Industrial nut sorting device based on machine vision camera

Abstract

The utility model provides an industrial nut sorting device based on a machine vision camera, which comprises a nut feeding box, a nut conveying belt is arranged below the nut feeding box, a supporting rod is arranged below the nut conveying belt, the nut conveying belt is embedded into a nut sorting box, and the nut sorting box is connected with the supporting rod. A nut sorting power mechanism is arranged on the nut sorting box, and the nut sorting power mechanism is connected with a nut sorting grabbing mechanism; and the nut sorting and grabbing mechanism is in circuit connection with the machine vision assembly. According to the nut sorting device, automation of nut sorting is achieved, the nuts can be quickly and continuously sorted, production efficiency is greatly improved, and time needed by manual operation is shortened. The machine vision assembly can accurately recognize the characteristics of the nuts, the nuts meeting the requirements can be accurately grabbed and sorted in cooperation with the nut sorting power mechanism and the grabbing mechanism, the mistaken sorting rate is effectively reduced, and the product quality is improved.

Description

Technical Field

[0001] The utility model relates to the field of sorting, and in particular to an industrial nut sorting device based on a machine vision camera. Background Art

[0002] In modern industrial production, nuts are a commonly used fastener, and their quality and accuracy of specifications are of vital importance. However, in the actual production process, due to various reasons, the shape, size and other characteristics of the nuts may not meet the requirements, which requires sorting the nuts and screening out unqualified products to ensure product quality and smooth production; Chinese utility model patent application number: CN202321956484.8 proposes a sorting robot arm, including a stabilizing frame, the upper surface of the stabilizing frame is fixedly inlaid with a bearing, the inner ring of the bearing is fixedly connected to the robot body, the output end of the robot body is connected to a connecting plate, and the bottom surface of the connecting plate is fixedly connected to a driving arm, The output end of the driving support arm is fixedly connected to a support plate, and the bottom surface of the support plate is fixedly connected to two baffles. The device can not only clamp objects of different sizes, but also protect the clamped objects through the cooperation of baffles, electric telescopic rods, mechanical arm clamps, protective pads, limit plates and springs, thereby greatly increasing the practicality of the equipment. The cooperation of anti-slip bumps, slide grooves and sliders greatly increases the stability of the clamped objects. The cooperation of the base, mounting holes, mounting screws and rotating motors can not only facilitate the installation of the equipment by the staff, but also enable the equipment to rotate.

[0003] However, the existing nut sorting device has some shortcomings in the process of use and still needs to be improved. The existing industrial nut sorting mainly adopts the robotic arm method. This method has some obvious shortcomings. First, the robotic arm takes a long time to perform the sorting and clamping action, which leads to low efficiency of the entire sorting process and is difficult to meet the needs of large-scale production. Secondly, the sorting arm of the existing sorting device has a small activity angle, which limits its ability to detect and operate nuts in all directions. More importantly, the traditional robotic arm sorting method cannot perform visual recognition, and it is difficult to accurately judge whether the shape, size and other characteristics of the nut meet the requirements, which can easily lead to misjudgment and missed inspection, affecting product quality. The existing industrial nut sorting mainly adopts the robotic arm method, the sorting and clamping action time is long, and the nuts cannot be sorted quickly and continuously, resulting in low production efficiency and a lot of manual operation time. The sorting arm of the existing sorting device has a small activity angle and cannot flexibly adapt to the sorting needs of nuts of different specifications and shapes, which limits its application range. The existing sorting robotic arm has only a single sorting mechanism, and the work efficiency is relatively low. Therefore, we make improvements to this and propose an industrial nut sorting device based on a machine vision camera. Utility Model Content

[0004] The purpose of the utility model is to address the problems raised by the existing background technology. In order to achieve the above-mentioned purpose of the utility model, the utility model provides the following technical solutions: an industrial nut sorting device based on a machine vision camera, comprising a nut loading box, a nut conveyor belt is arranged below the nut loading box, a support rod is arranged below the nut conveyor belt, the nut conveyor belt is embedded in the interior of the nut sorting box, a nut sorting power mechanism is arranged on the nut sorting box, the nut sorting power mechanism is connected to the nut sorting grasping mechanism; the nut sorting grasping mechanism is connected to the machine vision component circuit.

