CN110639827B - Bristle sorting system and bristle sorting method - Google Patents

Bristle sorting system and bristle sorting method Download PDF

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Publication number
CN110639827B
CN110639827B CN201910959222.9A CN201910959222A CN110639827B CN 110639827 B CN110639827 B CN 110639827B CN 201910959222 A CN201910959222 A CN 201910959222A CN 110639827 B CN110639827 B CN 110639827B
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sorting
bristle
bristles
box
conveying
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CN110639827A (en
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马子领
孙梦莹
刘英杰
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North China University of Water Resources and Electric Power
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North China University of Water Resources and Electric Power
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
    • B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Sorting Of Articles (AREA)

Abstract

The invention discloses a bristle sorting system which comprises a conveying mechanism, wherein a bristle flattening device is arranged above a feeding end part of the conveying mechanism and used for flattening bristles and enabling the flattened bristles to fall into the feeding end part of the conveying mechanism; a feeding device is arranged on the ground at one side of the feeding end part of the conveying mechanism, and a camera is arranged above the middle part of the conveying mechanism; a bristle sorting device is arranged at the conveying mechanism at the downstream of the camera; the bristle sorting device is used for sorting out the bristles with different colors, and a sorting box for containing the bristles with different colors is arranged on the ground at the position of the bristle sorting device. The invention also discloses a corresponding bristle sorting method. The invention can automatically complete feeding, smoothing, screening and arranging, conveying and transporting, automatically identify and sort out the impure bristles, greatly improve the sorting efficiency compared with manual sorting, and greatly reduce the false picking and missing picking rate compared with manual picking. The bulk material recovery mechanism can recover bristles, so that waste is avoided.

Description

Bristle sorting system and bristle sorting method
Technical Field
The invention relates to the technical field of bristle processing.
Background
Bristles are primarily long and stiff bristles on the back of the pig. The bristles are 4-5 cm in length, and some bristles are longer than 5 cm in length. The diameter of the bristles is about one third millimeter, and the bristles have the characteristics of uniform root and strip, moderate hardness, high oiliness, high elasticity, difficult deformation, moisture resistance, no influence of cold and heat and the like, have natural forked tips and have good adsorption performance. The bristles are mainly used as daily brushes, paint brushes, machine brushes and the like, and have wide application in military industry, and the bristles are required to be made into products from paint warships, airplanes and various military vehicles to cleaning machine guns, cannon barrels, gun barrels and the like. The bristles are sorted according to the characteristics of the product according to the color. The existing bristle sorting method is manual sorting, the sorting efficiency is low, visual fatigue is easily caused after workers sort for a long time, and the wrong picking and missed picking rate is too high (generally higher than 1.5%).
Disclosure of Invention
The invention aims to provide a bristle sorting system which is high in sorting efficiency and capable of avoiding missed sorting.
In order to achieve the purpose, the bristle sorting system comprises a conveying mechanism, wherein one end part of the conveying mechanism is a feeding part, and the other end of the conveying mechanism is a discharging end; taking the overall conveying direction of the conveying mechanism as a downstream direction;
a bristle flattening device is arranged above the feeding end part of the conveying mechanism and used for flattening bristles and enabling the flattened bristles to fall into the feeding end part of the conveying mechanism; a feeding device is arranged on the ground at one side of the feeding end of the conveying mechanism, and the feeding end of the feeding device is lower than the discharging end of the feeding device; the feeding end of the feeding device is positioned above the bristle smoothing device and is used for conveying bristles to the bristle smoothing device;
a camera is arranged above the middle part of the conveying mechanism; a bristle sorting device is arranged at the conveying mechanism at the downstream of the camera; the bristle sorting device is used for sorting out the bristles with different colors, and a sorting box for containing the bristles with different colors is arranged on the ground at the position of the bristle sorting device;
the adjacent subaerial collecting box that is equipped with of transport mechanism's unloading end, the collecting box top is uncovered and is less than transport mechanism's unloading end.
The conveying mechanism comprises a first conveying device for receiving bristles and a second conveying device for conveying and providing a sorting space;
the first conveying device comprises a pair of belt rollers and a first conveying belt wound on the belt rollers, a driving belt roller is arranged in the belt rollers, and the driving belt roller is connected with a first motor for driving the driving belt roller; a pair of belt rollers of the first conveying device are rotatably connected to the first bracket through a roller shaft;
the feeding part of the first conveyor belt is used as the feeding end part of the conveying mechanism;
the second conveying device comprises a pair of belt rollers and a second conveying belt wound on the pair of belt rollers, a driving belt roller is arranged in the pair of belt rollers of the second conveying device, and the driving belt roller is connected with a second motor used for driving the driving belt roller; each belt roller of the second conveying device is rotatably connected to the second bracket through a roller shaft; the blanking end of the second conveyor belt is used as the blanking end of the conveying mechanism, and the feeding end of the second conveyor belt is positioned below the blanking end of the first conveyor belt;
the middle part of the second conveying device is provided with a first support flat device and a second support flat device at intervals, the first support flat device and the second support flat device are used for supporting and flattening the upper half of a second conveying belt, the second conveying belt at the first support flat device is used as a bristle identification position, and the second conveying belt at the second support flat device is used as a bristle sorting position;
a plurality of indicating lines for sorting are printed on the outer surface of the second conveying belt along the conveying direction of the second conveying belt, the indicating lines for sorting are uniformly arranged at intervals along the width direction of the second conveying belt, and the distance between every two adjacent indicating lines for sorting is 1 +/-0.1 cm; the outer surfaces of the second conveying belts except the sorting indicating lines are in the same color, and the colors of the sorting indicating lines are the same and different from the colors of the outer surfaces of the second conveying belts.
The feeding device is a scraper conveyor which is obliquely arranged, the lower end of the scraper conveyor is an upper feeding end, the feeding end of the scraper conveyor is provided with a feeding port with a large upper part and a small lower part, the top end of the scraper conveyor is a lower feeding end, and the lower feeding end of the scraper conveyor is provided with a lower feeding port;
the bristle smoothing device comprises a sieve box connected to the first support, the top end of the sieve box is open, and the bottom end of the sieve box is provided with a vibrating sieve; the screen box is positioned above the first conveyor belt; the upstream side and the downstream side of the first support above the screen box are respectively connected with a linear motor, each linear motor is connected with a track serving as a stator of the linear motor, and the track is connected with a rotor of the linear motor in a sliding manner; the tracks of the two linear motors are respectively distributed along the upstream side and the downstream side of the screen box; a flattening box is connected between the rotors of the two linear motors, and the flattening box is lower than a feed opening of the scraper conveyor;
the bottom end of the flattening box is downwards connected with a plurality of flattening rods, the flattening rods are uniformly arranged at intervals along the upstream direction and the downstream direction, the flattening rods all extend into the screen box, and the lower ends of the flattening rods are all higher than the vibrating screen and adjacent to the vibrating screen; the diameter of the mesh of the vibrating screen is more than or equal to 3 mm and less than 6 mm; driven by the rotor of the linear motor, each smoothing rod reciprocates in the screen box along the left and right directions.
The direction perpendicular to the whole conveying direction of the conveying mechanism is used as the left and right direction, the top of the flattening box is a triangular prism with a high middle and two low sides, and the crest line at the topmost end of the triangular prism forms a separation line.
