Intelligent assembly equipment and method for anti-counterfeiting toothed liquor cap based on image recognition

Abstract

The present invention discloses an intelligent assembly device and method for an anti-counterfeiting tooth-type liquor cap based on image recognition, which comprises a conveyor belt device for the cap body of a special-shaped cap and an outer sleeve, a grabbing and placing mechanism for the cap body of the special-shaped cap and the outer sleeve, an identification and positioning system and a control system for the groove of the cap body of the special-shaped cap and the convex teeth of the outer sleeve using an image recognition sensor, etc. The device has the characteristics of efficient recognition, accurate positioning, simple structure, easy maintenance and high reliability, and can complete the positioning of the groove of the cap body of the special-shaped cap and the convex teeth of the outer sleeve by an intelligent positioning method, which can replace the problems of low efficiency and high cost in the existing manual assembly.

Description

Technical Field

[0001] The present invention relates to an intelligent assembly device for an anti-counterfeiting tooth-type special-shaped plastic liquor cap based on image recognition. Specifically, the image recognition technology is used to accurately locate the groove of the cap body of the special-shaped plastic liquor cap and the convex teeth of the outer middle sleeve, and an automated assembly method is used instead of a manual assembly method to complete the assembly of the groove of the cap body of the anti-counterfeiting tooth-type liquor cap and the convex teeth of the outer middle sleeve. Background Art

[0002] In the huge liquor market and many liquor brands, different products have their own unique design concepts in terms of the color and shape of the wine box packaging, bottle body and bottle cap, etc.; for the liquor manufacturers of the same brand, since their liquor has different types, their different types also have different product packaging. For the anti-counterfeiting tooth-type liquor bottle cap itself, it is mainly composed of a cap body, an inner liner, an outer middle sleeve, a transparent rotating inner cover and a wine pourer, etc. The bottle cap cap body and the outer middle sleeve have different types and shapes, such as: wave stripe cylindrical type, conical surface type, outer surface polygonal three-dimensional type and smooth surface cylindrical type, etc. At present, for the wave stripe cylindrical type and the smooth surface cylindrical type, since the outer surface is relatively regular, a mechanical structure is generally used to mechanically position the cap body groove and the outer middle sleeve convex teeth of the liquor cap, and then the cap body groove and the outer middle sleeve convex teeth of the liquor cap are pressurized and assembled. In the actual production process, the mechanical positioning method currently used can solve the automatic assembly process of wavy-striped cylindrical and smooth-surface cylindrical liquor caps, and its yield rate can reach 97%. However, for the assembly of liquor caps with polygonal three-dimensional and other special shapes, due to the irregular outer surface, it is impossible to accurately position the grooves of the cap body and the convex teeth of the outer middle sleeve of the liquor cap in an accurate manner. At present, in the actual production process, manual assembly is mainly used to complete the assembly process of the cap body and the outer middle sleeve of the liquor cap, and this method has low assembly efficiency and high assembly cost.

[0003] In order to realize automatic and accurate identification and positioning of the cap body groove and the outer middle sleeve convex teeth of the anti-counterfeiting tooth-shaped special-shaped cap, image recognition technology is used for accurate identification instead of the existing purely mechanical positioning or manual positioning assembly. In this way, intelligent positioning and assembly are realized, and the assembly efficiency of the cap body groove and the outer middle sleeve convex teeth of the anti-counterfeiting tooth-shaped special-shaped cap is improved, which is of great significance to reducing the production cost of the enterprise. Summary of the invention

[0004] The main purpose of the present invention is to solve the shortcomings of the above-mentioned background technology and design an intelligent assembly device for anti-counterfeiting tooth-type special-shaped plastic liquor caps based on image recognition. The characteristics of the present invention are to use image recognition technology to complete the precise positioning of the cap body groove of the anti-counterfeiting tooth-type special-shaped cap and the outer middle sleeve convex teeth, and then rotate the cap body groove of the anti-counterfeiting tooth-type special-shaped cap and the outer middle sleeve convex teeth through a stepper motor and related mechanical grasping mechanisms, so that it can enter the next direct assembly process. The device has the characteristics of recognition efficiency, accurate positioning, simple structure, easy maintenance and high reliability.

