A machine 3D vision intelligent conveying device for automobile front axle

Abstract

The application discloses a kind of machine 3D vision intelligent conveying device for automobile front axle.One kind of machine 3D vision intelligent conveying device for automobile front axle, including front axle workpiece, first handling robot and second handling robot, upper loading table is equipped in the side of first handling robot, unloading station is equipped in the other side of first handling robot, gripper device is equipped on first handling robot and second handling robot, and, between first handling robot and second handling robot, the belt conveying device and accumulation and storage conveying device capable of conveying front axle workpiece are equipped, accumulation and storage conveying device is arranged in the side of belt conveying device, machine 3D vision device is equipped above the end of belt conveying device, riveting device is equipped in the side of second handling robot.The application discloses a kind of machine 3D vision intelligent conveying device for automobile front axle, is favorable to realize the automatic production of high efficiency and high yield and can reduce worker labor intensity and guarantee worker life safety.

Description

TECHNICAL FIELD

[0001] The present application relates to a conveying device for front axle production, in particular to a 3D vision intelligent conveying device for automobile front axle, which is beneficial to realize efficient and high-yield automation production, and can reduce the labor intensity of workers and protect the safety of workers. BACKGROUND

[0002] At present, with the increasing scale of automobile industry production line, the demand for intelligent automatic production is expanding. The carrying robot is an automatic product that replaces manual carrying by applying robot motion trajectory, which is a high-tech in modern automatic control field, involving mechanics, mechanical science, electrical hydraulic and pneumatic technology, automatic control technology, sensor technology, single-chip microcomputer technology and computer technology, and has become an important part of modern mechanical manufacturing production system. At present, most of the carrying robots applied in the production line realize point-to-point movement by determining the three-dimensional coordinates of the object. Some complex parts cannot be strictly limited in posture during long-distance conveying, and usually need to use positioning devices such as clamps to determine the relative spatial position, which requires high production cost and large production space. In addition, the replacement of clamps is complex and frequent, and frequent adjustment of clamps will increase the difficulty of process stability, and the production efficiency will be inevitably affected, resulting in poor flexibility of the production line, which cannot meet the requirements of modern flexible production for material conveying and carrying.

[0003] On the other hand, the main action of the traditional complex part conveying system relies on manual feeding, and the workpiece is conveyed to the specified position by the conveying machine with clamp mechanism, and then the position of the workpiece is corrected by mechanism or manual, and then the robot places the parts to the specified station. This way usually needs a large number of manual stations, and the labor intensity of workers is large and has certain danger. The robot is difficult to complete the work task smoothly and efficiently, and cannot complete the full-automatic intelligent production well under high rhythm.

[0004] How to solve the above problems has become a technical problem to be solved. SUMMARY

[0005] The purpose of the present application is to provide a 3D vision intelligent conveying device for automobile front axle, which is beneficial to realize efficient and high-yield automation production, and can reduce the labor intensity of workers and protect the safety of workers.

[0006] To achieve the above purpose, the present application adopts the following technical scheme:

[0007] The application provides a machine 3D vision intelligent conveying device for an automobile front axle, which comprises a front axle workpiece, a first carrying robot and a second carrying robot, a feeding table is arranged on one side of the first carrying robot, a discharging station is arranged on the other side of the first carrying robot, a gripper device is arranged on the first carrying robot and the second carrying robot, a belt conveying device and an accumulation conveying device capable of conveying the front axle workpiece are arranged between the first carrying robot and the second carrying robot, the accumulation conveying device is arranged on one side of the belt conveying device, a machine 3D vision device is arranged above the end of the belt conveying device, and a riveting device is arranged on one side of the second carrying robot.

