A robot vision feeding device

Abstract

The present invention belongs to the technical field of tire sticker production, and in particular, relates to a robot visual feeding device, including a conveyor belt mechanism, a robot handling mechanism, and a CCD adjustment mechanism and a light source assembly arranged above the conveyor belt mechanism, wherein the robot handling mechanism includes a robot and an adsorption structure installed on the output portion of the robot; and further includes an electric control device and a touch display, wherein the touch display, the conveyor belt mechanism, the robot handling mechanism, the CCD adjustment mechanism, and the light source assembly are electrically connected to the electric control device, respectively. The robot visual feeding device of the present invention only needs to place the material on the conveyor belt mechanism, and the CCD adjustment mechanism determines the direction of the material, and then the robot adjusts the direction of the adsorption structure according to the data detected by the CCD adjustment mechanism to make it consistent with the direction of the material, which can improve the feeding efficiency and accuracy, and solve the problems of low efficiency and low yield of existing manual feeding.

Description

Technical Field

[0001] The invention belongs to the technical field of tire sticker production, and in particular relates to a robot vision feeding device. Background Art

[0002] When a car has a puncture, it needs to be repaired with a tire sticker. The tire sticker mainly includes a base material layer, a patch for repairing the tire, and a protective film layer. When repairing the tire, the patch is pasted on the tire. At present, the tire sticker is produced manually. The base material layer is laid flat on a long working platform, and the tire sticker patch is manually placed on the base material layer and then the protective film layer is manually attached. The manual loading efficiency is low, and it is easy to place the patch crookedly, resulting in a relatively low yield rate. Summary of the invention

[0003] The purpose of the present invention is to provide a robot vision feeding device, aiming to solve the problems of low efficiency and low yield of existing manual feeding.

[0004] The present invention discloses a robot vision feeding device, which comprises a conveyor belt mechanism, a robot transport mechanism, and a CCD adjustment mechanism and a light source assembly arranged above the conveyor belt mechanism, wherein the robot transport mechanism comprises a robot and an adsorption structure installed on the output part of the robot; the robot vision feeding device also comprises an electric control device and a touch display, wherein the touch display, the conveyor belt mechanism, the robot transport mechanism, the CCD adjustment mechanism, and the light source assembly are electrically connected to the electric control device respectively.

[0005] As an improvement, the adsorption structure includes a sealing plate, a suction cup fixing plate fixedly connected to the sealing plate, and a fixing seat fixedly installed on a side of the sealing plate away from the suction cup fixing plate, at least two air passages spaced apart from the inside to the outside are provided between the sealing plate and the suction cup fixing plate, an air suction hole is provided on the sealing plate corresponding to each of the air passages, and a plurality of suction cups are spaced apart on a side of the suction cup fixing plate away from the sealing plate corresponding to each of the air passages.

[0006] As an improvement, the air ducts are spaced apart into three parts, namely, an inner air duct located at the middle position, an outer air duct located at the edge position, and a middle air duct located between the inner air duct and the outer air duct. An inner air intake hole, a middle air intake hole, and an outer air intake hole are respectively provided on the sealing plate corresponding to the inner air duct, the middle air duct, and the outer air duct.

[0007] As an improvement, the middle air duct is arranged in a criss-cross pattern, the middle air suction hole is arranged at a middle position of the sealing plate corresponding to the middle air duct, a suction cup is installed at a position corresponding to the middle air suction hole on the suction cup fixing plate, and a plurality of suction cups are respectively provided at positions on the suction cup fixing plate corresponding to the circumference of the inner air duct; the middle air duct is arranged in a ring shape, and a plurality of suction cups are arranged at intervals along the ring-shaped middle air duct on the suction cup fixing plate; the outer air duct is arranged in a U-shaped strip, and its two ends respectively extend to opposite sides of the middle air duct, and at least two suction cups are respectively provided at intervals on the end air duct parts of the outer air duct located on opposite sides of the middle air duct.

[0008] As an improvement, the CCD adjustment mechanism includes a mounting plate, a connecting plate fixedly mounted on a side of the mounting plate, a carrier plate slidably mounted on the mounting plate, a CCD camera fixedly mounted on the carrier plate, and a limit plate fixedly mounted on the mounting plate and perpendicular to the sliding direction of the carrier plate, an adjustment screw arranged along the sliding direction of the carrier plate is provided between the limit plate and the carrier plate, and the adjustment screw is rotatably connected to the limit plate and threadedly connected to the carrier plate.