The camera is arranged above the second conveyor belt at the bristle identification position and is supported on the ground at the left side and the right side of the second conveyor belt through a camera bracket; the camera is connected with an electric control device;
a sorting device is arranged above the second conveying belt of the bristle sorting position, and the sorting device is supported on the ground at the left side and the right side of the second conveying belt through a sorting support; a collecting mechanism is arranged below the downstream of the sorting device and adjacent to the sorting device;
the sorting device comprises a negative pressure box for sorting and a suction pipe moving device positioned below the negative pressure box for sorting, the negative pressure box for sorting is connected with a first variable-frequency negative pressure device, the downstream side of the negative pressure box for sorting is connected with a row of upper vacuum pipes with openings at the lower ends, each upper vacuum pipe is respectively inserted with a vacuum suction pipe in a downward sliding and sealing manner, and the vacuum suction pipes are arranged in one-to-one correspondence with indicating lines for sorting; the sorting negative pressure box is connected to the sorting bracket;
the suction pipe moving device comprises a fixed frame connected to the sorting support, and a plurality of vertical moving devices are arranged on the fixed frame in one-to-one correspondence with the vacuum suction pipes;
the vertical moving device comprises a miniature speed reducing motor fixedly connected to the top of the fixing frame, an output shaft of the miniature speed reducing motor is a threaded shaft, the output shaft of the miniature speed reducing motor extends downwards and is in threaded connection with a lifting block, an anti-rotation sliding rod vertically arranged is further slidably arranged on the lifting block in a penetrating mode, and the upper end and the lower end of the anti-rotation sliding rod are respectively connected with the fixing frame; the vacuum suction pipe is fixedly connected with the lifting block; the vacuum suction pipe is driven by the vertical moving device to have an upper limit position and a lower limit position, the upper limit position is 5-6 cm higher than the upper surface of the second conveying belt, and the lower limit position is 1-2 mm higher than the second conveying belt; the second conveyor belt directly below the vacuum suction pipe is an adsorption point.
The collecting mechanism comprises a second frequency conversion negative pressure device, an air suction port of the second frequency conversion negative pressure device is connected with an upper negative pressure box, the upper negative pressure box is connected with a lower negative pressure box through a connecting pipe, the lower part of the lower negative pressure box is provided with a long hole for air suction, and the long hole for air suction corresponds to the upper limit position of each vacuum suction pipe and is used for sucking bristles adsorbed by each vacuum suction pipe; the air outlet of the second variable-frequency negative pressure device is connected with the sorting box through a collecting pipe, the top wall of the sorting box is of a filter screen structure, and the diameter of meshes of the sorting box is less than or equal to 0.3 cm;
the negative pressure at the long hole for air suction is lower than that at the vacuum suction pipe;
the upper negative pressure box, the lower negative pressure box and the second variable-frequency negative pressure device are connected with a collecting bracket, and the collecting bracket is supported on the ground at the left side and the right side of the second conveyor belt;
the electric control device is connected with the scraper conveyor, the vibrating screen, the first frequency conversion negative pressure device and the second frequency conversion negative pressure device.
The first leveling device and the second leveling device have the same structure and respectively comprise three to four leveling supporting legs and a horizontal supporting plate positioned in the center of each supporting leg; each support flat supporting leg is of a 90-degree cranked rod structure; the top of each supporting flat leg is provided with a horizontal rod, and the lower part of each supporting flat leg is provided with a vertical rod; the end part of each horizontal rod is bent upwards to be provided with a height supporting part, and each height supporting part is fixedly connected with the horizontal supporting plate;
the conveying direction of the second conveying belt is taken as the forward direction, and the rear end of the horizontal supporting plate is provided with an inclined plane with a high front part and a low rear part;
the lower end of the support flat supporting leg is connected with a support flat screw rod in a downward threaded manner, and the lower end of the support flat screw rod is fixedly connected with a support flat supporting plate used for supporting on the ground.
A recovery cover with an upward opening is arranged below the feeding end of the second conveyor belt, the recovery cover is connected with a material return box through a recovery pipe, a third variable-frequency negative pressure device is connected to the recovery pipe in series, and an air outlet of the third variable-frequency negative pressure device faces the material return box; the feed back box is positioned right above the feeding hole of the feeding device, and the lower end of the feed back box is open.
The invention also discloses a bristle sorting method using the bristle sorting system, which comprises the following steps:
in the initial state, all the vacuum suction pipes are in the upper limit position;
adjusting the horizontal supporting plates of the first leveling device and the second leveling device to be in a horizontal state and keeping the horizontal supporting plates at a preset height by rotating the leveling screws of the first leveling device and the second leveling device;
starting the scraper conveyor, the vibrating screen, the first motor, the second motor, the linear motor, the first variable-frequency negative pressure device and the second variable-frequency negative pressure device, opening the camera, and pouring bristles to be sorted into the feeding hole;
bristles to be sorted are conveyed by a scraper conveyor and then fall into a sieve box of the bristle smoothing device; driven by the linear motor, each smoothing rod reciprocates in the screen box along the left and right directions, so that bristles are continuously combed;
bristles fall on the first conveyor belt through the screen box uniformly, and if sundries appear in the screen box, workers take out the sundries; the bristles fall on the second conveyor belt after passing through the first conveyor belt; the bristles on the second conveyor belt enter a camera shooting area of the camera when the bristles identify positions, and the camera transmits RGB images of the camera shooting area to the electric control device;
the gray value X of the color of the sorting indicating line calculated by the weighted average method and the gray value D of the outer surface of the second conveying belt calculated by the weighted average method are stored in the electric control device; the absolute value of the difference between X and D is greater than or equal to 10;
the sizes of all the frames of images shot by the camera are the same, and the image coordinates of all the sorting indicating lines in all the frames of images are stored in the electric control device;
the electronic control device calculates the gray value of each pixel point in the image shot by the camera by using a weighted average method and marks the image coordinates of the gray value;
the electric control device marks all pixel points at the image coordinate position of which the gray value is not equal to X nor D in the image as bristle pixel points, and the electric control device marks the continuously distributed bristle pixel points as the same bristle;
the SUM of the gray values of all the pixel points of one bristle is SUM1, the number of all the pixel points of one bristle is SUM2, and the electric control device calculates the average value P of the gray values of all the pixel points of each bristle, wherein P is SUM 1/SUM 2;
the electric control device marks the bristles with the P less than or equal to 20 as black bristles; the electric control device marks the bristles with P & gt 20 as the variegated bristles;
the electric control device filters all black bristles and leaves the bristles to be sorted out;
for each mixed color bristle, the electric control device compares the image coordinates of each pixel point with the image coordinates of each sorting indicating line, and when one mixed color bristle has pixel points with image coordinate values positioned on one sorting indicating line, the electric control device marks the sorting indicating line as a crossing indicating line of the mixed color bristle;
when one mixed bristle only has one crossing indicating line, the electric control device takes the crossing indicating line as a nearest indicating line, and the electric control device takes a pixel point covered at the intersection point of the mixed bristle and the nearest indicating line as an adsorption area;
when one mixed color bristle has more than two crossing indication lines, the electric control device calculates the average image coordinate of each pixel point of the mixed color bristle, and takes the crossing indication line closest to the average image coordinate as the nearest indication line, and the electric control device takes the pixel point covered at the intersection point of the mixed color bristle and the nearest indication line as an adsorption area;
the electric control device stores the running speed V m/S of the second conveyor belt and the distance S m between each pixel point of each sorting indicating line in the image shot by the camera and the corresponding adsorption point, and calculates the time t seconds required by the most downstream pixel point of the adsorption area to reach the adsorption point according to t ═ S/V;
for each variegated bristle, the electric control device controls the action of the miniature speed reducing motor corresponding to the nearest indicating line, so that the vacuum suction pipe corresponding to the nearest indicating line reaches the lower limit position within n seconds under the driving of the lifting block, n is more than or equal to 0.3 and less than or equal to t-0.2 seconds, and the vacuum suction pipe stays at the lower limit position for more than 0.1 second, thereby ensuring that the variegated bristle is adsorbed;
the electric control device controls the vacuum suction pipe and the adsorbed mixed-color bristles to upwards return to an upper limit position, the mixed-color bristles adsorbed by the vacuum suction pipe are sucked into the long hole for air suction under the action of lower negative pressure at the long hole for air suction than at the vacuum suction pipe, and the second variable-frequency negative pressure device sends the mixed-color bristles into the sorting box through the collecting pipe;
the black bristles fall into the collecting box along the blanking end of the second conveyor belt;
the above process is continued, and the bristles poured into the feeding port are continuously divided into variegated bristles and black bristles, and are respectively collected into a sorting box and a collecting box.