[0008] Further, the gripper device comprises a gripper frame, a first sensor capable of sensing the position of the front axle workpiece is arranged on the gripper frame, a flange plate capable of connecting the first carrying robot and the second carrying robot is arranged on the gripper frame, a left side base plate and a right side base plate are respectively arranged on the two sides of the gripper frame, a first clamping cylinder and a first supporting block capable of clamping the front axle workpiece in cooperation with the first clamping cylinder are arranged on the left side base plate, a second clamping cylinder and a second supporting block capable of clamping the front axle workpiece in cooperation with the second clamping cylinder are arranged on the right side base plate, and a pneumatic connecting device capable of connecting the first clamping cylinder and the second clamping cylinder is arranged on the side of the gripper frame.

[0009] Further, a first hinge pin and a first pressing block capable of clamping the front axle workpiece in cooperation with the first supporting block are arranged on the first clamping cylinder, first limiting blocks capable of limiting the clamping position are arranged on the first pressing block and the left side base plate, a positioning pin cylinder is arranged on the left side base plate, a first connecting block is arranged on the positioning pin cylinder, a first positioning pin is arranged on the first connecting block, a third connecting block is arranged at the middle position of the gripper frame, a second positioning pin capable of positioning the front axle workpiece in cooperation with the first positioning pin is arranged on the third connecting block, and third limiting blocks capable of limiting the activity position of the first positioning pin are arranged on the first connecting block and the left side base plate.

[0010] Further, a second hinge pin and a second pressing block capable of clamping the front axle workpiece in cooperation with the second supporting block are arranged on the second clamping cylinder, and second limiting blocks capable of limiting the clamping position are arranged on the second pressing block and the right side base plate.

[0011] Further, the belt conveying device comprises a belt frame installed on a horizontal ground, a belt and a conveying motor capable of driving the belt to move relative to the belt frame are arranged on the belt frame, an upper feeding sensor is arranged on the left side of the belt frame, and a discharging sensor capable of sensing the discharging position of the front axle workpiece is arranged on the right side of the belt frame.

[0012] Further, the tray is arranged to slide back and forth on the belt, and a connecting block is arranged at each corner of the tray, a first positioning block is arranged on each connecting block, a fixed block corresponding to the first positioning block is arranged on the belt frame, a second positioning block capable of cooperating with the first positioning block is arranged on the fixed block, and a positioning and pressing cylinder is arranged on the fixed block, the movable end of the positioning and pressing cylinder is connected with a pressing block through a third hinge pin, and a dead point block capable of pressing the connecting block, the first positioning block and the second positioning block is arranged between the fixed block and the pressing block.

[0013] Further, a tray position sensor capable of sensing the position of the tray is further arranged on the fixed block, and two tray position sensors are arranged on the fixed blocks on the left and right sides of the tray.

[0014] Further, the machine 3D vision device comprises a base installed on the ground, an adjusting height column is arranged on the base, an installation support is arranged on the adjusting height column, a trapezoidal housing is arranged on the installation support, a pair of industrial cameras are arranged on the bottom surface of the trapezoidal housing, and a laser capable of providing a light source is arranged on the bottom surface of the trapezoidal housing between each pair of industrial cameras.

[0015] Further, the accumulation and conveying device comprises a conveying part and a clamp part, the conveying part of the accumulation and conveying device comprises an accumulation support installed on the horizontal ground, an accumulation trolley and a motor capable of driving the accumulation trolley to move are arranged on the accumulation support, a workpiece sensor is arranged on the accumulation trolley, an accumulation blocking device is arranged on the discharging side of the accumulation support, and a trolley position sensor capable of sensing the position of the accumulation trolley is arranged at the left and right ends of the accumulation support.

[0016] Further, the clamp part of the accumulation and conveying device comprises a transition connecting plate arranged on the accumulation trolley, a first corner seat is arranged on the left side of the transition connecting plate, a third supporting block is arranged on the first corner seat, a second corner seat is arranged in the middle of the transition connecting plate, a fourth supporting block is arranged on the second corner seat, a fifth supporting block is arranged on the right side of the transition connecting plate, the third supporting block, the fourth supporting block and the fifth supporting block are combined to form a fixed structure capable of fixing the position of the front axle workpiece, and a fourth connecting block and a fifth connecting block are arranged on the transition connecting plate, a third positioning pin is arranged on the fourth connecting block, and a fourth positioning pin capable of cooperating with the third positioning pin to realize positioning of the front axle workpiece is arranged on the fifth connecting block.