[0005] As a preferred technical solution of the utility model, the nut sorting power mechanism is provided with a servo motor, the servo motor is connected to a driving shaft, and the driving shaft is connected to a sorting power arm.

[0006] As an optimal technical solution of the utility model, the nut sorting and grabbing mechanism sorting arm is movably connected to the sorting power arm, the sorting arm is connected to the triangular plate, a guide rod is provided on the upper part of the triangular plate; a nut sorting clamp is provided on the lower part of the triangular plate.

[0007] As a preferred technical solution of the utility model, the servo motor and the driving shaft as well as the sorting power arm and the sorting arm are all provided with three parallel triangle installations, and the three sorting arms are respectively connected to the three sides of the triangular disk.

[0008] As a preferred technical solution of the utility model, the machine vision component is provided with a machine vision disk, on which a machine vision camera and a lighting lamp are provided, the machine vision camera is connected to a data connection port, and the data connection port is connected to a machine vision encoding processor via wires.

[0009] As a preferred technical solution of the utility model, a universal ball is arranged on each corner of the triangular plate, a semicircular joint movable cap is arranged on the end of the sorting arm, and the universal ball is movably embedded in the semicircular joint movable cap.

[0010] As a preferred technical solution of the utility model, the end of the sorting arm is covered with a connecting sleeve.

[0011] As a preferred technical solution of the utility model, a cross hinge buckle is arranged above the triangular plate, and the cross hinge buckle is connected to the guide rod.

[0012] As a preferred technical solution of the utility model, the machine vision disk is arranged above the nut sorting box.

[0013] As a preferred technical solution of the utility model, the nut sorting power mechanism, the nut sorting grabbing mechanism and the machine vision component are each provided with two groups.

[0014] Compared with the prior art, the beneficial effects of the utility model are as follows: In the scheme of the utility model: the device of the utility model realizes the automation of nut sorting, can sort the nuts quickly and continuously, greatly improves the production efficiency, and reduces the time required for manual operation.

[0015] The machine vision component of the utility model can accurately identify the features of nuts, and cooperate with the nut sorting power mechanism and the grasping mechanism to accurately grasp and sort nuts that meet the requirements, effectively reducing the mis-picking rate and improving product quality.

[0016] The connection between the triangular plate and the sorting arm of the utility model, as well as the cooperation of the universal ball and the semicircular joint movable cap, make the sorting action more flexible and can adapt to the needs of sorting nuts of different specifications and shapes.

[0017] The cross hinge buckle above the triangular plate of the utility model is connected with the guide rod, which provides a stable guide for the sorting operation, ensures the smooth progress of the sorting process, and reduces the possibility of failure.

[0018] The utility model is provided with two groups of nut sorting power mechanisms, a nut sorting grasping mechanism and a machine vision component, and can sort a plurality of nuts at the same time, thereby further improving the working efficiency.

[0019] The automated sorting process reduces reliance on manual labor, reduces the company's labor costs, and also reduces the labor intensity of workers.

[0020] The use of machine vision technology and automated control makes the entire nut sorting process more intelligent, which helps companies achieve intelligent production and improve their market competitiveness.

[0021] The structure of the device is relatively reasonable, and the connection and installation of various components are relatively simple, which is convenient for daily maintenance and management of the equipment and reduces the cost of equipment maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the main structure provided by the utility model;

[0023] Figure 2 A schematic diagram of the main cross-sectional structure provided by the utility model;

[0024] Figure 3 This is a schematic diagram of the structure of the nut sorting and grabbing mechanism provided by the utility model;

[0025] Figure 4 A schematic diagram of the structure of the semicircular joint movable cap provided by the utility model;

[0026] Figure 5 A schematic diagram of the universal ball structure provided by the utility model;

[0027] Figure 6 A schematic diagram of the triangular plate structure provided by the utility model;

[0028] Figure 7 This is a schematic diagram of the structure of the nut sorting power mechanism provided by the utility model;

[0029] Figure 8 This is a schematic diagram of the structure of the machine vision component provided by the utility model.