And starting the first frequency conversion negative pressure device and the second frequency conversion negative pressure device, and simultaneously starting the third frequency conversion negative pressure device, so that negative pressure is formed at the recovery cover, and bristles scattered on the second conveying belt are conveyed into a feeding port of the feeding device again through the recovery cover, the material return pipe and the material return box.
The automatic sorting machine is simple in structure and convenient to use, can automatically complete feeding, smoothing, screening and arranging, conveying and transporting, automatically identifies and sorts out the mixed-color bristles, greatly improves sorting efficiency compared with manual sorting, and greatly reduces wrong-picking and missing-picking rate compared with manual picking, and the rate is not more than 0.1%.
The invention realizes the adsorption of the variegated bristles and the conveying of the variegated bristles by utilizing negative pressure, has ingenious structure and good efficiency of adsorbing and conveying the variegated bristles, has higher action efficiency (basically 100 percent of adsorption and 100 percent of conveying to a sorting box) compared with the clamping of a clip and the conveying by a mechanical arm, is easier to design and manufacture and has lower cost.
The invention avoids the recognition error caused by the color of the bristles is the same as that of the conveying belt or the sorting indicating line. The color of the conveying belt and the sorting indicating line is set to be different from that of bristles, so that the bristles can be conveniently identified through the single background color of the conveying belt, the calculation intensity of image identification is greatly reduced, and the accuracy of the image identification bristles is improved.
The invention facilitates the calculation of the vacuum suction pipe corresponding to the bristles with different colors by sorting the indicating lines, thereby simplifying the control process. The bristles are black or white in color, and the color of the second conveyor belt and the sorting indicator lines can be differentiated from the bristles by other colors, such as green and purple.
The conveying mechanism is simple in structure and provides sufficient sorting space, the first supporting and leveling device and the second supporting and leveling device guarantee that the second conveying belt at the sorting position is in a standard horizontal state, and convenience is brought to identification and sorting of bristles. The distance between adjacent sorting indicator lines is 1 +/-0.1 cm, so that almost all bristles can be pressed on at least one sorting indicator line.
The bristles conveyed by the scraper conveyor fall into the screen box and are combed under the action of the smoothing rods which move back and forth, so that the bristles cannot be piled up in the screen box due to entanglement and aggregation, and the bristles continuously fall onto the first conveying belt after falling through meshes of the vibrating screen. The mesh diameter of the vibrating screen is larger than or equal to 3 mm and smaller than 6 mm, and only one bristle passes through each mesh, so that the bristles are dispersed on the conveyor belt, and the problem that two bristles are piled together to cause obstacles for identification sorting is avoided.
The top of the flattening box is in a triangular prism shape with a high middle and two low sides, so that bristles cannot be gathered at the top of the flattening box but can slide downwards at two sides of the separation line.
The top wall of the sorting box is of a filter screen structure, so that air sent into the sorting box by the second variable-frequency negative pressure device is allowed to enter the environment through the filter screen, and meanwhile, because the diameter of meshes at the top wall of the sorting box is less than or equal to 0.3 cm, bristles can be prevented from flowing out of the sorting box through the top wall of the sorting box along with air flow.
The horizontal supporting plate is lifted by the aid of the height supporting part, and friction between the upper half of the second conveying belt and the horizontal rod is avoided. The rear end of the horizontal supporting plate is provided with an inclined plane which is high in the front and low in the rear, so that the second conveying belt can naturally slide to the upper surface of the horizontal supporting plate along the inclined plane when the second conveying belt is in contact with the inclined plane, and the rear end of the horizontal supporting plate is prevented from being clamped in a transmission groove of the second conveying belt.
The bulk material recycling mechanism is arranged at the position where bristles are most easily scattered (namely, the joint of the first conveyor belt and the second conveyor belt), so that the bristles can be recycled, and waste is avoided.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic perspective view of a first leveling device and a second leveling device;
FIG. 3 is a schematic perspective view of the present invention at a first holding device;
FIG. 4 is a schematic perspective view of the end of the second conveyor belt;
FIG. 5 is a schematic view of the configuration of the second conveyor belt at the point of engagement with the second belt roller;
FIG. 6 is a schematic perspective view of the camera stand;
FIG. 7 is a schematic perspective view of the bristle smoothing device;
FIG. 8 is a schematic perspective view of the sorting device and the collection mechanism;
FIG. 9 is a schematic perspective view of the picking apparatus and the collection mechanism at another angle;
FIG. 10 is a schematic perspective view of the pipette moving device;
fig. 11 is a schematic perspective view of the bulk material recovery mechanism;
FIG. 12 is a schematic perspective view of the vertical displacement device;
fig. 13 is an electrical control schematic of the present invention.
Detailed Description
As shown in fig. 1 to 13, the present invention discloses a bristle sorting system, which comprises a conveying mechanism, one end of the conveying mechanism is a loading part and the other end is a discharging part; taking the overall conveying direction of the conveying mechanism as a downstream direction;
a bristle flattening device is arranged above the feeding end part of the conveying mechanism and used for flattening bristles and enabling the flattened bristles to fall into the feeding end part of the conveying mechanism; a feeding device is arranged on the ground at one side of the feeding end of the conveying mechanism, and the feeding end of the feeding device is lower than the discharging end of the feeding device; the feeding end of the feeding device is positioned above the bristle smoothing device and is used for conveying bristles to the bristle smoothing device;
a camera 2 is arranged above the middle part of the conveying mechanism; a bristle sorting device is arranged at the position of the conveying mechanism at the downstream of the camera 2; the bristle sorting device is used for sorting out the bristles with different colors, and a sorting box 3 for containing the bristles with different colors is arranged on the ground at the position of the bristle sorting device;
the adjacent subaerial collecting box 4 that is equipped with of transport mechanism's unloading end, the collecting box 4 top is uncovered and is less than transport mechanism's unloading end. The collection box 4 is used to collect the solid bristles, such as black bristles.
The conveying mechanism comprises a first conveying device for receiving bristles and a second conveying device for conveying and providing a sorting space;
the first conveying device comprises a pair of belt rollers 5 and a first conveying belt 6 wound on the pair of belt rollers 5, one driving belt roller 5 is arranged in the pair of belt rollers 5 of the first conveying device, and the driving belt roller 5 is connected with a first motor 52 (the motor is conventional technology, and the first motor 52 and a following second motor 53 are not shown in fig. 1) for driving the driving belt roller 5; a pair of belt rollers 5 of the first conveying device are rotatably connected to the first bracket 1 through roller shafts; the first carriage 1 is supported on the ground on both left and right sides of the first conveyor 6.
