CN116809465A - Impurity picking machine - Google Patents

Abstract

The disclosure provides an impurity picking machine, relates to the technical field of computer vision and material impurity treatment, and is particularly applicable to the picking of bird's nest impurities. The specific implementation scheme is as follows: the impurity picking machine comprises a machine body, a carrying disc, a sliding mechanism, an impurity picking device and a post-treatment assembly. The carrying disc is arranged on the machine body; the sliding mechanism is arranged on the machine body; the base of the impurity picking device is connected with the sliding mechanism, and the impurity picking mechanism is slidably arranged on the base; the first end of the rod body of the impurity picking mechanism is provided with a suction head, the second end of the rod body is provided with a vacuum tube, the outside of the suction head is provided with a fixing part, one side of the fixing part, which is far away from the first end of the rod body, is provided with a pressing plate, and the pressing plate is provided with a picking port; the post-treatment assembly is arranged on the machine body and communicated with the vacuum tube, and is used for treating the impurity picked from the material. According to the technical scheme of the disclosure, the integrated picking treatment process of impurity picking and impurity recycling can be realized, and the impurity picking efficiency and the impurity picking accuracy are improved.

Description

Impurity picking machine

Technical Field

The disclosure relates to the technical field of material impurity treatment, in particular to an impurity picking machine.

Background

In order to ensure the quality of the material, the impurities doped in the material need to be picked. The impurity picking technology in the related art cannot well meet the impurity picking efficiency requirement and the impurity picking rate requirement.

Disclosure of Invention

The present disclosure provides an impurity picking machine.

According to an aspect of the present disclosure, there is provided an impurity picking machine including:

a machine body;

the carrying disc is arranged on the table top of the machine table body and is used for carrying materials containing impurities;

the sliding mechanism is arranged on the machine body and can move relative to the carrying disc;

the impurity picking device comprises a base and an impurity picking mechanism, wherein the base is connected with the sliding mechanism, and the impurity picking mechanism is slidably arranged on the base; the first end of the rod body of the impurity picking mechanism is provided with a suction head, the second end of the rod body is provided with a vacuum tube, the suction head is communicated with the vacuum tube, the outside of the suction head is provided with a fixing part, one side of the fixing part, which is far away from the first end of the rod body, is provided with a pressing plate, and the pressing plate is provided with a picking port;

and the post-treatment assembly is arranged on the machine body and communicated with the vacuum tube and is used for treating impurities picked by the suction head from the materials.

According to the technical scheme of the disclosure, the integrated picking treatment process of impurity picking and impurity recycling can be realized, and the impurity picking efficiency and the impurity picking accuracy are improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.

Drawings

The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a schematic diagram of a configuration of an impurity picking station according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a configuration of an impurity picking station according to an embodiment of the disclosure;

FIG. 3 is a schematic top view of an impurity picking station according to an embodiment of the disclosure;

fig. 4 is a schematic structural view of an impurity picking mechanism according to an embodiment of the present disclosure;

fig. 5 is a schematic structural view of an impurity picking apparatus according to an embodiment of the present disclosure;

fig. 6 is a schematic structural view of an impurity picking apparatus according to an embodiment of the present disclosure;

fig. 7 is a schematic top view of an impurity picking station according to an embodiment of the disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

As shown in fig. 1 to 7, an embodiment of the present disclosure provides an impurity picking machine 300, including: the apparatus includes a table body 310, a carrier plate 320, a sliding mechanism 330, an impurity picking device 200, and a post-processing assembly 350.

The table body 310 is used to mount the tray 320, the slide mechanism 330, and the impurity picking apparatus 200.

The carrier 320 is disposed on the table 321 of the table body 310, and is used for carrying the material containing impurities.

The sliding mechanism 330 is disposed above the table 321 of the machine body 310, and the sliding mechanism 330 is used for driving the impurity picking device 200 connected with the sliding mechanism to move relative to the carrier 320, so that the impurity picking mechanism 100 of the impurity picking device 200 can pick impurities located at any position on the carrier 320.

The impurity picking device 200 includes a base 5 and an impurity picking mechanism 100, the base 5 is connected with a sliding mechanism 330, and the impurity picking mechanism 100 is slidably disposed on the base 5. The rod body 1 of the impurity picking mechanism 100 is internally formed with a conveying cavity 11, and the conveying cavity 11 is communicated with a first end 12 and a second end 13 of the rod body 1. The first end 12 of the wand 1 is provided with a suction head 2 and the second end 13 of the wand 1 is provided with a vacuum tube 3, the vacuum tube 3 being in communication with the second end 13 of the wand 1 for providing suction to the suction head 2. The first end 12 of the rod 1 is an end that is close to the impurity when the impurity picking mechanism 100 is in operation. The suction head 2 is communicated with a vacuum tube 3. The fixed part 4 is arranged outside the suction head 2 and is connected with the first end 12 of the rod body 1, one side of the fixed part 4, which is far away from the first end 12 of the rod body 1, is provided with a pressing plate 41, the pressing plate 41 is used for fixing impurities in materials to be picked, the impurities are prevented from being displaced after being subjected to the force of the fixed part 4 or the suction head 2, and then the suction head 2 cannot accurately pick the impurities. The platen 41 is provided with a pick-up port 42, and the pick-up port 42 is for exposing foreign substances for the suction head 2 to pick up the foreign substances exposed in the pick-up port 42.

The post-treatment assembly 350 is disposed on the machine body 310 and is communicated with the vacuum tube 3, and is used for treating impurities picked from materials by the suction head 2, and filtering and/or collecting the impurities.

According to the embodiment of the disclosure, it is to be noted that:

the upper part of the structure shown in fig. 1 and 5 is defined as an upper position, the lower part of the structure shown in fig. 1 and 5 is defined as a lower position, the left side of the structure shown in fig. 1 and 5 is defined as a left position, the right side of the structure shown in fig. 1 and 5 is defined as a right position, the vertical direction is defined between the upper part and the lower part of the structure shown in fig. 1 and 5, and the horizontal direction is defined between the left side and the right side of the structure shown in fig. 1 and 5.

The structure, shape, size, material, etc. of the carrier plate 320 may be selected and adjusted as needed, and are not particularly limited herein.

The specific structure of the slide mechanism 330 can be selected and adjusted as desired, and is not particularly limited herein. The impurity picking device 200 can be driven to move in any direction on the horizontal plane parallel to the carrier tray 320.

One end of the vacuum tube 3 is communicated with the second end 13 of the rod body 1, the other end of the vacuum tube 3 can be communicated with a vacuum pump, the vacuum pump is utilized to drive the vacuum tube 3 to provide suction force for the suction head 2, so that the suction head 2 can pump impurities into the conveying cavity 11 by vacuum force generated by high-speed airflow and pump the impurities to the outside through the vacuum tube 3.