[0030] Indicated in the figure:

[0031] 1. Nut feeding box; 2. Nut conveyor belt; 3. Support rod; 4. Nut sorting box 5. Nut sorting power mechanism; 51. Servo motor; 52. Driving shaft; 53. Sorting power arm; 6. Nut sorting grabbing mechanism; 61. Sorting arm; 62. Triangular disk; 63. Guide rod; 64. Nut sorting clamp; 7. Machine vision component; 71. Machine vision disk; 72. Machine vision camera; 73. Data connection port; 74. Lighting lamp; 75. Machine vision encoding processor; 8. Connecting sleeve; 9. Universal ball; 10. Semicircular joint movable cap; 11. Cross hinge buckle. DETAILED DESCRIPTION

[0032] To make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be described clearly and completely in conjunction with the accompanying drawings. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments.

[0033] Therefore, the following detailed description of the embodiments of the utility model is not intended to limit the scope of the utility model for which protection is sought, but merely represents some embodiments of the utility model. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model. It should be noted that the embodiments of the utility model and the features and technical solutions in the embodiments can be combined with each other without conflict. It should be noted that similar numbers and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0034] Example 1: Please refer to Figure 1-Figure 8An industrial nut sorting device based on a machine vision camera includes a nut loading box 1, a nut conveyor belt 2 is arranged below the nut loading box 1, a support rod 3 is arranged below the nut conveyor belt 2, the nut conveyor belt 2 is embedded in the interior of a nut sorting box 4, a nut sorting power mechanism 5 is arranged on the nut sorting box 4, the nut sorting power mechanism 5 is connected to a nut sorting grasping mechanism 6; the nut sorting grasping mechanism 6 is circuit-connected to a machine vision component 7.

[0035] The nut sorting power mechanism 5 is provided with a servo motor 51 , the servo motor 51 is connected to a driving shaft 52 , and the driving shaft 52 is connected to a sorting power arm 53 .

[0036] The nut sorting and grabbing mechanism 6 is provided with a sorting arm 61, which is movably connected to the sorting power arm 53, and the sorting arm 61 is connected to a triangular plate 62, and a guide rod 63 is provided on the upper part of the triangular plate 62; a nut sorting clamp 64 is provided on the lower part of the triangular plate 62.

[0037] The servo motor 51 , the driving shaft 52 , the sorting power arm 53 and the sorting arm 61 are all provided with three parallel triangle installations, and the three sorting arms 61 are respectively connected to the three sides of the triangular plate 62 .

[0038] The machine vision component 7 is provided with a machine vision disk 71, on which a machine vision camera 72 and an illumination lamp 74 are provided. The machine vision camera 72 is connected to a data connection port 73, and the data connection port 73 is connected to a machine vision encoding processor 75 via wires.

[0039] A universal ball 9 is provided at each corner of the triangular plate 62 , and a semicircular joint movable cap 10 is provided at the end of the sorting arm 61 , and the universal ball 9 is movably embedded in the semicircular joint movable cap 10 .

[0040] The end of the sorting arm 61 is covered with a connecting sleeve 8.

[0041] A cross hinge buckle 11 is provided above the triangular plate 62 , and the cross hinge buckle 11 is connected to the guide rod 63 .

[0042] The machine vision disk 71 is arranged above the nut sorting box 4 .

[0043] The nut sorting power mechanism 5, the nut sorting grasping mechanism 6 and the machine vision component 7 are each provided with two groups.

[0044] The working principle of the industrial nut sorting device based on machine vision camera is as follows:

[0045] First, nuts are placed in the nut loading box 1 and fall onto the nut conveyor belt 2 by gravity. The nut conveyor belt 2, supported by the support rod 3, conveys the nuts to a position embedded in the nut sorting box 4.

[0046] Two groups of nut sorting power mechanisms 5 are provided on the nut sorting box 4. The servo motor 51 in each nut sorting power mechanism 5 is started to drive the driving shaft 52 to rotate, and the driving shaft 52 further drives the sorting power arm 53 to move.

[0047] Here, there are three servo motors 51, drive shafts 52 and sorting power arms 53, which are installed in a triangle. The three sorting power arms 53 are movably connected to the sorting arms 61, and the three sorting arms 61 are respectively connected to the three sides of the triangular plate 62. When the sorting power arms 53 move, the sorting arms 61 will be driven to move.