[0005] In order to realize the above technical features, the purpose of the present invention is achieved as follows: an intelligent assembly device and method for anti-counterfeiting toothed liquor caps based on image recognition, which includes an outer sleeve conveyor belt mechanism for conveying the outer sleeve of the special-shaped cap, and a first grasping and placing mechanism for grasping and placing the outer sleeve is installed at the end of the outer sleeve conveyor belt mechanism;

[0006] It comprises a cap body conveyor belt mechanism for conveying the cap body of the special-shaped cap, and a second grasping and placing mechanism for grasping and placing the cap body is installed at the end of the cap body conveyor belt mechanism;

[0007] It includes a first positioning system for identifying and locating the protruding teeth of the outer sleeve;

[0008] including a second positioning system for identifying and positioning the groove of the cap body;

[0009] The first grabbing and placing mechanism, the second grabbing and placing mechanism, the first positioning system and the second positioning system are all connected to the overall control system.

[0010] The outer-middle sleeves are arranged at equal intervals on the outer-middle sleeve conveyor belt mechanism, and the protrusions of the outer-middle sleeve are arranged in disorder on the conveyor belt.

[0011] The cap bodies are arranged at equal intervals on the cap body conveyor belt mechanism, and the grooves of the cap bodies are arranged in disorder on the conveyor belt.

[0012] The first grabbing and placing mechanism includes a first grabbing mechanism, which is fixedly mounted on the first cylinder and completes the grabbing and releasing actions of the outer sleeve. The first cylinder is connected to the rotating shaft of the first stepper motor through a connecting rod, and the outer sleeve on the outer sleeve conveyor belt mechanism is placed on the first pneumatic three-claw disk assembly through the first grabbing mechanism; the signal lines of the first cylinder and the first stepper motor are connected to the overall control system.

[0013] The second grabbing and placing mechanism includes a second grabbing mechanism, which is fixedly mounted on the third pneumatic cylinder and completes the grabbing and releasing actions of the cap body. The third pneumatic cylinder is connected to the rotating shaft of the fourth stepper motor through a connecting rod, and the cap body located on the cap body conveyor belt mechanism is placed on the transparent glass plate through the second grabbing mechanism; the signal lines of the third pneumatic cylinder and the fourth stepper motor are connected to the overall control system.

[0014] The first positioning system includes a first pneumatic three-claw disk assembly, which is installed on the output shaft of the second stepper motor. A first image recognition sensor is arranged directly above the first pneumatic three-claw disk assembly, and the first image recognition sensor is fixed on the first light blocking tube. A rotating body is installed on the top of the first light blocking tube, and the rotating body is fixedly mounted on the telescopic rod of the second cylinder.

[0015] The second positioning system includes a second pneumatic three-claw disk assembly for grasping the cap body, and the second pneumatic three-claw disk assembly is fixedly mounted on the output shaft of the third stepper motor. A second image recognition sensor for identifying the groove of the cap body is arranged directly below the second pneumatic three-claw disk assembly, and cooperates with the third stepper motor to realize the positioning of the cap body. A second light blocking tube is installed on the output shaft of the third stepper motor.

[0016] The method for assembling a wine cap by using the anti-counterfeiting tooth-type white wine cap intelligent assembly device based on image recognition in any one of the above items comprises the following steps:

[0017] Step 1: Place the outer sleeve on the outer sleeve conveyor belt mechanism through feeding, and realize the transportation of the outer sleeve; at the same time, place the cap body on the cap body conveyor belt mechanism through feeding, and realize the transportation of the cap body;

[0018] Step 2: Drive the first grasping mechanism by the first cylinder to grasp the outer sleeve, and place the outer sleeve on the first pneumatic three-claw plate assembly of the first positioning system by the first stepper motor;