The material is understood to be bird's nest, tea, chinese medicinal materials, tobacco leaves or grains, etc., and is not particularly limited herein. The impurities are understood to be impurities in the materials such as bird's nest, tea, chinese herbal medicines, tobacco leaves or grains, and the like, and are not particularly limited herein.

The material, shape, size, etc. of the rod body 1 can be selected and adjusted as needed, and are not particularly limited herein. The conveying cavity 11 of the rod body 1 may be a linear or zigzag cavity, and is not particularly limited herein. The first end 12 and the second end 13 of the rod 1 may be two opposite ends, or may be two openings located in different spatial orientations, and may be adjusted according to the shape of the rod 1, which is not limited herein.

The specific structure of the suction head 2 is not particularly limited, and it is only necessary to suck impurities from materials under the action of vacuum negative pressure.

The structure, material, shape, size, etc. of the fixing portion 4 can be selected and adjusted as needed, and are not particularly limited herein. Can realize pressing the impurity when picking impurity, prevent impurity displacement can. The size of the pressing plate 41 of the fixing portion 4 and the caliber of the picking port 42 can be selected and adjusted according to the size of the impurity. When the impurity size is large, the size of the pressing plate 41 and the caliber of the picking port 42 can be increased accordingly, so that the impurity can be picked out smoothly. When the impurity size is small, the size of the pressing plate 41 and the aperture of the picking port 42 can be reduced accordingly to ensure that the impurity is picked out smoothly.

The specific device configuration used for the filtering and collecting functions of the aftertreatment assembly 350 is not limited herein, and may be capable of further filtering and/or collecting the impurities pumped by the impurity picking mechanism 100.

According to the technology of the embodiment of the disclosure, the impurity picking machine 300 of the embodiment of the disclosure can meet the schemes of different factory environments, different material scenes, different carrier plate 320 sizes and different image acquisition devices. Through setting up aftertreatment subassembly 350, can realize the integration treatment process of choosing impurity, after impurity in impurity is picked the device 200 and is accomplished the impurity in the material and pick, can do further filtration to the material (the material of loss) that suction head 2 suction in-process was followed impurity and is sucked in the lump, remains the material of loss as far as, reduces the material loss rate. By providing the slide mechanism 330, the impurity picking apparatus 200 can be made to realize movement in any degree of freedom in the horizontal direction so as to pick impurities located at any position on the carrier tray 320. The tiny impurity of free in water drifts along with water easily, through setting up fixed part 4, can realize treating the impurity of picking and fix, prevents when impurity is picked to suction head 2, and impurity produces the displacement and can't be accurate pick impurity. The suction head 2 can realize rapid suction and picking of impurities, and has high picking speed and high picking precision. Under the cooperation of the pressing plate 41 of the fixing part 4, impurities fixed by the pressing plate 41 can be accurately picked out from materials.

In one example, the impurity picking machine 300 of the embodiments of the present disclosure may be applied to pick impurities in bird's nest. For example, fine impurities in the initially picked swallow silk are picked. The bird's nest is made by cementing fresh sedge, seaweed and soft plant weaving and maintaining mixed fluff and saliva by using swiftlet or the like, and is always considered as a high-grade tonic. The high-quality bird's nest has high requirements on the cleanliness of the bird's nest, even if the bird's nest is cleaned, the bird's feather and various foreign matters need to be picked out of the bird's nest. The process of picking up the impurities in the bird's nest is a necessary procedure before eating the bird's nest with confidence, the bird's nest is required to be dispersed Cheng Yansi before picking up, and soaking water is spread on the carrying tray 320, so that various impurities are picked up from the bird's nest by using the suction head 2 of the impurity picking machine 300 in the embodiment of the disclosure. Impurity picking machine 300 of the disclosed embodiments is capable of picking impurities from bird's nest including, but not limited to: colored impurities such as bird's hair, small black dot particles, fibers, yellow silk, yellow bird's slices, wood chips, metal chips, stones, worms, hair and the like, and white impurities such as nails, paper chips, plastic threads, plastic slices, eggshells, egg white, proteins, thread heads, foams, bird's strips and the like. The impurity picking machine 300 of the embodiment of the present disclosure is to limit the loss of the swallow silk sucked by the suction head 2 in vacuum, and the suction head 2 is provided with the fixing portion 4 having the pressing plate 41, so that the swallow silk can be left on the carrier plate 320 while the impurities are picked out.

In one example, the impurity picking mechanism 100 of the embodiment of the present disclosure may be a suction pen structure composed of a rod body 1 and a suction head 2. Wherein, the rod body 1 is used as a pen holder of a suction pen structure, and the suction head 2 is used as a pen point of the suction pen structure.

In one example, the outer edge of the cleaner head 2 may be provided as a circle. The pressing plate 41 may be provided in a ring-like structure.

In one example, the impurity picking mechanism 100 comprises at least two impurity picking mechanisms 100, the at least two impurity picking mechanisms 100 are slidably arranged on the base 5, the at least two impurity picking mechanisms 100 reciprocate between a first direction and a second direction relative to the base 5, and the diameters of the suction heads 2 of each impurity picking mechanism 100 in the at least two impurity picking mechanisms 100 are different for picking impurities with different sizes through the suction heads 2 with different diameters.

According to the embodiment of the disclosure, it is to be noted that:

the first direction, as shown in figure 5, can be understood as the direction in which the cleaner head 2 moves vertically downwards.

The second direction, as shown in figure 5, can be understood as the direction in which the cleaner head 2 moves vertically upwards.

The base 5 is used to secure at least two impurity picking mechanisms 100. The base 5 is also used to mount at least two impurity picking mechanisms 100 to respective associated equipment when the impurity picking apparatus 200 is to be used with other equipment. The specific structure, shape, size, material, etc. of the base 5 can be selected and adjusted as needed, and are not particularly limited herein.

The number of the impurity picking mechanisms 100 may be selected and adjusted as desired, and is not particularly limited herein. Depending primarily on the mode of picking and the size requirements of the impurity to be picked. For example, when the impurities are classified into two size classes, the impurity picking mechanism 100 may be two. When the impurities are classified into three size classes of large, medium, and small, the impurity picking mechanism 100 may be three.

The impurity picking mechanism 100 is slidably disposed on the base 5, which means that the impurity picking mechanism 100 can perform sliding motion with respect to the base 5. The impurity picking mechanisms 100 may be movable with respect to the base 5, or may be linked. For example, a plurality of impurity picking mechanisms 100 may perform the impurity picking operation together. As another example, one impurity picking mechanism 100 performs an impurity picking operation, and the remaining impurity picking mechanisms 100 do not perform an impurity picking operation.