[0009] As an improvement, an adjusting block is fixedly mounted on the carrier plate, and a threaded hole cooperating with the adjusting screw is provided on the adjusting block; the adjusting screw comprises a rod body, and a threaded transmission part arranged on the rod body and cooperating with the threaded hole, an adjusting part is provided on the end of the rod body located on the side of the limit plate away from the carrier plate, and a retaining ring is provided at the position of the rod body located on the side of the limit plate close to the carrier plate; a clamping groove is provided on the limit plate, and the rod body part between the adjusting part and the retaining ring is clamped in the clamping groove.

[0010] As an improvement, the light source assembly includes a light source bracket and a light source fixedly mounted on the light source bracket; the light source bracket includes two first supporting legs arranged at intervals, and two second supporting legs arranged at intervals corresponding to the two first supporting legs, a light source fixing plate is rotatably mounted between the two first supporting legs, between the two second supporting legs, and between the corresponding two groups of the first supporting legs and the second supporting legs, and fasteners are respectively provided at the rotating mounting parts of the first supporting legs and the second supporting legs corresponding to the light source fixing plates; the light source is fixedly mounted on each of the light source fixing plates.

[0011] As an improvement, the two first supporting legs and the two second supporting legs respectively include a column portion and a fixing portion connected to an end of the column portion away from the light source fixing plate.

[0012] As an improvement, a reinforcement plate is provided between the two first supporting legs and between the two second supporting legs respectively.

[0013] As an improvement, the robot vision loading device also includes a loading protection frame arranged corresponding to the conveyor belt mechanism, the CCD adjustment mechanism is fixedly connected to the loading protection frame, the light source assembly is fixedly connected to the loading protection frame or is fixedly connected to the conveyor belt mechanism; a part of the conveyor belt mechanism extends into the area enclosed by the loading protection frame, and the remaining part of the conveyor belt mechanism is arranged outside the area enclosed by the loading protection frame.

[0014] Due to the adoption of the above-mentioned technical scheme, the robot vision loading device of the present invention includes a conveyor belt mechanism, a robot transport mechanism, and a CCD adjustment mechanism and a light source assembly arranged above the conveyor belt mechanism. The robot transport mechanism includes a robot and an adsorption structure installed on the output part of the robot; it also includes an electronic control device and a touch display. The touch display, conveyor belt mechanism, robot transport mechanism, CCD adjustment mechanism, and light source assembly are electrically connected to the electronic control device respectively. The material is placed on the conveyor belt mechanism and the conveyor belt mechanism transports the material to a preset position, the light source component illuminates the material on the conveyor belt mechanism, the CCD adjustment mechanism photographs the material to determine the direction of the material, the robot adjusts the direction of the adsorption structure according to the data detected by the CCD adjustment mechanism and makes the direction of the adsorption structure consistent with the direction of the material, the robot drives the adsorption structure to pick up the material on the conveyor belt mechanism and transfer it to the bottom material layer for bonding. The robot vision loading device of the present invention only needs to place the material on the conveyor belt mechanism, the CCD adjustment mechanism determines the direction of the material, and then the robot adjusts the direction of the adsorption structure according to the data detected by the CCD adjustment mechanism to make it consistent with the direction of the material, which can improve the loading efficiency and accuracy and solve the problems of low efficiency and low yield of existing manual loading. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 2 is a schematic diagram of the three-dimensional structure of a robot visual feeding device according to an embodiment of the present invention;

[0016] Figure 2 It is a schematic diagram of the three-dimensional structure of the robot handling mechanism of the robot vision feeding device according to an embodiment of the present invention;

[0017] Figure 3 It is a schematic diagram of the three-dimensional structure of the CCD adjustment mechanism of the robot visual feeding device according to an embodiment of the present invention;

[0018] Figure 4 It is a schematic diagram of the three-dimensional structure of the light source bracket of the robot vision feeding device according to an embodiment of the present invention;

[0019] Figure 5 2 is a schematic diagram of the three-dimensional structure of the adsorption structure of the robot visual feeding device according to an embodiment of the present invention;