[0017] Due to the above structure, the application has the following beneficial effects:

[0018] The application discloses a machine 3D vision intelligent conveying device for an automobile front axle, a first carrying robot can grab a front axle workpiece from a feeding table to a belt conveying device through a gripper device, and then the belt conveying device conveys the front axle workpiece to a scanning area of a machine 3D vision device, which is beneficial to stabilizing a posture in the process of conveying complex parts and meets the requirements of a flexible production system on material conveying and carrying; the machine 3D vision device can obtain the spatial coordinate position of the front axle workpiece through an intelligent algorithm and transmit the position information to a second carrying robot, so that the second carrying robot can grab the front axle workpiece through the gripper device and send the front axle workpiece to a riveting device for riveting; after the riveting is completed, the second carrying robot sends the front axle workpiece to an accumulation conveying device; the accumulation conveying device operates and waits for the first carrying robot to take away the front axle workpiece; at this time, an end of the accumulation conveying device close to the second carrying robot waits for feeding; finally, the first carrying robot carries the front axle workpiece on the accumulation conveying device to a feeding station of a next process, so that automatic grabbing and placing of the robot device are realized, the working efficiency is high, an efficient, high-yield and high-flexibility full-automatic intelligent automobile part production line can be provided in automobile front axle production, full-automatic production is facilitated, human power is replaced by machines, the labor intensity of workers is reduced, the working danger degree of the workers is reduced, and the safety of the workers is ensured, so that the machine 3D vision intelligent conveying device for the automobile front axle is beneficial to realizing efficient and high-yield automatic production and reducing the labor intensity of the workers and ensuring the safety of the workers.

[0019] The application will become more apparent from the following description in conjunction with the drawings, which are intended to explain embodiments of the application. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0021] Figure 1 FIG. 1 is a schematic diagram of the overall structure of the machine 3D vision intelligent conveying device for the automobile front axle;

[0022] Figure 2 FIG. 3 is a schematic diagram of the structure of the gripper device of the application;

[0023] Figure 3 FIG. 4 is a schematic diagram of the structure of the belt conveying device of the application;

[0024] Figure 4 FIG. 5 is a schematic diagram of the structure of the accumulation conveying device of the application; Figure 3A local enlarged view at the middle A;

[0025] Figure 5 A schematic view of the machine 3D vision device structure of the present application;

[0026] Figure 6 A schematic view of the accumulation and conveying device structure of the present application; and,

[0027] Figure 7 A Figure 6 A schematic view of the enlarged structure of the transition connecting plate at the middle B. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0029] Please refer to Figures 1-7 The present application provides a machine 3D vision intelligent conveying device for automobile front axle, which comprises a front axle workpiece 001, a first carrying robot 100 and a second carrying robot 500, a feeding table 800 is arranged on one side of the first carrying robot 100, a discharging station 900 is arranged on the other side of the first carrying robot 100, a gripper device 200 is arranged on the first carrying robot 100 and the second carrying robot 500, and a belt conveying device 300 and an accumulation and conveying device 600 capable of conveying the front axle workpiece 001 are arranged between the first carrying robot 100 and the second carrying robot 500, the accumulation and conveying device 600 is arranged on one side of the belt conveying device 300, a machine 3D vision device 400 is arranged above the end of the belt conveying device 300, and a riveting device 700 is arranged on one side of the second carrying robot 500; the machine 3D vision device 400 is arranged at one end of the belt conveying device 300 close to the second carrying robot 500, the riveting device 700 is arranged on one side of the second carrying robot 500 away from the belt conveying device 300, the belt conveying device 300 is installed between the first carrying robot 100 and the second carrying robot 500 and can be used for conveying the front axle workpiece 001, the machine 3D vision device 400 can be used for identifying and determining the spatial position of the front axle workpiece 001, so that the second carrying robot 500 determines the posture of the front axle workpiece 001, the second carrying robot 500 can grasp the front axle workpiece 001 to the riveting device 700 for riveting, and the accumulation and conveying device 600 can be used for conveying and accumulating the front axle workpiece 001.

