing units 310 includes two shearing members 311 arranged at intervals along a preset direction, the space between the two shearing members 311 is the length of the seed of the poria cocos, and when the seed is sheared, the node disc on the stem of the ligusticum wallichii is located between the two shearing members 311, and each of the shearing units 310 performs one-time action to obtain the seed of the poria cocos at one time, thereby improving the seed shearing efficiency and shortening the shearing time.

Example III

As shown in fig. 18, the difference from the second embodiment is that the sorting mechanism and the seed shearing mechanism are combined into a composite functional component, that is, the sorting mechanism and the seed shearing mechanism are integrated together, so that the integration level is improved, the occupied volume is reduced, and the single shearing unit 310 and the single clamping unit 410 are connected into a whole to form a single composite functional unit, and each composite functional unit is respectively driven by the adjusting mechanism 320 to be movably adjusted along a preset direction;

specifically, as shown in fig. 18 to 21, each of the shearing units 310 includes two shearing members 311 disposed at intervals along a preset direction, the clamping unit 410 is disposed between the two shearing members 311, the seed shearing device for Ligusticum wallichii adopts a vertical structure, that is, the composite functional units formed by integrally connecting the shearing units 310 and the clamping units 410 are distributed along a vertical interval, the composite functional units of the next layer are disposed below the seeds clamped by the clamping units 410, the clamping units 410 directly loosen the seeds to release the seeds, the seeds are blocked by the functional units below, so that the clamping units 410 are provided with air-blowing assemblies 421, the seeds are blown by the air-blowing assemblies 421, the air-blowing direction of the air-blowing assemblies 421 is horizontal and transverse, so that the seeds drop in a parabolic manner to avoid the composite functional units of the next layer, the reliability of the feeding is improved, the moving mechanism 422 for driving the clamping unit 410 to move along the second preset direction also drives the shearing unit 310 to move along the second preset direction, so as to drive the shearing unit 310 to move in the direction perpendicular to the length direction of the stem of the ligusticum wallichii to feed and retract, the moving mechanism 422 realizes multiple functions, namely, is used for moving the clamping unit 410 to sort materials, is also used for driving the shearing unit 310 to feed and retract, and is also provided with the baffle mechanism 430, the baffle mechanism 430 comprises a baffle 431 and a baffle driving mechanism 432, the baffle 431 is driven by the baffle driving mechanism 432 to switch between a blocking position and a avoiding position, the baffle 431 is positioned on a path blown by the air blowing component 421 when the baffle 431 is in the blocking position so as to block and guide the poria cocos to fall, the poria cocos is impacted on the baffle 431 in the blocking position when the poria cocos falls in a parabolic manner, so that the poria cocos can accurately fall, the accuracy of sorting is improved, the baffle mechanism 430 integrally moves along the second preset direction along with the driving of the shearing unit 310 and the clamping unit 410 under the driving of the moving mechanism 422, specifically, a base piece can be arranged, a plurality of shearing units 310 and clamping units 410 which are distributed along the first preset direction are arranged on the base piece, the shearing units 310 and the clamping units 410 are connected into an integral functional unit, each functional unit has the degree of freedom of movement along the first preset direction, each functional unit is respectively driven by one regulating mechanism 320 to move along the first preset direction, the baffle mechanism 430 is further arranged on the base piece, the moving mechanism 422 integrally drives the second preset direction to move along, and in order to improve the stability and accuracy of the second preset direction of movement of the base piece, a guiding sliding mechanism can be further arranged to guide and limit the movement of the base piece, a guiding chute 441 is respectively arranged below the early shearing position along the moving direction of the moving mechanism 422 and each blanking position, and is respectively used for receiving and guiding the falling materials into each material container 442, the convenience of the shearing mechanism 442 is ensured, and the continuity of production is ensured.