According to the technology of the embodiment of the disclosure, by arranging at least two impurity picking mechanisms 100, different suction heads 2 can be driven according to the different forms of impurities, so that the picking loss is reduced, the impurities with different sizes are continuously picked in one impurity picking process, the machine pause time of impurity picking is reduced, and the impurity picking efficiency, the impurity continuous picking speed and the impurity picking precision are improved. Particularly for materials with higher impurity densities, the manner in which the embodiments of the present disclosure provide at least two impurity picking mechanisms 100 may significantly improve the efficiency of impurity picking.

In one example, the number of impurities per 10g of bird's nest can be as high as several hundred, if the force is improperly controlled, single-point multiple picking can cause serious damage to the integrity of the bird's nest, and each picking can take away a part of bird's nest more, so that the mechanical picking loss is the biggest pain point that bird's nest manufacturers cannot generally introduce mechanical picking on a large scale to date. To above-mentioned problem, this disclosed embodiment adopts the suction pen of different small-bore to carry out accurate suction, no matter to free impurity, the impurity in the swallow silk of attached bird's nest, or the impurity of condensation in the swallow silk inside of bird's nest, the impurity of this disclosed embodiment is picked device 200 all can be accurate efficient with the impurity pick out therefrom. Meanwhile, under the action of the pressing plate 41, the suction head 2 can be enabled to have smaller pinching wound surface of the swallow silk, the sorting rate is higher, the cleaning effect especially for various fine impurities is obvious, and the manual operation can be completely replaced.

In one embodiment, the impurity picking machine 300 further includes a waste discharging area 380 disposed on the table 321 and located within a travel range of the sliding mechanism 330, for accommodating impurities blocked in the suction head 2 blown out by the suction head 2.

According to the embodiment of the disclosure, it is to be noted that:

The specific structure of the waste region 380 may be set as desired, and is not particularly limited herein. For example, the waste region 380 may be a hollow cylindrical structure extending into the mesa 321, may be a disk-like structure located in the mesa 321, or the like.

According to the technology of the embodiment of the disclosure, a waste discharge area 380 is arranged outside a machine table surface, when the impurity picking mechanism 100 is blocked, the sliding mechanism 330 can drive the impurity picking mechanism 100 to automatically translate to the waste discharge area 380, the vacuum tube 3 is used for sucking and blowing out the suction head 2, so that blocked impurities are blown out of the suction head 2, and when the suction head 2 is recovered to be normal in negative pressure, the picking operation is continued. In the actual impurity picking scene, the impurity forms are different, and the individual long strip-shaped impurities such as fibers and yellow wires or the blocky impurities such as yellow swallow sheets can be conveyed to the waste discharge area 380 through the sliding mechanism 330 after being adsorbed by the suction head 2 and then discharged, so that the suction head 2 adapting to the strip-shaped or blocky impurities does not need to be independently manufactured to adapt to the impurity forms.

In one embodiment, the carrier plate 320 is slidably disposed on the table 321 by the slider 360, and the carrier plate 320 is detachably connected to the slider 360. With the boat 320 slid along the slider 360 to the first position, the boat 320 is positioned within the table 321. With carrier platter 320 slid along slider 360 to the second position, carrier platter 320 is located outside mesa 321. The carrying tray 320 can be pulled and replaced relative to the table 321 to form a drawer type structure.

According to the embodiment of the disclosure, it is to be noted that:

the detachable connection manner of the carrier plate 320 and the slider 360 may be selected and adjusted according to the need, and is not particularly limited herein. Ensuring that the carrier plate 320 and the slider 360 can be firmly connected and can be smoothly removed from the slider 360 for replacement.

The slider 360 may be understood as any mechanism known in the art capable of sliding the drive boat 320 relative to the table 321. For example, the slider 360 may be a slide rail mechanism.

According to the technology of the embodiment of the disclosure, as the impurity picking time is counted in minutes, the material is paved on the carrier plate 320, and the carrier plate 320 is replaced in seconds, the efficiency of loading and unloading (the carrier plate 320) can be improved by sliding, pulling and replacing the carrier plate 320, and the technology is more suitable for planning production beats in a workshop scene.

In one example, a square white plastic tray surface with a flat height (the tray surface height difference of the carrier tray 320 is not more than 0.5 mm) and clean (no obvious abnormal color points or scratches) is used for accommodating the bird's nest, and shallow edges are arranged around the square white plastic tray surface to prevent water for soaking the bird's nest from overflowing. During loading and unloading, the drawer type carrying disc 320 (after impurity picking) is pulled out from the interior of the machine, then a new carrying disc 320 is replaced (to be subjected to impurity picking), and after the carrying disc 320 is placed, the carrying disc 320 is pushed back to the machine; the carrier platter 320 may be self-locking on the table top 321 when pushed back to the first position. The carrier plate 320 may be integrally formed to prevent bacterial growth from the suture residue.

In one embodiment, carrier platter 320 is made of acrylic material. According to the embodiment of the disclosure, the carrier plate 320 is made of acrylic material, so that the carrier plate 320 has good weather resistance and acid and alkali resistance, and does not generate phenomena of yellowing, hydrolysis and deformation due to sunburn and rain over the long term. So that the carrier platter 320 has a long service life, at least three years longer, as compared to other material articles. So that the carrier plate 320 has strong impact resistance, which is sixteen times that of the common glass. The carrier plate 320 has strong plasticity, large modeling change, easy processing and forming and better ductility and flatness. So that the carrier plate 320 is convenient to maintain and easy to clean, rainwater can be naturally cleaned, or the carrier plate can be scrubbed by soap and soft cloth, etc.

In one embodiment, aftertreatment assembly 350 includes a filter 351 including a housing having a first inlet 3511 and a first outlet 3512 disposed therein, a filter screen 3513 disposed between first inlet 3511 and first outlet 3512, and vacuum tube 3 in communication with first inlet 3511. The screen 3513 may be 40 mesh or higher to ensure that solid impurities remain in the screen 3513 with the material being sucked out. For example, when the bird's nest is picked up by impurities, a small amount of bird's nest threads may be sucked out along with the impurities, and the bird's nest threads can be intercepted by the filter screen 3513, so that the loss of bird's nest materials is reduced.

According to the embodiment of the disclosure, it is to be noted that:

the specific structure and dimensions of the housing are not particularly limited herein. The first inlet 3511 and the caliber are matched with the vacuum tube 3. The positions of the first outlet 3512 and the first inlet 3511 may be adjusted as needed, and are not particularly limited herein.

According to the technology of the embodiment of the disclosure, by arranging the filtering device 351, the solid materials sucked out together can be intercepted on the filter screen 3513, so that the partial materials are collected again, and the loss of the materials in the picking process is reduced.