[0019] Step 3: The second gripping mechanism is driven by the third pneumatic cylinder to grip the cap body, and the cap body is placed on the transparent glass plate of the second positioning system by the fourth stepping motor;

[0020] Step 4: Use the first image recognition sensor to take a photo and recognize the outer sleeve of the special-shaped cover, compare the image to be recognized with the standard image, and then the second stepper motor drives the first pneumatic three-claw plate assembly and the grasped outer sleeve together. When the second stepper motor rotates clockwise, if the convex teeth of the outer sleeve to be recognized coincide with the convex teeth of the standard image, the second stepper motor stops rotating, and the recognition and positioning of the convex teeth of the outer sleeve are completed;

[0021] Step 5: Use the second image recognition sensor to take a picture and identify the cap body of the special-shaped cover through the transparent glass plate, compare the image to be identified with the standard image, and then the third stepper motor drives the second pneumatic three-claw disk assembly and the grasped cap body. When the third stepper motor rotates clockwise, if the groove of the cap body of the special-shaped cover to be identified coincides with the groove of the standard image, the third stepper motor stops rotating, and the identification and positioning of the groove of the cap body of the special-shaped cover is completed.

[0022] The specific identification and positioning process in Step 4 and Step 5 is that the first image recognition sensor and the second image recognition sensor take pictures and identify the outer sleeve and the cap body respectively to form an image to be identified; by comparing the angle θ value between the image to be identified and the standard image, the second stepper motor drives the captured cap body and the third stepper motor drives the captured outer sleeve to rotate clockwise respectively, so that the angle θ value between the image to be identified and the standard image is zero, and the stepper motor stops running, completing the positioning of the groove of the anti-counterfeiting tooth-type special-shaped cap body and the convex teeth of the special-shaped cover outer sleeve.

[0023] The present invention has the following beneficial effects:

[0024] 1. By combining the image recognition method and mechanical rotation control of the present invention, the groove of the cap body of the anti-counterfeiting tooth-shaped special-shaped cover and the convex teeth of the outer middle cover are accurately positioned, so as to realize the intelligent assembly device of the cap body and the outer middle cover of the anti-counterfeiting tooth-shaped special-shaped cover. The device has the characteristics of efficient recognition, accurate positioning, simple structure, easy maintenance and strong reliability.

[0025] 2. Identification and positioning method of the groove of the special-shaped cover cap body: use the second image recognition sensor to photograph and identify the cap body of the special-shaped cover through the transparent glass plate, and compare the image to be identified with the standard image. If the image to be identified is inconsistent with the standard image, the third stepper motor rotates clockwise until the groove of the special-shaped cover cap body to be identified coincides with the groove of the standard image. The third stepper motor stops rotating, and the identification and positioning of the groove of the special-shaped cover cap body is completed.

[0026] 3. Method for identifying and locating the convex teeth of the outer middle sleeve of the special-shaped cover: Use the first image recognition sensor to take a picture and identify the outer middle sleeve of the special-shaped cover, and compare the image to be identified with the standard image. If the image to be identified is inconsistent with the standard image, the second stepper motor will rotate clockwise until the convex teeth of the outer middle sleeve of the special-shaped cover to be identified coincide with the convex teeth of the standard image. The second stepper motor stops rotating, and the identification and positioning of the convex teeth of the outer middle sleeve of the special-shaped cover are completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0028] Figure 1 It is the overall structural front view of the present invention.

[0029] Figure 2 A recognition method that compares the image to be recognized with the standard image.