Example IV

As shown in fig. 22, the main difference from the first embodiment is that the opening mechanism 7 is a non-power mechanism, the first and second clamping mechanisms are automatically opened by the opening mechanism 7 in the process of passing through the opening mechanism 7, specifically, the opening mechanism 7 has a protrusion protruding in the direction perpendicular to the conveying direction of the conveying mechanism 6, so that when the first and second clamping mechanisms pass through the opening mechanism 7, the protrusion on the opening mechanism 7 can exert a pushing action on the control part on the first and second clamping mechanisms perpendicular to the conveying direction of the conveying mechanism 6, thereby opening the first and second clamping mechanisms, the first clamping mechanism 1 can be specifically shown in fig. 22, the structure of the first clamping mechanism 1 is basically the same as that of the first clamping mechanism in the first embodiment, specifically, the first clamping member 11 and the second clamping member 12 are included, the first clamping member 11 is fixedly connected with the pin 14, the second clamping piece 12 is arranged on the pin shaft 14 in a sliding way, an elastic piece 13 is arranged between the second clamping piece 12 and the pin shaft 14, clamping pieces 15 for directly clamping and contacting stems of Ligusticum wallichii are respectively arranged on the first clamping piece 11 and the second clamping piece 12, the clamping pieces 15 are specifically flexible elastic sheets, the sliding type lifting device further comprises a cover 17, the cover 17 covers the first clamping piece 11 and the second clamping piece 12, the cover 17 is fixedly connected with the second clamping piece 12, a guide groove 18 perpendicular to the conveying direction of the conveying mechanism is arranged on the cover 17, a driving groove 19 oblique to the conveying direction of the conveying mechanism is arranged on the first clamping piece 11, a control part 16 is a deflector rod which is simultaneously and slidably inserted into the guide groove 18 and the driving groove 19, the second clamping mechanism adopts the same structure as the first clamping mechanism 1, the opening and clamping mechanism 7 can be specifically rotatable guide wheels, and friction resistance can be reduced, as long as the opening and clamping mechanism 7 can exert a pushing action on the control parts on the clamping mechanism one and the clamping mechanism two, when the clamping mechanism one and the clamping mechanism two pass through the opening and clamping mechanism 7, the control part 16 is pushed by the opening and clamping mechanism 7 to slide along the guide groove 18, then the control part 16 enables the clamping member one 11 to move along the conveying direction and away from the clamping member two 12 through the driving groove 19, so that the clamping mechanism one and the clamping mechanism two are opened, and after the clamping mechanism one and the clamping mechanism two completely pass through the opening and clamping mechanism 7, the clamping member one 11 automatically resets to a clamping state close to the clamping member two 12 under the action of the elastic piece 13.

The foregoing is merely a preferred embodiment of the present invention, and it should be noted that the above-mentioned preferred embodiment should not be construed as limiting the invention, and the scope of the invention should be defined by the appended claims. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the spirit and scope of the invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.

Claims

1. The ligusticum wallichii seed shearing equipment is characterized by comprising a conveying assembly (100), an image recognition mechanism (200) and a seed shearing mechanism (300);

the conveying assembly (100) comprises a conveying mechanism (6) and a clamp arranged on the conveying mechanism (6), wherein the clamp comprises a clamping mechanism I (1) and a clamping mechanism II (2), and the clamping mechanism I (1) and the clamping mechanism II (2) are arranged at intervals in a preset direction I so as to respectively clamp two different positions of a ligusticum wallichii stalk;

the image recognition mechanism (200) and the seed shearing mechanism (300) are sequentially arranged at the side of a conveying path of the conveying mechanism (6) along the conveying direction of the conveying mechanism (6);

the image recognition mechanism (200) is used for recognizing and acquiring the position of a node disc of the ligusticum wallichii stalks conveyed by the conveying assembly (100);

The seed shearing mechanism (300) comprises a plurality of shearing units (310) for cutting off the ligusticum wallichii stalks, the shearing units (310) are distributed at intervals along a preset direction, and each shearing unit (310) is driven by an adjusting mechanism (320) to be movable and adjustable along the preset direction;

the seed shearing mechanism (300) adjusts the positions of the shearing units (310) according to the positions of the node discs of the ligusticum wallichii stalks acquired by the image recognition mechanism (200) so as to shear the ligusticum wallichii stalks.