In one embodiment, aftertreatment assembly 350 further includes a recovery device 352, recovery device 352 including a cup having a second inlet 3521 and a second outlet 3522 disposed thereon, second inlet 3521 in communication with first outlet 3512. The recovery device 352 is used for collecting the sucked out fine impurities.

According to the embodiment of the disclosure, it is to be noted that:

the specific structure and dimensions of the cup are not particularly limited herein. The second inlet 3521 and the caliber are matched with the first outlet 3512. The positions of the second outlet 3522 and the second inlet 3521 may be adjusted as needed, and are not particularly limited herein.

The second outlet 3522 may be provided with a valve, and may be discharged through the second outlet 3522 when the impurities in the cup are excessively collected.

According to the technology of the embodiment of the present disclosure, by providing the recovery device 352, the impurity picking process of the impurity picking machine 300 can be continuously performed, and the efficiency of impurity picking is improved.

In one embodiment, a liquid level sensor is provided on the cup.

According to the embodiment of the disclosure, it is to be noted that:

the liquid level sensor may be any sensor capable of detecting a liquid level in the prior art, and is not particularly limited herein.

According to the technology of the embodiment of the disclosure, through setting up level sensor, the impurity collection condition in the real-time supervision cup can be when monitoring that impurity holds excessively, can guarantee recovery unit 352 in time with impurity discharge to follow-up continuing to carry out impurity collection.

In one embodiment, the cup is provided with an exhaust port.

According to the embodiment of the disclosure, it is to be noted that:

the number and arrangement positions of the exhaust ports can be adjusted as needed, and are not particularly limited herein.

By providing an exhaust port, aftertreatment assembly 350 may be kept dry and unobstructed throughout, in accordance with techniques of embodiments of the present disclosure.

In one embodiment, the impurity picking machine 300 further includes a first image capturing device 370 disposed on the sliding mechanism 330 for capturing images of the material. The first image capturing device 370 may be used before the impurity picking mechanism 100 picks up impurities, and captures images of materials to be picked in advance, and then identifies impurities to be picked therefrom, so that the impurity picking mechanism 100 can pick the identified impurities.

According to the embodiment of the disclosure, it is to be noted that:

the setting position of the first image capturing device 370 on the sliding mechanism 330 may be selected and adjusted as required, so as to ensure that the capturing field of view of the first image capturing device 370 is not interfered by the impurity picking device 200.

The first image capturing device 370 may be any photographing apparatus in the related art, and is not particularly limited herein. For example, the first image capturing device 370 may employ a video camera, a still camera, or the like.

The impurity recognition may be performed by a model, and the image acquired by the first image acquisition means 370 is input into a pre-trained model, and the impurity is recognized from the image by the model. The model may be an image recognition model in the prior art, and is not particularly limited herein. The adaptive impurity picking mechanism 100 is selected according to the morphological characteristics of the identified impurities (the specifications of the suction heads 2 of different impurity picking mechanisms 100 are different, so that the impurity suction of different sizes is realized), and the picking coordinates are determined according to the outline centroid of the impurities. The picking coordinates are used for the impurity picking device 200 to perform impurity picking.

According to the technology of the embodiment of the disclosure, by setting the first image acquisition device 370, the impurities in the material can be accurately identified, so that the impurity picking device 200 can be moved to the corresponding impurity position according to the identification result to pick the impurities.

In one embodiment, the sliding mechanism 330 includes a first sliding rail 331 and a second sliding rail 332, the first sliding rail 331 is disposed on the machine body 310, the second sliding rail 332 is slidably disposed on the first sliding rail 331, and the base 5 of the impurity picking device 200 is slidably disposed on the second sliding rail 332. The first sliding rail 331 and the second sliding rail 332 are disposed parallel to the table 321, and a sliding direction of the second sliding rail 332 on the first sliding rail 331 is perpendicular to a sliding direction of the base 5 on the second sliding rail 332.

According to the embodiment of the disclosure, it is to be noted that:

the number of the first slide rail 331 and the second slide rail 332 may be selected and adjusted as needed, and is not particularly limited herein. For example, to ensure the smoothness of sliding, two first sliding rails 331 may be disposed at intervals and in parallel, and two second sliding rails 332 may be disposed at intervals and in parallel. The two second sliding rails 332 are slidably disposed between the two first sliding rails 331. The base 5 of the impurity picking apparatus 200 is slidably disposed between the two second slide rails 332.

According to the technology of the embodiment of the present disclosure, by the first slide rail 331 and the second slide rail 332, movement of the impurity picking device 200 at an arbitrary position in the horizontal direction can be achieved. Meanwhile, the impurity picking mechanism 100 is matched with the lifting movement of the base 5 in the vertical direction, so that the impurity picking device 200 can move in all directions, and impurities at any position on the carrier plate 320 can be picked. The impurity picking machine 300 according to the embodiment of the present disclosure may implement three-axis linkage motion (x-axis, y-axis, and z-axis) by matching the sliding mechanism 330 with the impurity picking device 200, and perform omnibearing high-speed movement and picking on the carrier tray 320. Meanwhile, the first image acquisition device 370 or the second image acquisition device 9 is matched on the basis, so that the accurate picking of impurities in materials can be realized by matching with a vision technology.

In one embodiment, the impurity picking mechanisms 100 are at least two, at least two impurity picking mechanisms 100 reciprocate between the first direction and the second direction relative to the base 5, and the diameters of the suction heads 2 of the at least two impurity picking mechanisms 100 are different, so as to respectively pick impurities with different sizes.

According to the technology of the embodiment of the present disclosure, in the case where the impurity picking mechanisms 100 are at least two, each impurity picking mechanism 100 may implement linkage through a transmission mechanism, so that one impurity picking mechanism 100 of the at least two impurity picking mechanisms 100 moves in a first direction while the other impurity picking mechanisms 100 move in a second direction, wherein the first direction is opposite to the second direction.

In one embodiment, the side wall of the fixing portion 4 is provided with at least one pressure relief opening 43, and the pressure relief opening 43 is used to communicate the inner space of the fixing portion 4 with the outer space of the fixing portion 4.

According to the embodiment of the disclosure, it is to be noted that: the shape, number and arrangement position of the pressure release openings 43 on the fixing portion 4 can be selected and adjusted as needed, and are not particularly limited. For example, two pressure relief openings 43 may be provided, and the two pressure relief openings 43 are symmetrically arranged on the fixing portion 4.

According to the technology of the embodiment of the disclosure, due to the pressure relief opening 43, when the impurity blocks the picking opening 42 of the fixing portion 4, the pressure relief opening 43 can relieve pressure of the inner space of the fixing portion 4, so that the suction head 2 is effectively prevented from continuing vacuum suction under the condition that the impurity blocks the picking opening 42, and the fixing portion 4 is cracked and damaged due to overlarge pressure.