[0048] A universal ball 9 is provided at each corner of the triangular plate 62, and a semicircular joint movable cap 10 is provided at the end of the sorting arm 61. The universal ball 9 is movably embedded in the semicircular joint movable cap 10, so that the sorting arm 61 can flexibly move relative to the triangular plate 62. At the same time, a cross hinge buckle 11 is provided above the triangular plate 62, and the cross hinge buckle 11 is connected to the guide rod 63 to play a further guiding and stabilizing role.

[0049] A nut sorting chuck 64 is provided at the lower part of the triangular plate 62 for grabbing nuts. When the sorting arm 61 moves, the triangular plate 62 is driven to move, so that the nut sorting chuck 64 can accurately grab the nuts.

[0050] A machine vision component 7 is arranged above the nut sorting box 4. The machine vision camera 72 and the lighting lamp 74 on the machine vision disk 71 shoot and illuminate the nuts on the conveyor belt. The image captured by the machine vision camera 72 is transmitted to the machine vision encoding processor 75 through the data connection port 73 for analysis and processing.

[0051] The processed information is fed back to the nut sorting and grabbing mechanism 6, which controls it to accurately grab the nuts that meet the requirements, thereby realizing the nut sorting work.

[0052] The whole device improves the efficiency and accuracy of nut sorting through the coordinated work of two sets of nut sorting power mechanisms 5, nut sorting grasping mechanisms 6 and machine vision components 7.

[0053] The specific working process of the industrial nut sorting device based on machine vision camera is as follows:

[0054] 1. Loading: Put the nuts to be sorted into the nut loading box 1, and the nuts fall to the nut conveyor belt 2 by gravity.

[0055] 2. Transportation: With the support of the support rod 3, the nut conveyor belt 2 transports the nuts to a position embedded inside the nut sorting box 4.

[0056] 3. Image acquisition and analysis:

[0057] When the nuts reach the designated position, the lighting lamp 74 on the machine vision disk 71 above the nut sorting box 4 lights up, providing good lighting conditions for shooting.

[0058] The machine vision camera 72 takes a picture of the nut, and the captured image is transmitted to the machine vision encoding processor 75 via the data connection port 73 .

[0059] The machine vision encoding processor 75 analyzes the image to determine whether the shape, size and other features of the nut meet the requirements, and feeds back the results to the nut sorting and grasping mechanism 6.

[0060] 4. Sorting and grabbing:

[0061] The two groups of servo motors 51 in the nut sorting power mechanism 5 are started, and drive their respective driving shafts 52 to rotate.

[0062] The driving shaft 52 drives the sorting power arms 53 to move. Since the servo motor 51, the driving shaft 52 and the sorting power arms 53 are provided in three numbers and installed in a triangle, the three sorting power arms 53 will move simultaneously.

[0063] The sorting power arm 53 drives the sorting arm 61 movably connected thereto to move, and the end of the sorting arm 61 is movably connected to the universal ball 9 on the corner of the triangular plate 62 through the semicircular joint movable cap 10, so that the sorting arm 61 can flexibly drive the triangular plate 62 to move.

[0064] The cross hinge buckle 11 above the triangular plate 62 is connected to the guide rod 63 to play a guiding and stabilizing role.

[0065] The nut sorting clamp 64 at the bottom of the triangular plate 62 is driven by the sorting arm 61 to accurately grab the nuts that meet the requirements according to the analysis results of the machine vision component 7.

[0066] 5. Sorting is completed: After grabbing the nuts that meet the requirements, the nut sorting and grabbing mechanism 6 places the nuts at the designated position, completing a sorting operation. Subsequently, the device repeats the above process to sort the next batch of nuts.

[0067] Example 2: Industrial nut sorting device based on machine vision camera. In an automobile parts production factory, a large number of industrial nuts need to be sorted. In the past, manual sorting was not only inefficient, but also prone to misjudgment. In order to improve production efficiency and product quality, the factory introduced an industrial nut sorting device based on machine vision camera.

[0068] The nut loading box 1 of the device is filled with nuts to be sorted. Under the action of gravity, the nuts fall orderly onto the nut conveyor belt 2 below. The support rod 3 below the conveyor belt ensures the smooth operation of the conveyor belt and accurately transports the nuts to the position embedded in the nut sorting box 4.