[0020] Figure 6 2 is a schematic diagram of the structure of the adsorption structure of the robot visual feeding device according to an embodiment of the present invention;

[0021] Figure 7 2 is a schematic structural diagram of a sealing plate of an adsorption structure of a robot vision feeding device according to an embodiment of the present invention;

[0022] Among them, 10, conveyor belt mechanism, 20, robot transport mechanism, 21, transfer base, 22, robot, 30, adsorption structure, 31, sealing plate, 32, suction cup fixing plate, 33, fixing seat, 34a, inner air channel, 34a1, inner groove, 34b, middle air channel, 34b1, middle groove, 34c, outer air channel, 34c1, outer groove, 35, suction cup, 36, pipe joint, 37, pipe joint, 38, adapter hole, 39a, suction hole, 39b, suction hole, 39c, suction hole, 40, CCD adjustment mechanism, 41a, mounting plate , 41b, connecting plate, 41c, rib plate, 42, carrier plate, 43, slide rail slider assembly, 44, limit plate, 45, adjustment block, 46, adjustment screw, 47, retaining ring, 48, CCD camera, 50, light source bracket, 51a, first support leg, 51b, first support leg, 51c, second support leg, 51d, second support leg, 511, column part, 512, fixing part, 52a, light source fixing plate, 52b, light source fixing plate, 52c, light source fixing plate, 52d, light source fixing plate, 53, fastener, 54a, reinforcement plate, 54b, reinforcement plate. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0024] Figures 1 to 7 Schematic diagram of the structure of the tire sticker production equipment according to the embodiment of the present invention, wherein: Figure 1 The figure shows a schematic diagram of the three-dimensional structure of the robot visual feeding device according to the embodiment of the present invention. Figure 2 The figure shows a three-dimensional structural diagram of a robot transport mechanism of a robot visual feeding device according to an embodiment of the present invention. Figure 3 The figure shows a three-dimensional structural diagram of the CCD adjustment mechanism of the robot visual feeding device according to the embodiment of the present invention. Figure 4 The figure shows a three-dimensional structural diagram of a light source bracket of a robot visual feeding device according to an embodiment of the present invention. Figure 5The three-dimensional structural diagram of the adsorption structure of the robot visual feeding device according to the embodiment of the present invention is shown. Figure 6 The schematic diagram of the structure of the adsorption structure of the robot visual feeding device according to the embodiment of the present invention is shown as a bottom view. Figure 7 The structural schematic diagram of the sealing plate of the adsorption structure of the robot visual feeding device according to the embodiment of the present invention is shown. For the sake of easy understanding, only the parts related to the embodiment of the present invention are shown in the figure.

[0025] Depend on Figures 1 to 7 It can be seen that the robot vision feeding device includes a conveyor belt mechanism 10, a robot transport mechanism 20 for transporting materials (such as tire stickers) on the conveyor belt mechanism 10, and a CCD adjustment mechanism 40 and a light source assembly arranged above the conveyor belt mechanism 10. The robot transport mechanism 20 includes a robot 22 and an adsorption structure 30 installed on the output part of the robot 22; the robot vision feeding device also includes an electronic control device and a touch display. The touch display, the conveyor belt mechanism 10, the robot transport mechanism 20, the CCD adjustment mechanism 40, and the light source assembly are respectively electrically connected to the electronic control device.

[0026] The material is placed on the conveyor belt mechanism 10 and the conveyor belt mechanism 10 conveys the material to a preset position, the light source component illuminates the material on the conveyor belt mechanism 10, and the CCD adjustment mechanism 40 takes a picture of the material to determine the direction of the material, the robot 22 adjusts the direction of the adsorption structure 30 according to the data detected by the CCD adjustment mechanism 40 and makes the direction of the adsorption structure 30 consistent with the direction of the material, the robot 22 drives the adsorption structure 30 to pick up the material on the conveyor belt mechanism 10 and transfer it to the bottom material layer for bonding. The robot vision loading device of the embodiment of the present invention only needs to place the material on the conveyor belt mechanism 10, and the CCD adjustment mechanism 40 determines the direction of the material, and then the robot 22 adjusts the direction of the adsorption structure 30 according to the data detected by the CCD adjustment mechanism 40 to make it consistent with the direction of the material, which can improve the loading efficiency and accuracy, and solve the problems of low efficiency and low yield of existing manual loading.