In one embodiment, the suction head 2 and/or the first end 12 of the wand 1 are provided with a pressure sensor for detecting the value of the vacuum pressure within the vacuum tube 3. When the pressure sensor detects that the vacuum pressure value is higher than the first pressure threshold value, it indicates that the impurity picking mechanism 100 has an impurity blocking condition. When the pressure sensor detects that the vacuum pressure value is lower than the second pressure threshold value, it is indicated that the vacuum tube 3 of the impurity picking mechanism 100 has an air leakage condition.

According to the embodiment of the disclosure, it is to be noted that:

the pressure sensor can be any pressure detection device in the prior art, such as a vacuum negative pressure meter, a differential pressure sensor, an absolute pressure sensor and the like.

According to the technology of the embodiment of the disclosure, by setting the pressure sensor, whether the impurity picking mechanism 100 has the impurity blocking or the vacuum tube 3 is damaged and leaked can be monitored in real time, so that the impurity picking mechanism 100 can always operate in a good working state, and the impurity picking efficiency is improved.

In one embodiment, the impurity picking apparatus 200 further includes a water spraying mechanism 6, the water spraying mechanism 6 including a nozzle 61 and a pipe 62, the nozzle 61 being connected to the base 5, the pipe 62 being connected to the nozzle 61, the pipe 62 being used to convey liquid to the nozzle 61. The nozzle 61 is used to eject the liquid conveyed in the pipe 62. The line 62 may be connected to a water pump by which liquid is smoothly and rapidly delivered to the spray head 61 via the line 62.

When the material is a material such as bird's nest, which requires impurity picking in a wet state, the shower head 61 is used to replenish water when the fixing portion 4 is lowered in order to prevent the impurity position from drifting due to water replenishment. Before picking, dividing the bird's nest into 1-3 mm thick bird's nest, wetting with water, uniformly spreading on a carrying disc 320 in a single layer, and making the water depth of the carrying disc 320 relative to the bird's nest be equal to that of the bird's nest; the impurity picking mechanism 100 takes away a part of moisture every time, and the water spraying mechanism 6 can keep the humidity of the carrier plate 320 after supplementing moisture, so as to facilitate impurity picking.

According to the technology of the embodiment of the disclosure, through the arrangement of the water spraying mechanism 6, water can be supplemented for materials in time, and the success rate of impurity selection in the materials is improved.

In one example, the type of the spray head 61 is not particularly limited herein, and may be selected and adjusted as needed, for example, a water mist spray head, a shower head, or the like may be employed.

In one embodiment, the impurity picking apparatus 200 further includes a third elastic member 7 disposed at a position of the base 5 near the second direction, the third elastic member 7 corresponding to the positions of the at least two impurity picking mechanisms 100, and the third elastic member 7 being in contact with any impurity picking mechanism 100 in the case where any impurity picking mechanism 100 of the at least two impurity picking mechanisms 100 moves toward the second direction.

According to the embodiment of the disclosure, it is to be noted that:

the third elastic member 7 may be any member having deformability in the prior art, and is not particularly limited herein. For example, springs, resilient shims, resilient snap springs, etc. may be employed.

According to the technology of the embodiment of the disclosure, the third elastic piece 7 can enable the impurity picking mechanism 100 to adapt to the hardness of different materials, can adapt to the impurity when the impurity fluctuates in the materials, and ensures the impurity picking success rate of the suction pen. Meanwhile, the buffer function is achieved. And prevent that when the planarization of the tray 320 holding the material is not good, the impact force of the tray 320 on the suction head 2 can be buffered, so as to avoid passivation of the suction head 2.

In one embodiment, the impurity picking mechanism 100 is liftably connected to the base 5 by a transmission mechanism, the transmission mechanism includes a slide rail disposed on the base 5, and the impurity picking mechanism 100 is slidably connected to the slide rail, so that the impurity picking mechanism 100 reciprocates relative to the base 5. The slide rail is used for guiding the impurity picking mechanism 100, so that the impurity picking mechanism 100 can move along the vertical direction towards the first direction and the second direction.

According to the embodiment of the disclosure, it is to be noted that:

in the case where the impurity picking mechanisms 100 are at least two, each impurity picking mechanism 100 may be linked by a transmission mechanism, so that one impurity picking mechanism 100 of the at least two impurity picking mechanisms 100 moves in a first direction while the other impurity picking mechanisms 100 move in a second direction, wherein the first direction is opposite to the second direction.

The structure of the sliding rail can be selected and adjusted according to the requirement. For example, the slide rail may be a bar-shaped groove provided on the base 5 recessed into the base 5. For another example, the sliding rail may be a strip-shaped protrusion of the protruding base 5 provided on the base 5.

According to the technology of the embodiment of the disclosure, the transmission mechanism is connected with each impurity picking mechanism 100, so that the impurity picking mechanisms 100 can be linked simultaneously, and when the impurity picking mechanism 100 for picking the impurity action moves towards the impurity along the first direction, the impurity picking mechanisms 100 for not picking the impurity action can move towards the position far away from the impurity along the second direction, so that the impurity picking mechanism 100 for not picking the impurity action is prevented from interfering with the impurity picking mechanism 100 for picking the impurity action. By arranging the slide rail on the base 5, the impurity picking mechanism 100 driven by the transmission mechanism can play a guiding role, so that the impurity picking mechanism 100 can accurately move to a position corresponding to the picking port 42 of the fixing portion 4, and then impurity picking is realized.

In one embodiment, the impurity picking mechanism 100 is connected to the slide rail through a slide member 360, and a lifting mechanism 82 is disposed between the impurity picking mechanism 100 and the slide member 360, and the lifting mechanism 82 is used to drive the impurity picking mechanism 100 to reciprocate between the first direction and the second direction.

According to the embodiment of the disclosure, it is to be noted that:

the lifting mechanism 82 may be any mechanism capable of driving the connected components to reciprocate in the prior art, and is not particularly limited herein. For example, the jacking mechanism 82 may be a hydraulic lever, a hydraulic cylinder, a pneumatic lever, a pneumatic cylinder, a rack and pinion mechanism, or the like.

According to the technology of the embodiment of the present disclosure, the position of the suction head 2 can be precisely controlled by providing the jacking mechanism 82, and the picking requirements of different picking modes and different types of impurities can be satisfied by changing the position of the suction head 2. For example, when the picking mode is to suck the impurities, the lifting mechanism 82 can control the suction head 2 to keep a certain interval with the picking port 42, so that the excessive suction force is avoided to pick the materials and the impurities together.

In one embodiment, the slider 360 is coupled to a motor 83, and the motor 83 is used to drive the slider 360 to slide along the slide rail.

According to the embodiment of the disclosure, it is to be noted that:

the motor 83 may be any motor 83 structure in the prior art, and is not specifically limited herein, and may be capable of driving the sliding member 360 to slide along the sliding rail. For example, the motor 83 may be a linear motor, a servo motor, or the like.