[0069] The two groups of nut sorting power mechanisms 5 on the nut sorting box 4 start to work. The servo motor 51 in each power mechanism is started, driving the drive shaft 52 to rotate, and the drive shaft 52 then pushes the sorting power arm 53 to move. Here, the servo motor 51, the drive shaft 52 and the sorting power arm 53 are all three and installed in a triangle. The three sorting power arms 53 are respectively movably connected to the sorting arms 61, and the three sorting arms 61 are respectively connected to the three sides of the triangular plate 62. When the sorting power arm 53 moves, it drives the sorting arm 61 to move.

[0070] A universal ball 9 is provided at each corner of the triangular plate 62, and a semicircular joint movable cap 10 is provided at the end of the sorting arm 61. The universal ball 9 can be flexibly rotated in the semicircular joint movable cap 10, so that the sorting arm 61 can freely move relative to the triangular plate 62. At the same time, the cross hinge buckle 11 above the triangular plate 62 is connected to the guide rod 63, which further enhances the guidance and stability of the movement. A nut sorting clamp 64 is provided at the bottom of the triangular plate 62. When the sorting arm 61 moves, the triangular plate 62 is driven to move, so that the nut sorting clamp 64 can accurately grab the nut.

[0071] Above the nut sorting box 4, the machine vision camera 72 and the lighting lamp 74 on the machine vision disk 71 in the machine vision assembly 7 start working. The lighting lamp 74 provides good lighting conditions for shooting, and the machine vision camera 72 shoots the nuts on the conveyor belt. The captured image is transmitted to the machine vision encoding processor 75 through the data connection port 73 for analysis and processing. The processor determines whether the shape, size and other characteristics of the nut meet the requirements according to the preset standards, and feeds back the processed information to the nut sorting and grabbing mechanism 6.

[0072] The nut sorting and grabbing mechanism 6 controls the action of the sorting arm 61 according to the information fed back by the machine vision component 7, so that the nut sorting clamp 64 accurately grabs the nuts that meet the requirements and places them in the specified position. Through the coordinated work of the two sets of nut sorting power mechanisms 5, the nut sorting and grabbing mechanism 6 and the machine vision component 7, the device can quickly and accurately sort a large number of industrial nuts, greatly improving production efficiency and product quality, reducing labor costs and misjudgment rate, and providing strong support for the factory's automated production.

[0073] Example 3: An industrial nut sorting device based on a machine vision camera was introduced in a large nut production plant to improve the efficiency and accuracy of nut sorting. The nut loading box 1 of the device has a size of 50cm×50cm×50cm and can accommodate 500 nuts. Workers pour a large number of nuts to be sorted into the loading box, and the nuts naturally fall to the nut conveyor belt 2 with a width of 30cm below by gravity. Supported by a stainless steel support rod 3 with a height of 80cm, the conveyor belt transports the nuts to a position embedded in the nut sorting box 4 at a speed of 0.5 m / s.

[0074] When the nuts reach the designated position, the lighting lamp 74 with a power of 50W and a color temperature of 5500K on the machine vision disk 71 above the nut sorting box 4 lights up, providing good lighting conditions for the machine vision camera 72. The machine vision camera 72 with a resolution of 1920×1080 pixels and a frame rate of 30 frames per second takes pictures of the nuts, and the images taken are transmitted to the machine vision encoding processor 75 through the data connection port 73. The processor analyzes the image to determine whether the shape, size and other features of the nut meet the requirements, and feeds back the results to the nut sorting and grasping mechanism 6.

[0075] The two servo motors 51 with a power of 2 kW and a rotation speed of 3000 rpm in the nut sorting power mechanism 5 are started, and drive the respective drive shafts 52 with a diameter of 2 cm and a length of 30 cm to rotate. The drive shafts 52 drive the sorting power arms 53 with a length of 40 cm to move. Since the servo motors 51, drive shafts 52 and sorting power arms 53 are provided with three and installed in a triangle, the three sorting power arms 53 will move simultaneously.