[0027] In this embodiment, Figure 1It can be seen that the robot visual feeding device also includes a feeding protection frame arranged at the corresponding conveyor belt mechanism 10, the CCD adjustment mechanism 40 is fixedly connected to the feeding protection frame, the light source assembly is fixedly connected to the feeding protection frame or to the conveyor belt mechanism 10; a part of the conveyor belt mechanism 10 extends into the area surrounded by the feeding protection frame, and the remaining part of the conveyor belt mechanism 10 is arranged outside the area surrounded by the feeding protection frame. The part of the conveyor belt mechanism 10 located outside the area surrounded by the feeding protection frame is used for feeding. When the conveyor belt mechanism 10 transports the material into the area surrounded by the feeding protection frame, the robot 22 drives the adsorption structure 30 to pick up the material on the conveyor belt mechanism 10 and transfer it to the bottom material layer for bonding.

[0028] Specifically, the loading protection frame is a frame body connected by aluminum profiles, a baffle, an observation window, and a side door are installed on the side of the frame body, and the touch display is installed on the loading protection frame.

[0029] Depend on Figure 4 It can be seen that the light source assembly includes a light source bracket 50 and a light source fixedly mounted on the light source bracket 50. The light source bracket 50 can be fixedly mounted on the loading protection frame for lighting the CCD adjustment mechanism 40, or can be fixedly connected to the conveyor belt mechanism 10 for lighting the product.

[0030] The light source bracket 50 includes two first supporting legs 51a and a first supporting leg 51b which are spaced apart from each other, and two second supporting legs 51c and a second supporting leg 51d which are spaced apart from each other and are respectively arranged corresponding to the first supporting legs 51a and the first supporting legs 51b. A light source fixing plate 52a and a light source fixing plate 52b are rotatably mounted between the first supporting leg 51a and the first supporting leg 51b, and between the second supporting leg 51c and the second supporting leg 51d. A light source fixing plate 52c and a light source fixing plate 52d are rotatably installed in the middle, and fasteners 53 are respectively provided at the rotating installation parts corresponding to the light source fixing plates on the first supporting leg 51a, the first supporting leg 51b, the second supporting leg 51c, and the second supporting leg 51d; light sources are respectively provided on the light source fixing plate 52a, the light source fixing plate 52b, the light source fixing plate 52a, and the light source fixing plate 52b, the light source fixing plate 52a, and the light source fixing plate 52b can be rotated respectively as needed to adjust the direction of the light source.

[0031] Specifically, the first supporting leg 51a, the first supporting leg 51b, the second supporting leg 51c, and the second supporting leg 51d respectively include a column portion 511 and a fixing portion 512 connected to the end of the column portion 511 away from the light source fixing plate, and the light source bracket 50 is fixedly installed by the four fixing portions 512 of the first supporting leg 51a, the first supporting leg 51b, the second supporting leg 51c, and the second supporting leg 51d; in order to enhance the strength of the entire light source bracket 50 and the accuracy of adjusting the direction of the light source, reinforcing plates 54a and 54b are respectively provided between the first supporting leg 51a and the first supporting leg 51b, and between the second supporting leg 51c and the second supporting leg 51d.

[0032] In order to prevent the fixing parts 512 of the first supporting leg 51a, the first supporting leg 51b, the second supporting leg 51c, and the second supporting leg 51d from scratching the operators, the fixing parts 512 of the first supporting leg 51a and the corresponding second supporting leg 51c are arranged between the adjacent sides of the column part 511, and the fixing parts 512 of the first supporting leg 51b and the corresponding second supporting leg 51d are arranged between the adjacent sides of the column part 511, and the fixing parts 512 of the first supporting leg 51a, the first supporting leg 51b, the second supporting leg 51c, and the second supporting leg 51d will not be exposed on the outer peripheral side of the light source bracket 50.

[0033] Specifically, the fastener 53 includes a knob, a screw rod coaxially arranged with the knob, and a corresponding threaded hole is arranged on the column portion 511; the column portion 511 is a quadrangular prism, and the fixing portion 512 is plate-shaped, and a connecting hole is arranged on the fixing portion 512. Usually, the column portion 511 and the fixing portion 512 are an integrated structure.