According to the technique of the embodiment of the present disclosure, the impurity picking mechanism 100 can be driven to translate at a high speed with extremely high acceleration by the motor 83 driving, and the picking efficiency of the single impurity picking mechanism 100 is improved.

In one embodiment, the impurity picking apparatus 200 further includes a second image capturing device 9 disposed on the base 5 for capturing images of the material. The second image pickup device 9 can pick the impurity in the impurity picking mechanism 100, and perform real-time image pickup on the surrounding area of the picked impurity, so as to better observe whether the impurity picking mechanism 100 accurately picks the impurity and whether the impurity is picked cleanly. The second image pickup device 9 may also be used before the impurity picking mechanism 100 picks up impurities, and performs image pickup on the material to be picked in advance, and then identifies the impurities to be picked therefrom, so that the impurity picking mechanism 100 can pick the identified impurities.

According to the embodiment of the disclosure, it is to be noted that:

the setting position of the second image acquisition device 9 on the base 5 can be selected and adjusted as required, so that the acquisition view of the second image acquisition device 9 is ensured not to be interfered by the impurity picking mechanism 100. The second image capturing device 9 may be any capturing apparatus in the prior art, and is not specifically limited herein. For example, the image capturing device may employ a video camera, a camera, or the like.

According to the technology of the embodiment of the present disclosure, by setting the second image acquisition device 9, accurate recognition of impurities in a material can be achieved, and when the impurity picking mechanism 100 picks impurities, the picking condition of the impurities can be observed in real time.

In one embodiment, a protective cover is provided outside the image acquisition end of the second image acquisition device 9. The protective cover is used for protecting the image acquisition end and preventing the image acquisition end from shielding the acquisition visual field by impurities, liquid or dust.

According to the embodiment of the disclosure, it is to be noted that:

the specific structure, shape and size of the protective cover can be adjusted according to the image acquisition end, so that the protective cover can be arranged outside the image acquisition end without interfering with the image acquisition end.

According to the technology of the embodiment of the disclosure, the shielding cover is arranged to prevent the acquisition view of the image acquisition end of the second image acquisition device 9 from being shielded by external impurities, liquid or dust, so that the accuracy of image acquisition is improved.

In one embodiment, the fixing portion 4 is connected to the first end 12 of the rod body 1 by a first elastic member 44. The first elastic member 44 can adapt the hardness of the fixing portion 4 to different materials, and plays a role in buffering to prevent the fixing portion 4 from damaging the materials.

And/or the suction head 2 is connected to the first end 12 of the wand 1 via a second resilient member 21. The second elastic piece 21 can enable the suction head 2 to adapt to the hardness of different materials, and plays a certain buffering role at the same time, so that the suction head 2 is prevented from being suddenly stretched out through the picking port 42 to damage the materials containing impurities. For example, when the material is bird's nest, due to the soft and brittle texture of the bird's nest, when the suction head 2 moves too fast, the pressure when contacting the bird's nest is likely to crush or break the bird's nest, resulting in reduced bird's nest quality.

According to the embodiment of the disclosure, it is to be noted that:

the first elastic member 44 and the second elastic member 21 may be any members having a deformability in the prior art, and are not particularly limited herein. For example, springs, resilient shims, resilient snap springs, etc. may be employed.

According to the technology of the embodiment of the disclosure, the first elastic piece 44 is arranged, so that the fixing portion 4 can adapt to the hardness of different materials, and meanwhile, a certain buffering effect is achieved, and the fixing portion 4 is prevented from damaging the materials. Through setting up second elastic component 21, can play the cushioning effect to suction head 2 to and make suction head 2 can adapt to the material of different hardness textures when picking, prevent that suction head 2 from damaging the integrality of material, and guarantee that suction head 2 picks impurity smoothly from the material, can not be because suction head 2 and impurity's contact pressure is too big, and lead to the impurity to be picked the separation smoothly from the material. Meanwhile, the second elastic piece 21 is arranged, so that collision damage to the suction head 2 can be avoided when the carrying disc 320 for placing materials is uneven.

In one embodiment, the cleaner head 2 is detachably arranged at the first end 12 of the wand 1.

According to the technology of the embodiment of the disclosure, since the suction head 2 is detachably connected with the first end 12 of the rod body 1, when impurities are blocked on the suction head 2, timely replacement of the suction head 2 can be realized, and the impurity picking work can be continuously and smoothly performed, so that the impurity picking efficiency cannot be affected due to cleaning of the impurities in the suction head 2. And, can realize changing corresponding suction head 2 according to different impurity sizes and impurity categories to satisfy the requirement of picking of impurity.

In one embodiment, the fixing portion 4 is detachably disposed at the first end 12 of the rod body 1.

According to the technology of the embodiment of the disclosure, since the fixing portion 4 is detachably connected with the first end 12 of the rod body 1, when the impurity is blocked in the picking port 42 of the fixing portion 4 or in the fixing portion 4, the fixing portion 4 can be replaced in time, so that the impurity picking work can be ensured to be continued smoothly, and the impurity picking efficiency is not affected by cleaning the impurity in the fixing portion 4. And, can realize changing corresponding fixed part 4 according to different impurity sizes and impurity categories to satisfy the requirement of picking of impurity.

In one example, the impurity picking mechanism 100 of the embodiment of the present disclosure may adopt a suction pen structure, a pen head (suction head 2) of the suction pen structure may be provided in a circular shape, a fixing portion 4 at the periphery of the pen head is provided with an annular pressing plate 41 which does not contact the pen head, and a pen body (rod body 1) is connected with a vacuum tube 3 to generate vacuum force to suck impurities at a high speed air flow. The impurity picking mechanism 100 of the embodiment of the present disclosure is applicable to a primarily picked clean swallow, the main object of which is fine impurities, the diameter of the tip of the suction pen is 1-4mm, and the outer diameter of the pressing plate 41 is about one time the diameter of the tip. Because the pen point edge with the same length and the circular area are the largest, and the bird's nest impurity is mostly black spots and bird's feather, the loss performance of the circular suction pen with small aperture is the lowest, and the design of the pressing plate 41 can fix the bird's nest wire around the impurity and further reduce the loss when the suction pen contacts the carrier plate 320 to suck the impurity in vacuum. The pressure relief holes are reserved on the side edges of the pressing plates 41, so that the pressure can be balanced, the blocking risk of a suction pen can be effectively reduced, and secondary pollution of bird's nest caused by residual pen points of sucked impurities can be avoided.