[0030] In the present application, the gripper device 200 comprises a gripping frame 202, a first sensor 214 capable of sensing the position of the front axle workpiece 001 is arranged on the gripping frame 202, and a flange plate 201 capable of connecting the first carrying robot 100 and the second carrying robot 200 is arranged on the gripping frame 202, left and right side base plates 203 and 216 are respectively arranged on both sides of the gripping frame 202, a first clamping cylinder 204 and a first clamping block 207 capable of clamping the front axle workpiece 001 in cooperation with the first clamping cylinder 204 are arranged on the left side base plate 203, a second clamping cylinder 217 and a second clamping block 220 capable of clamping the front axle workpiece 001 in cooperation with the second clamping cylinder 217 are arranged on the right side base plate 216, and a pneumatic connecting device 222 capable of connecting the first clamping cylinder 204 and the second clamping cylinder 217 is arranged on the side of the gripping frame 202; the first clamping cylinder 204 and the first clamping block 207, and the second clamping cylinder 217 and the second clamping block 220 can be used for clamping and fixing the front axle workpiece 001, which is beneficial to stabilize the posture of the front axle workpiece 001 during conveying the front axle workpiece 001, improve the conveying efficiency and safety coefficient, and the first sensor 214 can be used for sensing the position of the front axle workpiece 001, which is convenient for monitoring.

[0031] In the present application, a first hinge pin 205 and a first pressing block 206 capable of clamping the front axle workpiece 001 in cooperation with the first clamping block 207 are arranged on the first clamping cylinder 204, first limiting blocks 208 capable of limiting the clamping position are arranged on the first pressing block 206 and the left side base plate 203, a positioning pin cylinder 209 is arranged on the left side base plate 203, a first connecting block 210 is arranged on the positioning pin cylinder 209, a first positioning pin 212 is arranged on the first connecting block 210, a third connecting block 213 is arranged at the middle position of the gripping frame 202, a second positioning pin 215 capable of cooperating with the first positioning pin 212 to realize positioning of the front axle workpiece 001 is arranged on the third connecting block 213, and third limiting blocks 211 capable of limiting the activity position of the first positioning pin 212 are arranged on the first connecting block 210 and the left side base plate 203.

[0032] In the application, the second hinge pin 218 is arranged on the second clamping air cylinder 217, and the second pressing block 219 capable of clamping the front axle workpiece 001 in cooperation with the second supporting block 220 is arranged on the second pressing block 219 and the right base plate 216, and the second limiting block 221 capable of limiting the clamping position is arranged on the second pressing block 219 and the right base plate 216; the second pressing block 219 can be opened and closed with the second clamping air cylinder 217, so as to clamp the front axle workpiece 001 in cooperation with the second pressing block 219, and the second limiting block 221 can limit the clamping position.

[0033] In the application, the belt conveying device 300 comprises a belt frame 301 installed on the horizontal ground, a belt 302 and a conveying motor 303 capable of driving the belt 302 to move relative to the belt frame 301 are arranged on the belt frame 301, a feeding sensor 304 is arranged on the left side of the belt frame 301, and a discharging sensor 305 capable of sensing the discharging position of the front axle workpiece 001 is arranged on the right side of the belt frame 301; the conveying motor 303 is used for driving the belt 302 to move relative to the belt frame 301, so as to realize the function of conveying the front axle workpiece 001, the feeding sensor 304 can sense whether the front axle workpiece 001 is in place, and after the front axle workpiece 001 is in place, the conveying motor 303 drives the belt 302 to convey, and the discharging sensor 305 can sense whether the front axle workpiece 001 reaches the scanning area of the machine 3D vision device 400, and stops moving after reaching.