[0034] Depend on Figure 2 It can be known that the robot transport mechanism 20 further includes a transfer base 21 , and the robot 22 is fixedly mounted on the transfer base 21 .

[0035] Depend on Figure 5 , Figure 6 and Figure 7It can be seen that the adsorption structure 30 includes a sealing plate 31, a suction cup fixing plate 32 fixedly connected to the sealing plate 31, and a fixing seat 33 fixedly installed on the side of the sealing plate 31 away from the suction cup fixing plate 32. At least two airways are arranged in sequence from the inside to the outside between the sealing plate 31 and the suction cup fixing plate 32. An air suction hole is respectively arranged at each airway of the sealing plate 31, and a plurality of suction cups 35 are respectively arranged at intervals at each airway on the side of the suction cup fixing plate 32 away from the sealing plate 31. The adsorption structure 30 is fixedly installed on the output part of the robot 22 through the fixing seat 33. Since at least two airways are arranged between the sealing plate 31 and the suction cup fixing plate 32, an air suction hole is respectively arranged at each airway on the sealing plate 31, and a plurality of suction cups 35 are respectively arranged on each airway on the suction cup fixing plate 32, whether each airway is inhaled can be individually controlled, thereby controlling the plurality of suction cups 35 on each airway, and the adsorption area can be changed as needed, which is very flexible to use and very convenient to operate.

[0036] Specifically, there are three air ducts spaced apart, namely, an inner air duct 34a located at the middle position, an outer air duct 34c located at the edge position, and an intermediate air duct 34b located between the inner air duct 34a and the outer air duct 34c. An inner air intake hole 39a, a middle air intake hole 39b, and an outer air intake hole 39c connected to the corresponding air ducts are respectively provided at the inner air duct 34a, the middle air duct 34b, and the outer air duct 34c of the sealing plate 31. Usually, a connecting hole 38 connected to the middle air intake hole 39b is provided on the fixing seat 33. A pipe joint (not shown in the figure), a pipe joint 36, and a pipe joint 37 are respectively connected to the connecting hole 38, the middle air intake hole 39b, and the outer air intake hole 39c for easy connection with the intake pipe.

[0037] In order to facilitate the arrangement of the suction cups 35 on the inner air passage 34a, the middle air passage 34b, and the outer air passage 34c, the middle air passage 34b is arranged in a crisscross pattern, the middle air suction hole 39b is arranged at the middle position of the sealing plate 31 corresponding to the middle air passage 34b, a suction cup 35 is installed at the position corresponding to the middle air suction hole 39b on the suction cup fixing plate 32, and suction cups 35 are respectively arranged at the positions corresponding to the peripheral sides of the inner air passage 34a on the suction cup fixing plate 32, so that the multiple suction cups 35 arranged corresponding to the inner air passage 34a form an internal adsorption area; The intermediate air passage 34b is set in an annular shape, and a plurality of suction cups 35 are arranged at intervals along the annular intermediate air passage 34b on the suction cup fixing plate 32, so that the plurality of suction cups 35 arranged corresponding to the intermediate air passage 34b form an intermediate suction zone; the outer air passage 34c is set in a U-shaped strip shape, and the two ends extend to the opposite sides of the intermediate air passage 34b respectively, and suction cups 35 are arranged at intervals on the end parts of the outer air passage 34c located on the opposite sides of the intermediate air passage 34b, so that the plurality of suction cups 35 arranged corresponding to the outer air passage 34c form an outer suction zone. Small materials can be adsorbed by the internal suction zone, medium materials can be adsorbed by the combination of the internal suction zone and the intermediate suction zone, and large materials can be adsorbed by the combination of the internal suction zone, the intermediate suction zone, and the outer suction zone. Of course, annular materials can also be adsorbed by the combination of the intermediate suction zone and the outer suction zone. It is possible to select a suitable suction zone according to the size and shape of the material, and to combine different suction zones. It is very convenient to use, and there is no need to reprocess the adsorption structure 30 due to material changes.