The feeding part of the first conveyor belt is used as the feeding end part of the conveying mechanism. In the drawing of the present embodiment, the first conveyor belt 6 is short, and most of the upper surface of the first conveyor belt 6 serves as a feeding end of the conveying mechanism.
The second conveying device comprises a pair of belt rollers 5 and a second conveying belt 7 wound on the pair of belt rollers 5, one driving belt roller 5 is arranged in the pair of belt rollers 5 of the second conveying device, and the driving belt roller 5 is connected with a second motor 53 for driving the driving belt roller 5; each belt roller 5 of the second conveying device is rotatably connected to a second bracket 9 through a roller shaft 8; the blanking end of the second conveyor belt 7 is used as the blanking end of the conveying mechanism, and the feeding end of the second conveyor belt 7 is positioned below the blanking end of the first conveyor belt 6; the second support 9 is supported on the floor on the left and right sides of the second conveyor belt 7.
The middle part of the second conveying device is provided with a first leveling device 10 and a second leveling device 11 at intervals, the first leveling device 10 and the second leveling device 11 are used for leveling the upper half of the second conveying belt 7, the second conveying belt 7 at the first leveling device 10 is used as a bristle identification position 12, and the second conveying belt 7 at the second leveling device 11 is used as a bristle sorting position 13;
a plurality of indicating lines 14 for sorting are printed on the outer surface of the second conveyor belt 7 along the conveying direction of the second conveyor belt, the indicating lines 14 for sorting are uniformly arranged at intervals along the width direction of the second conveyor belt 7, and the distance between the adjacent indicating lines 14 for sorting is 1 +/-0.1 cm; the outer surfaces of the second transfer belts 7 other than the sorting indication lines 14 are the same color, and the colors of the sorting indication lines 14 are the same and are different from the color of the outer surface of the second transfer belt 7.
Specifically, the outer surface of the second belt 7 is purple in color, and has RGB values of 128, 0, 128, and a gray value of 52.48 calculated by a weighted average method;
each sorting indicator line 14 is green in color, RGB values are 0, 128, 0, and a gray value calculated by a weighted average method is 75.52. Because there is no green or purple bristles, it is possible to prevent the bristles from being colored in the same color as the conveyor belt or the sorting indicator line, thereby causing a recognition error.
After the conveying belt is wound on the belt roller 5, an upper layer and a lower layer which have opposite movement directions are naturally formed, wherein the upper layer is a half upper layer, and the lower layer is a half lower layer.
The conveying mechanism is simple in structure and provides sufficient sorting space, the first support flat device 10 and the second support flat device 11 ensure that the second conveying belt 7 at the sorting position is in a standard horizontal state, and convenience is brought to identification and sorting of bristles. The distance between adjacent sorting indicator lines 14 is 1 + -0.1 cm, so that each bristle can be pressed against at least one sorting indicator line 14.
The outer surface of the second conveyor belt 7 is in the same color, and the colors of the sorting indicating lines 14 are the same and are different from the colors of the outer surface of the second conveyor belt 7, so that the calculation intensity of image recognition is greatly reduced, and the accuracy of image recognition of bristles is improved.
The feeding device is a scraper conveyor 15 which is obliquely arranged, the lower end of the scraper conveyor 15 is an upper feeding end, the upper feeding end of the scraper conveyor 15 is provided with a feeding port 16 with a large upper part and a small lower part, the top end of the scraper conveyor 15 is a lower feeding end, and the lower feeding end of the scraper conveyor 15 is provided with a lower feeding port 17;
the bristle smoothing device comprises a screen box 18 connected to the first support 1, wherein the top end of the screen box 18 is open and the bottom end of the screen box is provided with a vibrating screen 19; the screen box 18 is located above the first conveyor belt 6; linear motors 20 are respectively connected to the upstream side and the downstream side of the first support 1 above the screen box 18, each linear motor 20 is connected with a rail 21 serving as a stator of the linear motor, and the rail 21 is slidably connected with a mover 22 of the linear motor 20; the tracks 21 of the two linear motors 20 are respectively distributed along the upstream side and the downstream side of the screen box 18; a flattening box 23 is connected between the rotors 22 of the two linear motors 20, and the flattening box 23 is lower than the feed opening 17 of the scraper conveyor 15; the vibrating screen 19 has a vibrating motor, and is vibrated by the vibrating motor to cause bristles to fall through the screen of the vibrating screen 19. The vibration motor is located below the linear motor 20, not shown.
The bottom end of the flattening box 23 is downwards connected with a plurality of flattening rods 24, the flattening rods 24 are uniformly arranged at intervals along the upstream direction and the downstream direction, the flattening rods 24 all extend into the screen box 18, and the lower ends of the flattening rods 24 are all higher than the vibrating screen 19 and are adjacent to the vibrating screen 19; the diameter of the mesh of the vibrating screen 19 is more than or equal to 3 mm and less than 6 mm; each smoothing rod 24 reciprocates in the left and right directions in the sieve box 18 by the mover 22 of the linear motor 20.
The bristle smoothing device has the following functions: 1. the bristles are smoothed by combing the smoothing rod 24, and the bristles are prevented from being entangled and gathered; 2. the bristles fall onto the conveyor belt after passing through the vibrating screen 19, so that the bristles are distributed more uniformly on the conveyor belt.
The vibrating screen 19 is a conventional device that is commercially available directly for assembly with a bristle smoothing device, and its specific construction is not described in detail.
The top of the leveling box 23 is a triangular prism shape with a high middle and two low sides, with a direction perpendicular to the entire conveying direction of the conveying mechanism as a left-right direction (i.e., a direction perpendicular to the upstream and downstream directions as a left-right direction), and the crest line of the uppermost end of the triangular prism forms a partition line. The vibrating direction of the vibrating screen 19 is the left-right direction, and is perpendicular to the conveying direction of the conveying mechanism, i.e., the upstream and downstream directions.
The top of the flattening box 23 is in a triangular prism shape with a high middle and two low sides, so that bristles cannot be gathered at the top of the flattening box 23 and can slide down on two sides of the separation line.
The camera 2 is arranged above the second conveyor belt 7 of the bristle identification position 12, and the camera 2 is supported on the ground at the left side and the right side of the second conveyor belt 7 through a camera bracket 25; the camera 2 is connected with an electric control device 26;
a sorting device is arranged above the second conveyor belt 7 of the bristle sorting position 13, and the sorting device is supported on the ground at the left side and the right side of the second conveyor belt 7 through a sorting bracket 27; a collecting mechanism is arranged below the downstream of the sorting device and adjacent to the sorting device;
the sorting device comprises a negative pressure box 28 for sorting and a suction pipe moving device positioned below the negative pressure box 28 for sorting, the negative pressure box 28 for sorting is connected with a first variable-frequency negative pressure device 29, the downstream side of the negative pressure box 28 for sorting is connected with a row of upper vacuum pipes 30 with lower ends opened, each upper vacuum pipe 30 is respectively inserted with a vacuum suction pipe 31 in a downward sliding and sealing way, and the vacuum suction pipes 31 and the indicating lines 14 for sorting are arranged in a one-to-one correspondence way; the negative pressure tank 28 for sorting is connected to the sorting support 27; the diameter of the vacuum suction pipe 31 is preferably 3 mm.