In one example, the impurity picking apparatus 200 of the embodiment of the present disclosure may be configured with two suction pen structured impurity picking mechanisms 100. The pen point and the pressing plate 41 group of the suction pen can be replaced according to the material selected according to actual needs. The two sucking pen positions can be respectively provided with a big pen point and a small pen point, and are used for picking impurities with different sizes. The two stations corresponding to the diameters of the two sucking pens on the distribution density chart of the impurity diameters are obviously different, different sucking pens are driven to pick according to the impurity sizes, and the picking success rate and the loss rate can be well balanced. At least one of the suction pen positions is provided with an air cylinder (a second lifting mechanism 82). When in standby, the impurity picking mechanism 100 is kept at a high position, and the suction pen with the air cylinder is positioned at the upper position and the other suction pen is positioned at the lower position; when picking, the impurity picking mechanism 100 descends, the cylinder is sunk during the operation of the suction pen with the cylinder, the suction pen is arranged below and the suction pen without the cylinder is arranged above, otherwise, the cylinder is kept contracted during the operation of the suction pen without the cylinder, the suction pen is arranged below and the suction pen with the cylinder is arranged above, and only one suction pen contacts impurities for picking each time. The third elastic piece 7 is arranged at the upper end of the sliding rail, so that the impact force of the carrying disc 320 on the pen point can be buffered when the flatness of the carrying disc 320 is poor, and the passivation of the pen point is avoided. The impurity picking device 200 of the embodiment of the disclosure adopts the alternate operation of double suction pens, one group is a large suction pen, the other group is a small suction pen, for example, when the diameter of a pen point of the small suction pen is 1.5mm, the large suction pen is adopted to suck when the diameter of impurities exceeds 1.5mm or the distance between two impurities is larger than 1.5mm, otherwise, the single impurity diameter is smaller than 1.5mm and is sucked by the pen point of the small suction pen, the two are alternately used according to the picking mode matched with the coordinates, and the impurities identified in the image acquired by the image acquisition device are continuously picked at a high speed.

In one example, the impurity picking mechanism 100 of the suction pen structure of the embodiment of the present disclosure may perform three operations of suction, blowing, and stopping. The air flow passes through the vacuum tube 3 from the pen point of the suction pen at a high speed, compared with other types of vacuum equipment, the vacuum tube 3 is light, the vacuum response is quick, the installation and the replacement are easy, the vacuum pressure of the structure can reach-90 KPa (kilopascals), and the suction force of the pen point on impurities can be ensured. The tail end of the pen point is provided with a vacuum negative pressure meter (pressure sensor) for real-time monitoring, if the negative pressure exceeds the limit, the pen point is blocked, and if the negative pressure is insufficient, the pipeline has air leakage. The impurity picking mechanism 100 of the embodiment of the present disclosure may implement vacuum suction, and in order to generate sufficient negative pressure, the impurity picking mechanism 100 adopts the vacuum tube 3 to generate sufficient suction through higher air flow, and compared with other types of vacuum devices, the impurity picking mechanism 100 has the characteristics that: the vacuum response is quick, the structure is simple and light, the vacuum pressure can reach 90KPa below zero, the pipe is directly arranged, and the installation and the replacement are convenient. Meanwhile, the vacuum negative pressure meter (pressure sensor) is matched for real-time monitoring, so that the suction head 2 is ensured not to be blocked. In order to distinguish impurities with different sizes, each impurity picking mechanism 100 can be respectively connected with one vacuum tube 3, and the mode has the advantages that the two vacuum tubes are not mutually interfered, gas can not be mixed, the impurities are easy to distinguish, and the impurities sucked by the two groups of gas paths can be respectively recovered through the two groups of recovery devices 352.

In one example, the impurity picking apparatus 200 of the embodiment of the present disclosure is provided with an automatic water replenishing apparatus (water spraying mechanism 6) constituted of a nozzle, a water pipe, and a pump body. In order to avoid impurity position drift caused by water replenishment, the automatic water replenishing device is enabled to spray water replenishment when the suction pen descends. Before picking, dividing the bird's nest into 1-3mm thick bird's nest, wetting with water, uniformly spreading on a carrying disc 320 in a single layer, and making the water depth of the carrying disc 320 relative to the bird's nest be equal to that of the bird's nest; if the water content is large, the foreign matter around the periphery of the platen 41 tends to move horizontally during the pen sucking operation. If the water is small, impurities, particularly swallow hair, are easily attached to the carrier tray 320 and are not easily sucked away. The suction pen can take away a part of water during each operation, and the automatic water supplementing device can supplement water to keep the humidity of the carrier plate 320. Because the height position is lower when adding water, water mist is close to the bird's nest and releases, can not exert an influence to image acquisition of image acquisition device.

Although the scene of impurity picking is quite different (such as picking impurities of tea leaves, bird's nest, chinese herbal medicines and tobacco leaves), the core demands of users are communicated with the impurity picking of high-value materials. That is, it is desirable to minimize material loss, to increase the total amount of material picked per unit time as much as possible, and more importantly to increase the impurity pick-up rate for the same material. The impurity picking station 300 of the embodiments of the present disclosure may be a good solution to the above needs. By picking up a phase with an industrial camera or camera (the first image pickup device 370 and/or the second image pickup device 9), calling the model to identify the impurity, and then driving the impurity picking device 200 to perform an impurity picking action on the material laid on the carrier tray 320, the impurity picking can be accurately and efficiently implemented. The continuous picking efficiency of the whole impurity picking machine 300 can exceed the manual picking efficiency, the picking rate is up to 700g/h and exceeds 80%, and the production requirement of replacing manual work is met.

The impurity picking machine 300 of the embodiment of the disclosure, in order to improve the picking efficiency of bird's nest impurities, adopts the following technical means: 1) The flat edge carrying tray 320 is adopted to carry the split swallow silk, the swallow silk is horizontally paved, so that the swallow silk is not easy to stack and overlap, and the wet material without water is dried to be paved on the carrying tray 320 to be more than 100g, so that the turnover rate is reduced; 2) The color industrial camera (the first image acquisition device 370 or the second image acquisition device 9) is matched with round hole surface light to pick up the phase of the swallow silk paved on the carrying disc 320, the illumination is bright and uniform, the side length of each pixel corresponds to less than 0.05mm, and the standard for successful camera parameter adjustment is that impurities are clearly visible and are obviously distinguished from the swallow silk; 3) The images acquired by the cameras are inferred by using the model, irregular impurities are identified, and the impurity picking mechanisms 100 corresponding to the suction heads 2 with different specifications are driven according to the outline diameters of the impurities to pick the impurities, so that the single picking success rate is improved; 4) The impurity picking machine 300 picks impurities by adopting a suction mode, and the pressing plate 41 of the fixing part 4 fixes the swallow silk while limiting the influence range of the picking action; 5) The picked impurities are directly discharged out of the post-treatment assembly 350 along with the vacuum tube 3, and no special impurity separating device is needed; 6) The sliding mechanism 330 is driven by a high-speed linear motor or a servo motor to perform three-dimensional space motion in the directions of X, Y, Z, high motion acceleration is kept, and single picking time is ensured to be within 1 s; 7) A water spraying mechanism 6 is additionally arranged, water mist is sprayed out after each picking, and moisture in the swallow silk taken away by the picked impurities is supplemented.