[0030] In the figure: 1. outer-middle sleeve conveyor belt mechanism, 2. outer-middle sleeve, 3. first grasping mechanism, 4. first cylinder, 5. connecting rod, 6. first stepper motor, 7. first light blocking tube, 8. first image recognition sensor, 9. second pneumatic cylinder, 10. telescopic rod, 11. rotating body, 12. first pneumatic three-claw disk assembly, 13. second stepper motor, 14. second light blocking tube, 15. third stepper motor, 16. second pneumatic three-claw disk assembly, 17. second image recognition sensor, 18. transparent glass plate, 19. fourth stepper motor, 20. third pneumatic cylinder, 21. second grasping mechanism, 22. cap body, 23. cap body conveyor belt mechanism, 24. controller system. DETAILED DESCRIPTION

[0031] The embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0032] Embodiment 1:

[0033] See also Figure 1-2 , an anti-counterfeit tooth-type liquor cover intelligent assembly equipment and method based on image recognition, which includes an outer-middle sleeve conveyor belt mechanism 1 for conveying an outer-middle sleeve 2 of a special-shaped cover, and a first grasping and placing mechanism for grabbing and placing the outer-middle sleeve 2 is installed at the end of the outer-middle sleeve conveyor belt mechanism 1; including a cap body conveyor belt mechanism 23 for conveying a cap body 22 of the special-shaped cover, and a second grasping and placing mechanism for grabbing and placing the cap body 22 is installed at the end of the cap body conveyor belt mechanism 23; including a first positioning system for identifying and positioning the convex teeth of the outer-middle sleeve 2; including a second positioning system for identifying and positioning the grooves of the cap body 22; the first grasping and placing mechanism, the second grasping and placing mechanism, the first positioning system and the second positioning system are all connected to the overall control system 24. By using the above structure, the cap body groove of the anti-counterfeiting tooth-shaped special-shaped cap and the outer middle sleeve convex teeth are accurately positioned using image recognition technology, and then the cap body groove of the anti-counterfeiting tooth-shaped special-shaped cap and the outer middle sleeve convex teeth are rotated by a stepping motor and related mechanical grasping mechanisms to enter the next direct assembly process. The device has the characteristics of recognition efficiency, accurate positioning, simple structure, easy maintenance and high reliability.

[0034] Furthermore, the outer sleeves 2 are arranged at equal intervals on the outer sleeve conveyor belt mechanism 1, and the protrusions of the outer sleeve 2 are arranged in a disordered manner on the conveyor belt. An image recognition sensor is required for recognition and positioning.

[0035] Furthermore, the cap bodies 22 are arranged at equal intervals on the cap body conveyor belt mechanism 23, and the grooves of the cap bodies 22 are arranged in a disorderly manner on the conveyor belt. An image recognition sensor is required for recognition and positioning.

[0036] Further, the first grabbing and placing mechanism includes a first grabbing mechanism 3, which is fixedly mounted on the first cylinder 4 and completes the grabbing and releasing actions of the outer sleeve 2. The first cylinder 4 is connected to the rotating shaft of the first stepper motor 6 through a connecting rod 5, and the outer sleeve 2 located on the outer sleeve conveyor belt mechanism 1 is placed on the first pneumatic three-claw disc assembly 12 through the first grabbing mechanism 3; the signal lines of the first cylinder 4 and the first stepper motor 6 are connected to the overall control system 24. By adopting the above structure, the first cylinder 4 can drive the first grabbing mechanism 3 to realize the grabbing and releasing actions of the outer sleeve 2, and the first stepper motor 6 places the outer sleeve 2 grabbed by the first grabbing mechanism 3 on the first pneumatic three-claw disc assembly 12 through the outer sleeve conveyor belt mechanism 1 through shaft rotation.

[0037] Further, the second grabbing and placing mechanism includes a second grabbing mechanism 21, which is fixedly mounted on the third pneumatic cylinder 20 and completes the grabbing and releasing actions of the cap body 22. The third pneumatic cylinder 20 is connected to the rotating shaft of the fourth stepper motor 19 through a connecting rod, and the cap body 22 located on the cap body conveyor belt mechanism 23 is placed on the transparent glass plate 18 through the second grabbing mechanism 21; the signal lines of the third pneumatic cylinder 20 and the fourth stepper motor 19 are connected to the overall control system 24. During operation, the third pneumatic cylinder 20 can drive the third pneumatic cylinder 20 to complete the grabbing and releasing actions of the cap body 22, and the fourth stepper motor 19 places the special-shaped cap body 22 grabbed by the second grabbing mechanism 21 on the transparent glass plate 18 through the cap body 22 conveyor belt mechanism 23 through the shaft rotation.