The suction pipe moving device comprises a fixed frame 32 connected to the sorting bracket 27, and a plurality of vertical moving devices are arranged on the fixed frame 32 in one-to-one correspondence with the vacuum suction pipes 31;
the vertical moving device comprises a miniature speed reducing motor 33 fixedly connected to the top of the fixing frame 32, an output shaft 34 of the miniature speed reducing motor 33 is a threaded shaft, the output shaft 34 of the miniature speed reducing motor 33 extends downwards and is in threaded connection with a lifting block 35, and the bottom end of the output shaft 34 of the miniature speed reducing motor 33 is rotatably connected with the bottom end of the fixing frame 32 through a bearing or a shaft sleeve.
An anti-rotation sliding rod 36 vertically arranged is further slidably arranged on the lifting block 35 in a penetrating manner, and the upper end and the lower end of the anti-rotation sliding rod 36 are respectively connected with the fixed frame 32; the vacuum suction pipe 31 is fixedly connected with the lifting block 35; the vacuum suction pipe 31 is driven by the vertical moving device to have an upper limit position and a lower limit position, wherein the upper limit position is 5-6 cm higher than the upper surface of the second conveyor belt 7, and the lower limit position is 1-2 mm higher than the second conveyor belt; the second conveyor belt 7 directly below the vacuum suction pipe 31 is the suction point.
The electric control device 26 is a computer or a single chip microcomputer (PLC belongs to the single chip microcomputer) or an integrated circuit with a display screen, and the electric control device 26 is conventional technology and is not shown in the figure.
Between the upper vacuum tube 30 and the corresponding vacuum suction tube 31, sliding sealing can be realized by the matching of the frosted surfaces (i.e. both the inner surface of the upper vacuum tube 30 and the outer surface of the vacuum suction tube 31 are frosted surfaces at the matching surface of the upper vacuum tube and the vacuum suction tube 31), and a sliding sealing ring can also be arranged on the inner surface of the lower end opening of the upper vacuum tube 30, so that the vacuum suction tube 31 passes through the sliding sealing ring and is connected with the upper vacuum tube 30 in a sliding sealing manner through.
The collecting mechanism comprises a second variable-frequency negative pressure device 37, an air suction port of the second variable-frequency negative pressure device 37 is connected with an upper negative pressure box 38, the upper negative pressure box 38 is connected with a lower negative pressure box 39 through a connecting pipe, and the connecting pipes are arranged side by side, so that the lower negative pressure box 39 can obtain uniform negative pressure at all positions.
The lower part of the lower negative pressure box 39 is provided with a long hole 51 for air suction, and the long hole 51 for air suction corresponds to the upper limit position of each vacuum suction pipe 31 and is used for sucking the bristles adsorbed by each vacuum suction pipe 31; an air outlet of the second variable-frequency negative pressure device 37 is connected with the sorting box 3 through a collecting pipe, the top wall of the sorting box 3 is of a filter screen structure, and the diameter of meshes of the top wall is less than or equal to 0.3 cm; the upper negative pressure tank 38 and the lower negative pressure tank 39 are provided so as to have a more relaxed installation space and to form a uniform negative pressure in each part of the long hole 51 for air suction; the negative pressure at the long hole 51 for air suction is lower than the negative pressure at the vacuum suction pipe 31;
if the second frequency-variable negative pressure device 37 is directly connected with the lower negative pressure box 39, on one hand, the installation space is more narrow, and on the other hand, the negative pressure at the end of the long hole 51 for air suction near the second frequency-variable negative pressure device 37 is obviously lower than the negative pressure at the end of the long hole 51 for air suction far away from the second frequency-variable negative pressure device 37, which is not favorable for generating uniform adsorption force for the variegated bristles adsorbed by each vacuum suction pipe 31. In order to ensure that the end of the long hole 51 for air suction far away from the second variable-frequency negative pressure device 37 can generate enough adsorption force, the power of the second variable-frequency negative pressure device 37 must be increased (energy is not saved). In addition, the power of the second variable-frequency vacuum device 37 cannot be increased without limit, otherwise it would be possible to suck a part of the solid bristles on the surface of the second conveyor belt into the long holes 51 for air suction.
The upper negative pressure box 38, the lower negative pressure box 39 and the second variable-frequency negative pressure device 37 are all connected with a collecting bracket 40, and the collecting bracket 40 is supported on the ground at the left side and the right side of the second conveyor belt 7;
the electric control device 26 is connected with the scraper conveyor 15, the vibrating screen 19, the first variable-frequency negative pressure device 29 and the second variable-frequency negative pressure device 37. The electronic control device 26 is connected to a power supply 54.
The top wall of the sorting box 3 is of a filter screen structure, so that the air fed into the sorting box 3 by the second variable-frequency negative pressure device 37 is allowed to enter the environment through the filter screen, and meanwhile, because the diameter of meshes at the top wall of the sorting box 3 is less than or equal to 0.3 cm, bristles can be prevented from flowing out of the sorting box 3 through the top wall of the sorting box 3 along with the airflow.
The first leveling device 10 and the second leveling device 11 have the same structure and respectively comprise three to four leveling legs 41 and a horizontal supporting plate 42 positioned at the center of each leg; each supporting and leveling leg 41 is of a 90-degree cranked rod structure; the top of each supporting flat leg 41 is a horizontal rod, and the lower part of each supporting flat leg 41 is a vertical rod; the end part of each horizontal rod is bent upwards to be provided with a height supporting part 43, and each height supporting part 43 is fixedly connected with the horizontal supporting plate 42;
the rear end 46 of the horizontal pallet 42 has a slope with a higher front and a lower rear with the conveying direction of the second conveyor belt 7 as the front direction;
the lower end of the support flat supporting leg 41 is connected with a support flat screw 44 in a downward threaded manner, and the lower end of the support flat screw 44 is fixedly connected with a support flat supporting plate 45 for supporting on the ground.
All the lower parts of the supporting legs are provided with height adjusting modules, and the height adjusting modules are preferably in threaded connection, and the height is adjusted through relative rotation of two parts (such as an internal thread cylinder and a bolt) in threaded connection.
The provision of the raised portion 43 raises the horizontal pallet 42 and avoids friction between the upper half of the second conveyor belt 7 and the horizontal bars. The rear end of the horizontal supporting plate 42 is provided with an inclined plane with a high front part and a low rear part, so that the second conveyor belt 7 can naturally slide forwards to the upper surface of the horizontal supporting plate 42 along the inclined plane when the second conveyor belt 7 is in contact with the inclined plane, and the rear end of the horizontal supporting plate 42 is prevented from being clamped in the transmission groove of the second conveyor belt 7. The leveling screw 44 facilitates adjustment of the horizontal support plate 42 and facilitates leveling of the horizontal support plate 42;
the cradle support plate 45 enhances the stability of the support.
A recovery cover 47 with an upward opening is arranged below the feeding end of the second conveyor belt 7, the recovery cover 47 is connected with a recovery box 49 through a recovery pipe 48, a third variable-frequency negative pressure device 50 is connected in series on the recovery pipe 48, and an air outlet of the third variable-frequency negative pressure device 50 faces the recovery box 49; the feed back box 49 is positioned right above the feeding port 16 of the feeding device, and the lower end of the feed back box 49 is open.
The first frequency conversion negative pressure device 29, the second frequency conversion negative pressure device 37 and the third frequency conversion negative pressure device 50 are all frequency conversion vacuum pumps or frequency conversion fans, which are conventional technologies, and the frequency conversion negative pressure devices are not shown in the figure.