2. The ligusticum wallichii seed cutting device according to claim 1, further comprising a sorting mechanism (400) arranged at the side of the conveying path of the conveying mechanism 6, wherein the sorting mechanism (400) comprises a plurality of clamping units (410) for clamping seeds of poria cocos, the clamping units (410) are distributed at intervals along a preset direction, and each clamping unit (410) is movably adjustable along the preset direction;

the clamping unit (410) clamps the position of the seed of the poria cocos on the stem of the ligusticum wallichii before the seed cutting mechanism (300) does not perform cutting action, and the seed of the poria cocos is temporarily clamped on the clamping unit (410) after the seed cutting mechanism (300) performs cutting action.

3. The ligusticum wallichii seed shearing equipment according to claim 2, wherein the sorting mechanism (400) further comprises a moving mechanism (422), the clamping unit (410) is driven by the moving mechanism (422) to move so as to switch between a shearing position and a blanking position, when the clamping unit (410) is in the shearing position, the clamping unit (410) is close to a conveying path of the conveying mechanism (6) so as to clamp a position of a ligusticum wallichii stalk upper seed for the shearing unit (410) to shear, and when the clamping unit (410) is in the blanking position, the clamping unit (410) is far away from the conveying path of the conveying mechanism (6) so as to release the seed blanking.

4. A ligusticum wallichii seed cutting device according to claim 3, wherein the image recognition mechanism (200) recognizes and acquires the ratio value of the diameter of each node of the ligusticum wallichii stalks to the diameter of the stalks, which are conveyed by the conveying assembly (100), and the sorting mechanism (400) controls the moving mechanism (422) to act according to the ratio value of the diameter of each node of the ligusticum wallichii stalks to the diameter of the stalks, which is acquired by the image recognition mechanism (200), so that the clamping unit (410) moves to a plurality of different positions for discharging positions to separate poria seeds with different grade.

5. The seed cutting device as claimed in claim 4, wherein a guide chute (441) is provided below the cutting position and each of the blanking positions, respectively, for guiding the falling material into the material container (442), respectively.

6. The ligusticum wallichii seed shearing equipment according to claim 2, wherein the clamping unit (410) is provided with an air blowing component (421), and the air blowing component (421) blows seed feeding of the poria cocos when the clamping unit (410) releases the seeds.

7. The ligusticum wallichii seed shearing equipment according to claim 6, wherein the sorting mechanism (400) further comprises a baffle mechanism (430), the baffle mechanism (430) comprises a baffle (431) and a baffle driving mechanism (432), the baffle (431) is driven by the baffle driving mechanism (432) to switch between a blocking position and a avoiding position, and the baffle (431) is positioned on a path of the seeds blown by the air blowing assembly (421) when the baffle (431) is in the blocking position so as to block and guide the seeds to fall.

8. The ligusticum wallichii seed cutting device according to any one of claims 2 to 7, wherein the sorting mechanism (400) and the seed cutting mechanism (300) are combined into a composite functional assembly, the cutting unit (310) and the clamping unit (410) are connected into a whole to form composite functional units, and each composite functional unit is respectively driven by an adjusting mechanism (320) to be movably adjusted along a preset direction.

9. The ligusticum wallichii seed cutting device according to claim 8, wherein each cutting unit (310) comprises two cutting members (311) arranged at intervals along a preset direction, and the clamping unit (410) is arranged between the two cutting members (311).

10. The ligusticum wallichii seed cutting device according to claim 9, wherein the cutting members (311) comprise a cutting tool (312) and a power mechanism (313) for driving the cutting tool (312) to act, and two cutting members (311) in each cutting unit (310) share one power mechanism (313).

11. The ligusticum wallichii seed cutting device according to claim 1, wherein the clamping mechanisms I (1) and II (2) are elastic clamping mechanisms;

the clamping mechanism (7) is arranged at the side of the conveying path of the conveying mechanism (6) so as to drive the clamping mechanism I (1) and the clamping mechanism II (2) to be opened.

12. The seed cutting device according to claim 1, wherein at least one of the first clamping mechanism (1) and the second clamping mechanism (2) has a degree of freedom of movement in a predetermined direction with respect to the conveying mechanism (6) to straighten the stem of Ligusticum wallichii clamped between the first clamping mechanism (1) and the second clamping mechanism (2).