[0076] The sorting power arm 53 drives the sorting arm 61 with a length of 50 cm, which is movably connected to it, to move. The end of the sorting arm 61 is movably connected to the universal ball 9 on the corner of the triangular plate 62 with a side length of 30 cm through the semicircular joint movable cap 10, so that the sorting arm 61 can flexibly drive the triangular plate 62 to move. The cross hinge buckle 11 above the triangular plate 62 is connected to the guide rod 63 with a diameter of 1 cm and a length of 60 cm, which plays a guiding and stabilizing role. The nut sorting clamp 64 at the bottom of the triangular plate 62 has an opening diameter range of 10mm-30mm, which can adapt to nuts of different specifications. Driven by the sorting arm 61, the nuts that meet the requirements are accurately grasped according to the analysis results of the machine vision component 7.

[0077] After the nuts that meet the requirements are grabbed, the nut sorting and grabbing mechanism 6 places the nuts at the designated position, completing a sorting operation. Subsequently, the device repeats the above process to sort the next batch of nuts.

[0078] Through the application of the device, the factory's nut sorting efficiency has been significantly improved, from the original manual sorting of several hundred per hour to the current thousands per hour, and the sorting accuracy has also been effectively guaranteed, greatly improving product quality and production efficiency.

[0079] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the above specific implementation methods. Therefore, any modification or equivalent replacement of the present invention; and all technical solutions and improvements thereof that do not depart from the spirit and scope of the present invention are included in the scope of the claims of the present invention.

Claims

1. An industrial nut sorting device based on a machine vision camera, comprising a nut loading box (1), a nut conveyor belt (2) is arranged below the nut loading box (1), and a support rod (3) is arranged below the nut conveyor belt (2), characterized in that: The nut conveyor belt (2) is embedded in the interior of a nut sorting box (4); a nut sorting power mechanism (5) is provided on the nut sorting box (4); the nut sorting power mechanism (5) is connected to a nut sorting grasping mechanism (6); and the nut sorting grasping mechanism (6) is connected to a machine vision component (7) circuit.

2. The industrial nut sorting device based on machine vision camera according to claim 1 is characterized in that: The nut sorting power mechanism (5) is provided with a servo motor (51), the servo motor (51) is connected to a driving shaft (52), and the driving shaft (52) is connected to a sorting power arm (53).

3. The industrial nut sorting device based on machine vision camera according to claim 2 is characterized in that: The nut sorting and grabbing mechanism (6) is provided with a sorting arm (61), the sorting arm (61) is movably connected to the sorting power arm (53), the sorting arm (61) is connected to a triangular plate (62), a guide rod (63) is provided on the upper part of the triangular plate (62), and a nut sorting clamp (64) is provided on the lower part of the triangular plate (62).

4. The industrial nut sorting device based on machine vision camera according to claim 3 is characterized in that: The servo motor (51), the drive shaft (52), the sorting power arm (53), and the sorting arm (61) are all provided with three parallel triangle installations, and the three sorting arms (61) are respectively connected to three sides of the triangular plate (62).

5. The industrial nut sorting device based on machine vision camera according to claim 1 is characterized in that: The machine vision component (7) is provided with a machine vision disk (71), and a machine vision camera (72) and an illuminating lamp (74) are provided on the machine vision disk (71); the machine vision camera (72) is connected to a data connection port (73), and the data connection port (73) is connected to a machine vision encoding processor (75) via an electric wire.

6. The industrial nut sorting device based on machine vision camera according to claim 3 is characterized in that: A universal ball (9) is provided at each corner of the triangular plate (62), a semicircular joint movable cap (10) is provided at the end of the sorting arm (61), and the universal ball (9) is movably embedded in the semicircular joint movable cap (10).

7. The industrial nut sorting device based on machine vision camera according to claim 3 is characterized in that: The end of the sorting arm (61) is sleeved with a connecting sleeve (8).

8. The industrial nut sorting device based on machine vision camera according to claim 3 is characterized in that: A cross hinge buckle (11) is provided above the triangular plate (62), and the cross hinge buckle (11) is connected to the guide rod (63).

9. The industrial nut sorting device based on machine vision camera according to claim 5 is characterized in that: The machine vision disk (71) is arranged above the nut sorting box (4).

10. The industrial nut sorting device based on machine vision camera according to claim 1 is characterized in that: The nut sorting power mechanism (5), the nut sorting grabbing mechanism (6) and the machine vision component (7) are each provided in two groups.

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