[0038] Further, the first positioning system includes a first pneumatic three-claw disk assembly 12, which is mounted on the output shaft of the second stepper motor 13. A first image recognition sensor 8 is arranged directly above the first pneumatic three-claw disk assembly 12, and the first image recognition sensor 8 is fixed on the first light-blocking tube 7. A rotating body 11 is installed on the top of the first light-blocking tube 7, and the rotating body 11 is fixedly mounted on the telescopic rod 10 of the second cylinder 9. The first image recognition sensor 8 is used to take pictures and identify the outer sleeve 2 of the special-shaped cover, and the image to be identified is compared with the standard image. Then the second stepper motor 13 drives the first pneumatic three-claw disk assembly 12 and the grasped outer sleeve 2. When the second stepper motor 13 runs clockwise, if the convex teeth of the outer sleeve 2 to be identified coincide with the convex teeth of the standard image, the second stepper motor 13 stops rotating, and the identification and positioning of the convex teeth of the outer sleeve 2 of the special-shaped cover are completed.

[0039] Further, the second positioning system includes a second pneumatic three-claw disc assembly 16 for grabbing the cap body, the second pneumatic three-claw disc assembly 16 is fixedly mounted on the output shaft of the third stepper motor 15, a second image recognition sensor 17 for identifying the groove of the cap body 22 is arranged directly below the second pneumatic three-claw disc assembly 16, and the third stepper motor 15 is cooperated to realize the positioning of the cap body 22, and a second light blocking tube 14 is installed on the output shaft of the third stepper motor 15. The second image recognition sensor 17 is used to take pictures and recognize the cap body 22 of the special-shaped cover through a transparent glass plate, and the image to be recognized is compared with the standard image, and then the third stepper motor 15 drives the second pneumatic three-claw disc assembly 16 and the grabbed cap body 22 together. When the third stepper motor 15 runs clockwise, if the groove of the cap body 22 to be recognized coincides with the groove of the standard image, the third stepper motor 15 stops rotating, and the recognition and positioning of the groove of the cap body 22 are completed.

[0040] Embodiment 2:

[0041] The method for assembling a wine cap by using the anti-counterfeiting tooth-type white wine cap intelligent assembly device based on image recognition in any one of the above items comprises the following steps:

[0042] Step 1: Place the outer sleeve 2 on the outer sleeve conveyor belt mechanism 1 through feeding, and realize the conveyance of the outer sleeve 2; at the same time, place the cap body 22 on the cap body conveyor belt mechanism 23 through feeding, and realize the conveyance of the cap body 22;

[0043] Step 2: Drive the first grasping mechanism 3 to grasp the outer sleeve 2 through the first cylinder 4, and place the outer sleeve 2 on the first pneumatic three-claw plate assembly 12 of the first positioning system through the first stepper motor 6;

[0044] Step 3: The third pneumatic cylinder drives the second grasping mechanism to grasp the cap body 22, and the fourth stepping motor 19 places the cap body 22 on the transparent glass plate of the second positioning system;

[0045] Step 4: Use the first image recognition sensor 8 to take a picture and recognize the outer sleeve 2 of the special-shaped cover, compare the image to be recognized with the standard image, and then the second stepper motor 13 drives the first pneumatic three-claw plate assembly 12 and the grasped outer sleeve 2 together. When the second stepper motor 13 rotates clockwise, if the convex teeth of the outer sleeve 2 to be recognized coincide with the convex teeth of the standard image, the second stepper motor 13 stops rotating, and the recognition and positioning of the convex teeth of the outer sleeve 2 are completed;

[0046] Step 5: Use the second image recognition sensor 17 to take a picture and identify the cap body 22 of the special-shaped cover through the transparent glass plate, compare the image to be identified with the standard image, and then the third stepper motor 15 drives the second pneumatic three-claw disk assembly 16 and the grasped cap body 22. When the third stepper motor 15 rotates clockwise, if the groove of the special-shaped cap body 22 to be identified coincides with the groove of the standard image, the third stepper motor 15 stops rotating, and the identification and positioning of the groove of the special-shaped cap body 22 is completed.