[0038] An inner groove 34a1, a middle groove 34b1 and an outer groove 34c1 which are adapted to the shapes of the inner air channel 34a, the middle air channel 34b and the outer air channel 34c are respectively provided at the positions corresponding to the inner air channel 34a, the middle air channel 34b and the outer air channel 34c on the sealing plate 31; the plate surface of the suction cup fixing plate 32 and the inner groove 34a1, the middle groove 34b1 and the outer groove 34c1 respectively surround the inner air channel 34a, the middle air channel 34b and the outer air channel 34c; a sealing ring is provided at the peripheral side edge of the sealing plate 31 and the suction cup fixing plate 32 adjacent to the sealing plate 31, so as to enhance the sealing performance between the sealing plate 31 and the suction cup fixing plate 32.

[0039] Depend on Figure 3It can be seen that the CCD adjustment mechanism 40 includes a mounting plate 41a, a connecting plate 41b fixedly mounted on the side of the mounting plate 41a, a carrier plate 42 slidably mounted on the mounting plate 41a, a CCD camera 48 fixedly mounted on the carrier plate 42, and a limit plate 44 fixedly mounted on the mounting plate 41a and perpendicular to the sliding direction of the carrier plate 42. An adjustment screw 46 arranged along the sliding direction of the carrier plate 42 is provided between the limit plate 44 and the carrier plate 42. The adjustment screw 46 is rotationally connected to the limit plate 44 and is threadedly connected to the carrier plate 42. Since the adjustment screw 46 is rotationally connected to the limit plate 44 and the adjustment screw 46 is threadedly connected to the carrier plate 42, when the adjustment screw 46 is rotated, the adjustment screw 46 and the limit plate 44 cannot generate axial movement, and the carrier plate 42 generates axial movement along the threaded transmission, thereby adjusting the position of the CCD camera 48 to achieve the purpose of adjusting the focal length.

[0040] Specifically, an adjusting block 45 is fixedly mounted on the carrier plate 42, and a corresponding threaded hole is provided on the adjusting block 45; the adjusting screw 46 includes a rod body, a threaded transmission part arranged on the rod body and matched with the threaded hole, an adjusting part is provided on the end of the rod body located on the side of the limiting plate 44 away from the carrier plate 42, and a retaining ring 47 is provided on the position of the rod body located on the side of the limiting plate 44 close to the carrier plate 42; a clamping groove is provided on the limiting plate 44, and the rod body part between the adjusting part and the retaining ring 47 is clamped in the clamping groove, and the adjusting screw 46 is rotationally connected with the limiting plate 44 under the limitation of the retaining ring 47 and the adjusting part.

[0041] In order to facilitate the sliding connection between the carrier plate 42 and the mounting plate 41a, a slide rail slider assembly 43 is provided between the carrier plate 42 and the mounting plate 41a. The slide rail of the slide rail slider assembly 43 is fixedly connected to the mounting plate 41a, and the slider is fixedly connected to the carrier plate 42. Usually, two groups of slide rail slider assemblies 43 are arranged at intervals. The slide rails of the two groups of slide rail slider assemblies 43 are respectively fixedly connected to the mounting plate 41a, and the carrier plate 42 is respectively fixedly connected to the sliders of the two groups of slide rail slider assemblies 43. The adjustment block 45 is arranged between the two groups of slide rail slider assemblies 43, which can enhance the stability of the carrier plate 42 and avoid skewness during sliding.

[0042] In order to enhance the connection strength, rib plates 41c are provided between two opposite sides of the connecting plate 41b and the mounting plate 41a, and bolts are connected between the adjacent sides of the connecting plate 41b and the rib plate 41c and between the adjacent sides of the mounting plate 41a and the rib plate 41c.