The invention also discloses a bristle sorting method adopting the bristle sorting system, which comprises the following steps:
in the initial state, each vacuum suction pipe 31 is at the upper limit position;
adjusting the horizontal pallets 42 of the first leveling device 10 and the second leveling device 11 to a horizontal state and maintaining the horizontal pallets at a predetermined height by rotating the leveling screws 44 of the first leveling device 10 and the second leveling device 11;
starting the scraper conveyor 15, the vibrating screen 19, the first motor 52, the second motor 53, the linear motor 20, the first and second variable-frequency negative pressure devices 29 and 37, opening the camera 2, and pouring bristles to be sorted into the feeding port 16;
bristles to be sorted are conveyed by the scraper conveyor 15 and then fall into a sieve box 18 of the bristle smoothing device; driven by the linear motor 20, each smoothing rod 24 reciprocates in the left and right directions in the screen box 18, so that bristles are continuously combed;
bristles fall downwards through the screening box 18 and uniformly fall on the first conveyor belt 6, and if sundries appear in the screening box 18, workers take out the sundries; the bristles pass through the first conveyor belt 6 and then fall on the second conveyor belt 7; the bristles on the second conveyor belt 7 enter the camera area of the camera 2 when passing through the bristle recognition position 12, and the camera 2 transmits RGB images of the camera area to the electronic control device 26;
the electronic control device 26 stores therein the gradation value X (75.52) of the color of the sorting indicating line 14 calculated by the weighted average method and the gradation value D (52.48) of the outer surface of the second belt 7 calculated by the weighted average method; the absolute value of the difference between X and D is greater than or equal to 10;
the camera 2 shoots an RGB image, and each pixel point has corresponding RGB parameters; the formula for calculating the gray value of each pixel point by the weighted average method is as follows: GRAY ═ 0.3R +0.59G + 0.11B. Wherein, GRAY is a GRAY value, R is a red value in RGB color, G is a green value in RGB color, and B is a blue value in RGB color. Examples are: the RGB parameter for green is 0.128.0 and the calculated gray value is 128 × 0.59 — 75.52. The RGB parameters for purple are 128, 0, 128, and the calculated gray level is 52.48.
The sizes of the frames of images shot by the camera 2 are the same, and the image coordinates of the sorting indicating lines 14 in the frames of images are stored in the electric control device 26;
the electronic control device 26 calculates the gray value of each pixel point in the image shot by the camera 2 by using a weighted average method and marks the image coordinates of the gray value; the image coordinates take pixel points as units, if the image coordinates of the pixel points at the upper left corner of the image are taken as the original points 0 and 0, the image coordinates of the pixels right to the original points are 1 and 0, and the image coordinates of the pixels right below the original points are 0 and 1; the origin of the image coordinates within the image can be arbitrarily specified.
The electric control device 26 marks all pixel points at the image coordinates of which the gray values are not equal to X nor D in the image as bristle pixel points, and the electric control device 26 marks the continuously distributed bristle pixel points as the same bristle; the continuous distribution refers that if other pixel points do not exist on a connecting line segment between two pixel points, the two pixel points are adjacent pixel points; otherwise, the two pixel points are not adjacent. The smoothing rod 24 and the vibrating screen 19 ensure that no bristles are stuck together and that the bristles are distributed on the conveyor belt. The feeding speed of the scraper conveyor can be controlled to be matched with the blanking speed of the bristle smoothing device.
The SUM of the gray values of all the pixel points of one bristle is SUM1, the number of all the pixel points of one bristle is SUM2, the electric control device 26 calculates the average value P of the gray values of all the pixel points of each bristle, and P is SUM 1/SUM 2;
the electronic control device 26 marks the bristles with P less than or equal to 20 as black bristles; the electronic control device 26 marks the bristles with P & gt 20 as variegated bristles;
the electric control device 26 filters out all black bristles and leaves the bristles to be sorted out; since the spacing between adjacent pick indicator lines 14 is 1 + -0.1 cm and the bristles are typically 4-10 cm in length, almost all bristles will span at least one pick indicator line 14;
for each mottled bristle, the electronic control device 26 compares the image coordinates of each pixel point with the image coordinates of each sorting indicator line 14, and when one mottled bristle has a pixel point with an image coordinate value on one sorting indicator line 14 (the image coordinate value of the pixel point is overlapped with the image coordinate value of one pixel point on the sorting indicator line 14), the electronic control device 26 marks the sorting indicator line 14 as a crossing indicator line of the mottled bristle;
when one mixed color bristle only has one crossing indicating line, the electric control device 26 takes the crossing indicating line as a nearest indicating line, and the electric control device 26 takes a pixel point covered at the intersection point of the mixed color bristle and the nearest indicating line as an adsorption area;
when one variegated bristle has more than two crossing indication lines, the electric control device 26 calculates the average image coordinate of each pixel point of the variegated bristle (the average horizontal image coordinate is the average value of the values of the horizontal image coordinates of each pixel point, and the average vertical image coordinate is the average value of the values of the vertical image coordinates of each pixel point), and takes the crossing indication line closest to the average image coordinate as the nearest indication line, and the electric control device 26 takes the pixel point covered at the intersection point of the variegated bristle and the nearest indication line as an adsorption area;
the electric control device 26 stores the running speed V m/S of the second conveyor belt 7 and the distance S m between each pixel point of each sorting indication line 14 in the image shot by the camera 2 and the corresponding adsorption point, and the electric control device 26 calculates the time t seconds required for the most downstream pixel point of the adsorption area to reach the adsorption point according to t (second) ═ S/V;
for each variegated bristle, the electric control device 26 controls the action of the miniature speed reducing motor 33 corresponding to the nearest indication line, so that the vacuum suction pipe 31 corresponding to the nearest indication line reaches the lower limit position within n seconds under the driving of the lifting block 35, n is more than or equal to 0.3 and less than or equal to t-0.2 seconds, and the vacuum suction pipe 31 stays at the lower limit position for more than 0.1 second, thereby ensuring that the variegated bristle is adsorbed;
the electric control device 26 controls the vacuum suction pipe 31 and the adsorbed variegated bristles to return upwards to the upper limit position, under the action of the negative pressure at the long hole 51 for air suction lower than that at the vacuum suction pipe 31, the variegated bristles adsorbed by the vacuum suction pipe 31 are sucked into the long hole 51 for air suction, and the variegated bristles are conveyed into the sorting box 3 through the collecting pipe by the second variable-frequency negative pressure device 37; by using the method, the false detection missing rate is not more than 0.1 percent and is close to zero.
The black bristles fall into the collection box 4 along the blanking end of the second conveyor belt 7;
the above process is continued, and the bristles poured into the feeding port 16 are continuously divided into colored bristles and black bristles, and are collected into the sorting box 3 and the collecting box 4, respectively.
Simultaneously with the activation of the first and second variable-frequency vacuum devices 29, 37, the third variable-frequency vacuum device 50 is activated, so that a vacuum is created at the recovery hood 47, and the bristles falling off from the second conveyor belt 7 are fed back into the loading opening 16 of the loading device via the recovery hood 47, the return line and the return box 49.
The recovery cover 47, the recovery pipe 48, the material return box 49 and the third variable-frequency negative pressure device 50 form a bulk material recovery mechanism, and the bulk material recovery mechanism is arranged at a position where bristles are most easily scattered (namely, a joint of the first conveyor belt 6 and the second conveyor belt 7), so that the bristles can be recovered, and waste is avoided.