[0047] Furthermore, the specific identification and positioning process in Step 4 and Step 5 is that the first image recognition sensor 8 and the second image recognition sensor 17 respectively take pictures and identify the outer sleeve 2 and the cap body 22 to form an image to be identified; by comparing the angle θ value between the image to be identified and the standard image, the second stepper motor 13 drives the grasped cap body 22 and the third stepper motor 15 drive the grasped outer sleeve 2 to rotate clockwise, so that the angle θ value between the image to be identified and the standard image is zero, and the stepper motor stops running, completing the positioning of the groove of the anti-counterfeiting tooth-type special-shaped cover cap body 22 and the convex teeth of the special-shaped cover outer sleeve 2.

[0048] The above embodiments are used to illustrate the present invention rather than to limit the present invention. Any modification and change made to the present invention within the spirit of the present invention and the protection scope of the claims shall fall within the protection scope of the present invention.

Claims

1. Anti-counterfeit tooth-type liquor cover intelligent assembly equipment based on image recognition, characterized by: It comprises an outer sleeve conveyor belt mechanism (1) for conveying an outer sleeve (2) of a special-shaped cover, and a first grasping and placing mechanism for grasping and placing the outer sleeve (2) is installed at the end of the outer sleeve conveyor belt mechanism (1); It comprises a cap body conveyor belt mechanism (23) for conveying a cap body (22) of a special-shaped cap, and a second grasping and placing mechanism for grasping and placing the cap body (22) is installed at the end of the cap body conveyor belt mechanism (23); It comprises a first positioning system for identifying and positioning the protruding teeth of the outer sleeve (2); comprising a second positioning system for identifying and positioning the groove of the cap body (22); The first grabbing and placing mechanism, the second grabbing and placing mechanism, the first positioning system and the second positioning system are all connected to a general control system (24); The first grasping and placing mechanism comprises a first grasping mechanism (3), the first grasping mechanism (3) being fixedly mounted on the first cylinder (4) and completing grasping and releasing actions on the outer sleeve (2), the first cylinder (4) being connected to the rotating shaft of the first stepper motor (6) via a connecting rod (5), and placing the outer sleeve (2) located on the outer sleeve conveyor belt mechanism (1) onto the first pneumatic three-claw plate assembly (12) via the first grasping mechanism (3); signal lines of the first cylinder (4) and the first stepper motor (6) are connected to a general control system (24); The second grasping and placing mechanism comprises a second grasping mechanism (21), the second grasping mechanism (21) being fixedly mounted on the third pneumatic cylinder (20) and completing the grasping and releasing action of the cap body (22); the third pneumatic cylinder (20) is connected to the rotating shaft of the fourth stepping motor (19) via a connecting rod, and the cap body (22) located on the cap body conveyor belt mechanism (23) is placed on the transparent glass plate (18) via the second grasping mechanism (21); the signal lines of the third pneumatic cylinder (20) and the fourth stepping motor (19) are connected to the overall control system (24); The first positioning system comprises a first pneumatic three-claw disc assembly (12), the first pneumatic three-claw disc assembly (12) being mounted on the output shaft of a second stepping motor (13), a first image recognition sensor (8) being arranged directly above the first pneumatic three-claw disc assembly (12), the first image recognition sensor (8) being fixed on a first light-blocking cylinder (7), a rotating body (11) being mounted on the top of the first light-blocking cylinder (7), the rotating body (11) being fixedly mounted on a telescopic rod (10) of a second cylinder (9); The second positioning system comprises a second pneumatic three-claw disc assembly (16) for grasping the cap body, the second pneumatic three-claw disc assembly (16) being fixedly mounted on the output shaft of the third stepping motor (15), a second image recognition sensor (17) for identifying the groove of the cap body (22) being arranged directly below the second pneumatic three-claw disc assembly (16), and cooperating with the third stepping motor (15) to achieve positioning of the cap body (22), and a second light blocking tube (14) being mounted on the output shaft of the third stepping motor (15).