[0043] The above descriptions are only some embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot visual feeding device, characterized in that: The robot visual feeding device comprises a conveyor belt mechanism, a robot transport mechanism, and a CCD adjustment mechanism and a light source assembly arranged above the conveyor belt mechanism, wherein the robot transport mechanism comprises a robot and an adsorption structure installed on the output part of the robot; the robot visual feeding device also comprises an electric control device and a touch display, wherein the touch display, the conveyor belt mechanism, the robot transport mechanism, the CCD adjustment mechanism, and the light source assembly are electrically connected to the electric control device respectively; The adsorption structure comprises a sealing plate, a suction cup fixing plate fixedly connected to the sealing plate, and a fixing seat fixedly installed on a side of the sealing plate away from the suction cup fixing plate, at least two air passages spaced in sequence from the inside to the outside are provided between the sealing plate and the suction cup fixing plate, an air suction hole is provided at a position corresponding to each of the air passages on the sealing plate, and a plurality of suction cups are spaced at a position corresponding to each of the air passages on a side of the suction cup fixing plate away from the sealing plate; three air passages are spaced apart, namely, an inner air passage located at a middle position, an outer air passage located at an edge position, and a middle air passage located between the inner air passage and the outer air passage, and an inner air suction hole, a middle air suction hole, and an outer air suction hole are provided at positions corresponding to the inner air passage, the middle air passage, and the outer air passage on the sealing plate; The light source assembly includes a light source bracket and a light source fixedly mounted on the light source bracket; the light source bracket includes two first supporting legs arranged at intervals, and two second supporting legs arranged at intervals corresponding to the two first supporting legs, a light source fixing plate is rotatably mounted between the two first supporting legs, between the two second supporting legs, and between the corresponding two groups of the first supporting legs and the second supporting legs, and fasteners are respectively provided at the rotating mounting parts of the first supporting legs and the second supporting legs corresponding to the light source fixing plates; the light source is fixedly mounted on each of the light source fixing plates.

2. The robot vision feeding device according to claim 1, characterized in that: The middle air channel is arranged in a criss-cross shape, the middle air suction hole is arranged at the middle position of the sealing plate corresponding to the middle air channel, a suction cup is installed at the position of the suction cup fixing plate corresponding to the middle air suction hole, and a plurality of suction cups are respectively arranged at positions of the suction cup fixing plate corresponding to the circumference of the inner air channel; the middle air channel is arranged in a ring shape, and a plurality of suction cups are arranged at intervals along the ring-shaped middle air channel on the suction cup fixing plate; the outer air channel is arranged in a U-shaped strip, and its two ends respectively extend to the opposite sides of the middle air channel, and at least two suction cups are respectively arranged at intervals on the end air channel parts of the outer air channel located on the opposite sides of the middle air channel.

3. The robot vision feeding device according to claim 1, characterized in that: The CCD adjustment mechanism includes a mounting plate, a connecting plate fixedly mounted on a side of the mounting plate, a carrier plate slidably mounted on the mounting plate, a CCD camera fixedly mounted on the carrier plate, and a limit plate fixedly mounted on the mounting plate and perpendicular to the sliding direction of the carrier plate. An adjustment screw arranged along the sliding direction of the carrier plate is provided between the limit plate and the carrier plate, and the adjustment screw is rotationally connected to the limit plate and threadedly connected to the carrier plate.

4. The robot vision feeding device according to claim 3, characterized in that: An adjusting block is fixedly mounted on the carrier plate, and a threaded hole cooperating with the adjusting screw is provided on the adjusting block; the adjusting screw comprises a rod body, and a threaded transmission part arranged on the rod body and cooperating with the threaded hole, an adjusting part is provided on the end of the rod body located on the side of the limiting plate away from the carrier plate, and a retaining ring is provided at the position of the rod body located on the side of the limiting plate close to the carrier plate; a clamping groove is provided on the limiting plate, and the rod body part between the adjusting part and the retaining ring is clamped in the clamping groove.

5. The robot vision feeding device according to claim 1, characterized in that: The two first supporting legs and the two second supporting legs respectively include a column portion and a fixing portion connected to one end of the column portion away from the light source fixing plate.

6. The robot vision feeding device according to claim 5, characterized in that: A reinforcement plate is provided between the two first supporting legs and between the two second supporting legs respectively.

7. The robot vision feeding device according to any one of claims 1 to 6, characterized in that: The robot vision feeding device also includes a feeding protection frame arranged corresponding to the conveyor belt mechanism, the CCD adjustment mechanism is fixedly connected to the feeding protection frame, the light source assembly is fixedly connected to the feeding protection frame or to the conveyor belt mechanism; a part of the conveyor belt mechanism extends into the area enclosed by the feeding protection frame, and the remaining part of the conveyor belt mechanism is arranged outside the area enclosed by the feeding protection frame.

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