The two cameras 2 are arranged side by side on the left and right, the camera shooting areas of the two cameras 2 respectively comprise the left part and the right part of the second conveyor belt 7 at the bristle identification position 12, and the camera shooting areas of the two cameras 2 have an intersection area in the middle of the second conveyor belt 7;
the electronic control device 26 combines the images captured by the two cameras 2 into a complete one-frame captured image.
The gray value of the pixel point in the intersection region is one half of the sum of the gray values of the pixel point obtained by the two cameras 2. The two cameras are adopted for improving the efficiency, if the width of the conveying belt is increased, the cameras can be added, and as for the problem that part of bristles are attached to due to separation boundaries among different camera areas, because the number is small, errors can be ignored, the bristles are directly processed in the respective areas, the processed coordinate information is respectively used for controlling the corresponding suction pipe moving devices, and each vacuum suction pipe is independently controlled to independently work. This facilitates subsequent expansion of the system. Of course, the operation of two or more cameras can be replaced by a wide-angle camera or a higher-positioned camera (requiring the captured image to have sufficient resolution, higher than the resolution of the lower-positioned camera).
Although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that: modifications and equivalents may be made thereto without departing from the spirit and scope of the invention and it is intended to cover in the claims the invention as defined in the appended claims.

Claims (6)

1. Bristle sorting system which characterized in that: the automatic feeding device comprises a conveying mechanism, wherein one end of the conveying mechanism is a feeding part, and the other end of the conveying mechanism is a discharging end; taking the overall conveying direction of the conveying mechanism as a downstream direction;
a bristle flattening device is arranged above the feeding end part of the conveying mechanism and used for flattening bristles and enabling the flattened bristles to fall into the feeding end part of the conveying mechanism; a feeding device is arranged on the ground at one side of the feeding end of the conveying mechanism, and the feeding end of the feeding device is lower than the discharging end of the feeding device; the feeding end of the feeding device is positioned above the bristle smoothing device and is used for conveying bristles to the bristle smoothing device;
a camera is arranged above the middle part of the conveying mechanism; a bristle sorting device is arranged at the conveying mechanism at the downstream of the camera; the bristle sorting device is used for sorting out the bristles with different colors, and a sorting box for containing the bristles with different colors is arranged on the ground at the position of the bristle sorting device;
a collecting box is arranged on the ground adjacent to the discharging end of the conveying mechanism, and the top end of the collecting box is open and lower than the discharging end of the conveying mechanism;
the conveying mechanism comprises a first conveying device for receiving bristles and a second conveying device for conveying and providing a sorting space;
the first conveying device comprises a pair of belt rollers and a first conveying belt wound on the belt rollers, a driving belt roller is arranged in the belt rollers, and the driving belt roller is connected with a first motor for driving the driving belt roller; a pair of belt rollers of the first conveying device are rotatably connected to the first bracket through a roller shaft;
the feeding part of the first conveyor belt is used as the feeding end part of the conveying mechanism;
the second conveying device comprises a pair of belt rollers and a second conveying belt wound on the pair of belt rollers, a driving belt roller is arranged in the pair of belt rollers of the second conveying device, and the driving belt roller is connected with a second motor used for driving the driving belt roller; each belt roller of the second conveying device is rotatably connected to the second bracket through a roller shaft; the blanking end of the second conveyor belt is used as the blanking end of the conveying mechanism, and the feeding end of the second conveyor belt is positioned below the blanking end of the first conveyor belt;
the middle part of the second conveying device is provided with a first support flat device and a second support flat device at intervals, the first support flat device and the second support flat device are used for supporting and flattening the upper half of a second conveying belt, the second conveying belt at the first support flat device is used as a bristle identification position, and the second conveying belt at the second support flat device is used as a bristle sorting position;
a plurality of indicating lines for sorting are printed on the outer surface of the second conveying belt along the conveying direction of the second conveying belt, the indicating lines for sorting are uniformly arranged at intervals along the width direction of the second conveying belt, and the distance between every two adjacent indicating lines for sorting is 1 +/-0.1 cm; the outer surfaces of the second conveying belts except the sorting indicating lines are in the same color, and the colors of the sorting indicating lines are the same and are different from the colors of the outer surfaces of the second conveying belts;
the feeding device is a scraper conveyor which is obliquely arranged, the lower end of the scraper conveyor is an upper feeding end, the feeding end of the scraper conveyor is provided with a feeding port with a large upper part and a small lower part, the top end of the scraper conveyor is a lower feeding end, and the lower feeding end of the scraper conveyor is provided with a lower feeding port;
the bristle smoothing device comprises a sieve box connected to the first support, the top end of the sieve box is open, and the bottom end of the sieve box is provided with a vibrating sieve; the screen box is positioned above the first conveyor belt; the upstream side and the downstream side of the first support above the screen box are respectively connected with a linear motor, each linear motor is connected with a track serving as a stator of the linear motor, and the track is connected with a rotor of the linear motor in a sliding manner; the tracks of the two linear motors are respectively distributed along the upstream side and the downstream side of the screen box; a flattening box is connected between the rotors of the two linear motors, and the flattening box is lower than a feed opening of the scraper conveyor;
the bottom end of the flattening box is downwards connected with a plurality of flattening rods, the flattening rods are uniformly arranged at intervals along the upstream direction and the downstream direction, the flattening rods all extend into the screen box, and the lower ends of the flattening rods are all higher than the vibrating screen and adjacent to the vibrating screen; the diameter of the mesh of the vibrating screen is more than or equal to 3 mm and less than 6 mm; the direction perpendicular to the overall conveying direction of the conveying mechanism is taken as the left-right direction, and each smoothing rod reciprocates in the screen box along the left-right direction under the driving of a rotor of the linear motor;
the camera is arranged above the second conveyor belt at the bristle identification position and is supported on the ground at the left side and the right side of the second conveyor belt through a camera bracket; the camera is connected with an electric control device;
a sorting device is arranged above the second conveying belt of the bristle sorting position, and the sorting device is supported on the ground at the left side and the right side of the second conveying belt through a sorting support; a collecting mechanism is arranged below the downstream of the sorting device and adjacent to the sorting device;
the sorting device comprises a negative pressure box for sorting and a suction pipe moving device positioned below the negative pressure box for sorting, the negative pressure box for sorting is connected with a first variable-frequency negative pressure device, the downstream side of the negative pressure box for sorting is connected with a row of upper vacuum pipes with openings at the lower ends, each upper vacuum pipe is respectively inserted with a vacuum suction pipe in a downward sliding and sealing manner, and the vacuum suction pipes are arranged in one-to-one correspondence with indicating lines for sorting; the sorting negative pressure box is connected to the sorting bracket;
the suction pipe moving device comprises a fixed frame connected to the sorting support, and a plurality of vertical moving devices are arranged on the fixed frame in one-to-one correspondence with the vacuum suction pipes;
the vertical moving device comprises a miniature speed reducing motor fixedly connected to the top of the fixing frame, an output shaft of the miniature speed reducing motor is a threaded shaft, the output shaft of the miniature speed reducing motor extends downwards and is in threaded connection with a lifting block, an anti-rotation sliding rod vertically arranged is further slidably arranged on the lifting block in a penetrating mode, and the upper end and the lower end of the anti-rotation sliding rod are respectively connected with the fixing frame; the vacuum suction pipe is fixedly connected with the lifting block; the vacuum suction pipe is driven by the vertical moving device to have an upper limit position and a lower limit position, the upper limit position is 5-6 cm higher than the upper surface of the second conveying belt, and the lower limit position is 1-2 mm higher than the second conveying belt; the second conveyor belt directly below the vacuum suction pipe is an adsorption point.