2. The anti-counterfeiting tooth-type liquor cover intelligent assembly equipment based on image recognition according to claim 1 is characterized in that: The outer middle sleeves (2) are arranged at equal intervals on the outer middle sleeve conveyor belt mechanism (1), and the protrusions of the outer middle sleeve (2) are arranged in a disordered manner on the conveyor belt.

3. The anti-counterfeiting tooth-type liquor cover intelligent assembly equipment based on image recognition according to claim 1 is characterized in that: The cap bodies (22) are arranged at equal intervals on a cap body conveyor belt mechanism (23), and the grooves of the cap bodies (22) are arranged in a disordered manner on the conveyor belt.

4. A method for assembling wine caps using the anti-counterfeiting tooth-type white wine cap intelligent assembly device based on image recognition as described in any one of claims 1 to 3, characterized in that: It includes the following steps: Step 1: placing the outer sleeve (2) on the outer sleeve conveyor belt mechanism (1) through the feeding process, and realizing the conveyance of the outer sleeve (2); at the same time, placing the cap body (22) on the cap body conveyor belt mechanism (23) through the feeding process, and realizing the conveyance of the cap body (22); Step 2: driving the first grasping mechanism (3) to grasp the outer middle sleeve (2) through the first cylinder (4), and placing the outer middle sleeve (2) on the first pneumatic three-claw disc assembly (12) of the first positioning system through the first stepper motor (6); Step 3: driving the second grasping mechanism to grasp the cap body (22) through the third pneumatic cylinder, and placing the cap body (22) on the transparent glass plate of the second positioning system through the fourth stepping motor (19); Step 4: Use the first image recognition sensor (8) to take a picture of the outer sleeve (2) of the special-shaped cover and recognize it, compare the image to be recognized with the standard image, and then the second stepper motor (13) drives the first pneumatic three-claw plate assembly (12) and the grasped outer sleeve (2) together. When the second stepper motor (13) rotates clockwise, if the convex teeth of the outer sleeve (2) to be recognized coincide with the convex teeth of the standard image, the second stepper motor (13) stops rotating, and the recognition and positioning of the convex teeth of the outer sleeve (2) are completed; Step 5: Use the second image recognition sensor (17) to take a picture and recognize the cap body (22) of the special-shaped cap through the transparent glass plate, compare the image to be recognized with the standard image, and then the third stepper motor (15) drives the second pneumatic three-claw plate assembly (16) and the captured cap body (22). When the third stepper motor (15) rotates clockwise, if the groove of the special-shaped cap body (22) to be recognized coincides with the groove of the standard image, the third stepper motor (15) stops rotating, and the recognition and positioning of the groove of the special-shaped cap body (22) are completed.

5. The method of the intelligent assembly equipment of the anti-counterfeit tooth-type liquor cap based on image recognition according to claim 4 is characterized in that: The specific identification and positioning process in Step 4 and Step 5 is as follows: the first image recognition sensor (8) and the second image recognition sensor (17) respectively take pictures and identify the outer sleeve (2) and the cap body (22) to form an image to be identified; by comparing the angle θ between the image to be identified and the standard image, the second stepper motor (13) drives the captured cap body (22) and the third stepper motor (15) drives the captured outer sleeve (2) to rotate clockwise, so that the angle θ between the image to be identified and the standard image is zero, and the stepper motor stops running, thereby completing the positioning of the groove of the anti-counterfeiting tooth-shaped special-shaped cap body (22) and the convex teeth of the special-shaped cover outer sleeve (2).

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