The impurity picking machine 300 is an intelligent soft and hard integrated machine, after the sliding mechanism 330 drives the impurity picking device 200 to move to a target impurity position, a PLC (Programmable Logic Controller ) of the impurity picking machine 300 can send a signal to a terminal arranged on the edge computing power of the impurity picking machine 300, and the terminal calls the first image acquisition device 370 or the second image acquisition device 9 to perform phase picking and image recognition processing, and then sends picking coordinates corresponding to all identified impurities and the adaptive impurity picking mechanism 100 to the PLC. After the picking is finished, the sliding mechanism 330 drives the impurity picking device 200 to move to the next target position, so that after all the target positions are traversed, the sliding mechanism 330 drives the impurity picking device 200 to move to the waste discharge area 380, and the suction head 2 is cleaned for the next picking. And prompting by an alarm lamp until the next starting. A grating and an alarm are set above the machine body 310, during the operation, when a person's hand or other foreign matters pass through the grating, the sliding mechanism 330 and the impurity picking device 200 stop the operation and give out an audible and visual alarm, and in addition, after the picking is finished, the alarm flashes to prompt the carrier tray 320. The PLC is provided with a touch screen, and four buttons of start, stop, reset and scram and an alarm lamp are arranged on a control interface of the touch screen; the control interface can be started, reset, scram, cancel alarm and switch the axial mode (electric/manual), and can also check the current shooting position, impurity number, picking sequence number, picking coordinates, working state and abnormal information. During debugging, the suction pen can be manually moved to the target position, whether calibration is accurate is confirmed by comparing the coordinates, and the manual touch suction pen after alignment can simulate an automatic picking flow and check the picking effect of the suction pen.

In the description of the present disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present disclosure.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present disclosure, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In this disclosure, unless explicitly stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed. Either mechanical or electrical or communication. Can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art as the case may be.

In this disclosure, unless expressly stated or limited otherwise, a first feature being "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The above disclosure provides many different embodiments or examples for implementing different structures of the disclosure. The components and arrangements of specific examples are described above in order to simplify the present disclosure. Of course, they are merely examples and are not intended to limit the present disclosure. Furthermore, the present disclosure may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed.

The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions, improvements, etc. that are within the principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims (15)

1. An impurity picking station comprising:

a machine body;

the carrying disc is arranged on the table top of the machine table body and is used for carrying materials containing impurities;

the sliding mechanism is arranged on the machine body and can move relative to the carrying disc;

the impurity picking device comprises a base and an impurity picking mechanism, wherein the base is connected with the sliding mechanism, and the impurity picking mechanism is slidably arranged on the base; the impurity picking device comprises a rod body, a suction head, a vacuum tube, a fixing part, a pressing plate and a picking opening, wherein the suction head is arranged at the first end of the rod body of the impurity picking mechanism, the vacuum tube is arranged at the second end of the rod body, the suction head is communicated with the vacuum tube, the fixing part is arranged outside the suction head, the pressing plate is arranged at one side of the fixing part, which is far away from the first end of the rod body, and the picking opening is arranged on the pressing plate;

And the post-treatment assembly is arranged on the machine table body and communicated with the vacuum tube and is used for treating impurities picked by the suction head from materials.

2. The impurity picking station of claim 1, further comprising:

and the waste discharge area is arranged on the table top and positioned in the travel range of the sliding mechanism and is used for accommodating impurities which are blown out by the suction head and blocked in the suction head.

3. The impurity picking machine of claim 1, wherein the carrier tray is slidably disposed on the table top by a slider, the carrier tray being detachably connected to the slider; the carrier tray is located in the table top under the condition that the carrier tray slides to a first position along the sliding piece; the carrier platter is located outside the table top with the carrier platter slid along the slider to the second position.

4. The impurity picking station of claim 1, wherein the post-treatment assembly comprises a filter device, the filter assembly comprising a housing provided with a first inlet and a first outlet, the housing provided with a screen between the first inlet and the first outlet, the vacuum tube in communication with the first inlet.

5. The impurity picking station of claim 4, wherein the post-processing assembly further comprises a recovery device comprising a cup provided with a second inlet and a second outlet, the second inlet in communication with the first outlet.

6. The impurity picking station of claim 5, wherein the cup is provided with a liquid level sensor and/or the cup is provided with an air vent.

7. The impurity picking station of claim 1, further comprising:

the first image acquisition device is arranged on the sliding mechanism and is used for carrying out image acquisition on the materials.

8. The impurity picking machine of claim 1, wherein the sliding mechanism comprises a first sliding rail and a second sliding rail, the first sliding rail is provided to the machine body, the second sliding rail is slidably provided to the first sliding rail, and a base of the impurity picking device is slidably provided to the second sliding rail; the first sliding rail and the second sliding rail are parallel to the table top, and the sliding direction of the second sliding rail on the first sliding rail is perpendicular to the sliding direction of the base on the second sliding rail.

9. The impurity picking machine of claim 1, wherein the impurity picking mechanisms are at least two, the at least two impurity picking mechanisms reciprocate between a first direction and a second direction relative to the base, and the diameters of the suction heads of the at least two impurity picking mechanisms are different.

10. The impurity picking machine according to any one of claims 1 to 9, wherein a side wall of the fixing portion is provided with at least one pressure relief port; and/or

The suction head and/or the first end of the rod body are/is provided with a pressure sensor for detecting the vacuum pressure value in the vacuum tube.

11. The impurity picking station according to any one of claims 1 to 9, wherein the impurity picking device further comprises a water spraying mechanism comprising a spray head connected to the base and a pipe connected to the spray head for delivering liquid to the spray head.

12. The impurity picking machine of any one of claims 1 to 9, wherein the impurity picking mechanism is liftably connected to the base by a transmission mechanism including a slide rail provided to the base, the impurity picking mechanism being slidably connected to the slide rail to reciprocate the impurity picking mechanism relative to the base.

13. The impurity picking machine of claim 12, wherein the impurity picking mechanism is connected to the slide rail by a slider, and a lifting mechanism is disposed between the impurity picking mechanism and the slider, and is configured to drive the impurity picking mechanism to reciprocate relative to the base.

14. The impurity picking machine according to any one of claims 1 to 9, the impurity picking device further comprising a second image pickup device provided to the base for image pickup of the material.

15. The impurity picking station of claim 14, wherein a shield is provided outside of the image capturing end of the second image capturing device.