2. The bristle sorting system of claim 1, wherein:
the collecting mechanism comprises a second frequency conversion negative pressure device, an air suction port of the second frequency conversion negative pressure device is connected with an upper negative pressure box, the upper negative pressure box is connected with a lower negative pressure box through a connecting pipe, the lower part of the lower negative pressure box is provided with a long hole for air suction, and the long hole for air suction corresponds to the upper limit position of each vacuum suction pipe and is used for sucking bristles adsorbed by each vacuum suction pipe; the air outlet of the second variable-frequency negative pressure device is connected with the sorting box through a collecting pipe, the top wall of the sorting box is of a filter screen structure, and the diameter of meshes of the sorting box is less than or equal to 0.3 cm;
the negative pressure at the long hole for air suction is lower than that at the vacuum suction pipe;
the upper negative pressure box, the lower negative pressure box and the second variable-frequency negative pressure device are connected with a collecting bracket, and the collecting bracket is supported on the ground at the left side and the right side of the second conveyor belt;
the electric control device is connected with the scraper conveyor, the vibrating screen, the first frequency conversion negative pressure device and the second frequency conversion negative pressure device.
3. The bristle sorting system of claim 2, wherein: the first leveling device and the second leveling device have the same structure and respectively comprise three to four leveling supporting legs and a horizontal supporting plate positioned in the center of each supporting leg; each support flat supporting leg is of a 90-degree cranked rod structure; the top of each supporting flat leg is provided with a horizontal rod, and the lower part of each supporting flat leg is provided with a vertical rod; the end part of each horizontal rod is bent upwards to be provided with a height supporting part, and each height supporting part is fixedly connected with the horizontal supporting plate;
the conveying direction of the second conveying belt is taken as the forward direction, and the rear end of the horizontal supporting plate is provided with an inclined plane with a high front part and a low rear part;
the lower end of the support flat supporting leg is connected with a support flat screw rod in a downward threaded manner, and the lower end of the support flat screw rod is fixedly connected with a support flat supporting plate used for supporting on the ground.
4. The bristle sorting system of claim 3, wherein: a recovery cover with an upward opening is arranged below the feeding end of the second conveyor belt, the recovery cover is connected with a material return box through a recovery pipe, a third variable-frequency negative pressure device is connected to the recovery pipe in series, and an air outlet of the third variable-frequency negative pressure device faces the material return box; the feed back box is positioned right above the feeding hole of the feeding device, and the lower end of the feed back box is open.
5. A bristle sorting method using the bristle sorting system of claim 4, characterized by the steps of:
in the initial state, all the vacuum suction pipes are in the upper limit position;
adjusting the horizontal supporting plates of the first leveling device and the second leveling device to be in a horizontal state and keeping the horizontal supporting plates at a preset height by rotating the leveling screws of the first leveling device and the second leveling device;
starting the scraper conveyor, the vibrating screen, the first motor, the second motor, the linear motor, the first variable-frequency negative pressure device and the second variable-frequency negative pressure device, opening the camera, and pouring bristles to be sorted into the feeding hole;
bristles to be sorted are conveyed by a scraper conveyor and then fall into a sieve box of the bristle smoothing device; driven by the linear motor, each smoothing rod reciprocates in the screen box along the left and right directions, so that bristles are continuously combed;
bristles fall on the first conveyor belt through the screen box uniformly, and if sundries appear in the screen box, workers take out the sundries; the bristles fall on the second conveyor belt after passing through the first conveyor belt; the bristles on the second conveyor belt enter a camera shooting area of the camera when the bristles identify positions, and the camera transmits RGB images of the camera shooting area to the electric control device;
the gray value X of the color of the sorting indicating line calculated by the weighted average method and the gray value D of the outer surface of the second conveying belt calculated by the weighted average method are stored in the electric control device; the absolute value of the difference between X and D is greater than or equal to 10;
the sizes of all the frames of images shot by the camera are the same, and the image coordinates of all the sorting indicating lines in all the frames of images are stored in the electric control device;
the electronic control device calculates the gray value of each pixel point in the image shot by the camera by using a weighted average method and marks the image coordinates of the gray value;
the electric control device marks all pixel points at the image coordinate position of which the gray value is not equal to X nor D in the image as bristle pixel points, and the electric control device marks the continuously distributed bristle pixel points as the same bristle;
the SUM of the gray values of all the pixel points of one bristle is SUM1, the number of all the pixel points of one bristle is SUM2, and the electric control device calculates the average value P of the gray values of all the pixel points of each bristle, wherein P is SUM 1/SUM 2;
the electric control device marks the bristles with the P less than or equal to 20 as black bristles; the electric control device marks the bristles with P & gt 20 as the variegated bristles;
the electric control device filters all black bristles and leaves the bristles to be sorted out;
for each mixed color bristle, the electric control device compares the image coordinates of each pixel point with the image coordinates of each sorting indicating line, and when one mixed color bristle has pixel points with image coordinate values positioned on one sorting indicating line, the electric control device marks the sorting indicating line as a crossing indicating line of the mixed color bristle;
when one mixed bristle only has one crossing indicating line, the electric control device takes the crossing indicating line as a nearest indicating line, and the electric control device takes a pixel point covered at the intersection point of the mixed bristle and the nearest indicating line as an adsorption area;
when one mixed color bristle has more than two crossing indication lines, the electric control device calculates the average image coordinate of each pixel point of the mixed color bristle, and takes the crossing indication line closest to the average image coordinate as the nearest indication line, and the electric control device takes the pixel point covered at the intersection point of the mixed color bristle and the nearest indication line as an adsorption area;
the electric control device stores the running speed V m/S of the second conveyor belt and the distance S m between each pixel point of each sorting indicating line in the image shot by the camera and the corresponding adsorption point, and calculates the time t seconds required by the most downstream pixel point of the adsorption area to reach the adsorption point according to t ═ S/V;
for each variegated bristle, the electric control device controls the action of the miniature speed reducing motor corresponding to the nearest indicating line, so that the vacuum suction pipe corresponding to the nearest indicating line reaches the lower limit position within n seconds under the driving of the lifting block, n is more than or equal to 0.3 and less than or equal to t-0.2 seconds, and the vacuum suction pipe stays at the lower limit position for more than 0.1 second, thereby ensuring that the variegated bristle is adsorbed;
the electric control device controls the vacuum suction pipe and the adsorbed mixed-color bristles to upwards return to an upper limit position, the mixed-color bristles adsorbed by the vacuum suction pipe are sucked into the long hole for air suction under the action of lower negative pressure at the long hole for air suction than at the vacuum suction pipe, and the second variable-frequency negative pressure device sends the mixed-color bristles into the sorting box through the collecting pipe;
the black bristles fall into the collecting box along the blanking end of the second conveyor belt;
continuously performing all the steps from the initial state, continuously dividing the bristles poured into the feeding port into variegated bristles and black bristles, and respectively collecting the variegated bristles and the black bristles into a sorting box and a collecting box.
6. The bristle sorting method of claim 5, wherein: and starting the first frequency conversion negative pressure device and the second frequency conversion negative pressure device, and simultaneously starting the third frequency conversion negative pressure device, so that negative pressure is formed at the recovery cover, and bristles scattered on the second conveying belt are conveyed into a feeding port of the feeding device again through the recovery cover, the material return pipe and the material return box.
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