[0034] In the application, the tray 306 capable of reciprocating sliding on the belt 302 is arranged on the belt 302, the connecting block 307 is arranged on each of the four corners of the tray 306, the first positioning block 308 is arranged on each of the connecting blocks 307, the fixed block 310 corresponding to the first positioning block 308 is arranged on the belt frame 301, the second positioning block 309 capable of cooperating with the first positioning block 308 is arranged on the fixed block 310, and the positioning and pressing air cylinder 311 is arranged on the fixed block 310, the movable end of the positioning and pressing air cylinder 311 is arranged together with the pressing block 313 through a third hinge pin 312, and the dead point block 314 capable of pressing the connecting block 307, the first positioning block 308 and the second positioning block 309 is arranged between the fixed block 310 and the pressing block 313; the dead point block 314 can realize the pressing of the pressing block 313 on the connecting block 307, the first positioning block 308 and the second positioning block 309, form a dead point, and realize the accurate positioning of the tray 306, which is safe and reliable.

[0035] In the application, the tray position sensor 315 capable of sensing the position of the tray 306 is further arranged on the fixed block 310, and the two tray position sensors 315 are arranged on the fixed blocks 310 on the left and right sides of the tray 306; the tray position sensor 315 can be used for sensing the position of the tray 306.

[0036] In the application, the machine 3D vision device 400 comprises a base 406 installed on the ground, the base 406 is provided with an adjusting height column 405, the adjusting height column 405 is provided with a mounting bracket 401, the mounting bracket 401 is provided with a trapezoidal shell 402, a pair of industrial cameras 403 are arranged on the bottom surface of the trapezoidal shell 402, and a laser 404 capable of providing a light source is arranged on the bottom surface of the trapezoidal shell 402 between each pair of industrial cameras 403; the front axle workpiece 001 is scanned by the laser 404, and the corresponding image is obtained by the industrial camera 403, and the spatial coordinate position of the front axle workpiece 001 on the belt conveying device 300 can be obtained after the intelligent algorithm, and the adjusting height column 405 installed between the mounting bracket 401 and the base 406 can be used for adjusting the height position of the mounting bracket 401.

[0037] In the application, the accumulation and conveying device 600 comprises a conveying part and a clamp part, the conveying part of the accumulation and conveying device 600 comprises an accumulation bracket 601 installed on the horizontal ground, the accumulation bracket 601 is provided with an accumulation trolley 603 and a motor 602 capable of driving the accumulation trolley 603 to move, the accumulation trolley 603 is provided with a workpiece sensor 606, the accumulation bracket 601 is provided with an accumulation blocking device 604 on the discharging side, and the accumulation bracket 601 is provided with a trolley position sensor 605 capable of sensing the position of the accumulation trolley 603 on the left and right ends; the number of accumulation trolleys 603 is at least three, and the corresponding number can be installed according to the actual situation, the accumulation trolleys 603 can move circularly on the accumulation bracket 601, and whether the front axle workpiece 001 is on the accumulation trolley 603 can be sensed by the workpiece sensor 606, the accumulation blocking device 604 is used for controlling the accumulation and walking of the accumulation trolley 603, and the trolley position sensor 605 can sense the position of the accumulation trolley 603.

[0038] In the application, the clamp part of the accumulation and conveying device 600 includes a transition connecting plate 607 installed on the accumulation trolley 603, a first corner seat 608 is arranged on the left side of the transition connecting plate 607, a third supporting block 609 is installed on the first corner seat 608, a second corner seat 612 is arranged in the middle of the transition connecting plate 607, a fourth supporting block 613 is installed on the second corner seat 612, a fifth supporting block 614 is arranged on the right side of the transition connecting plate 607, the third supporting block 609, the fourth supporting block 613 and the fifth supporting block 614 combine to form a fixed structure capable of realizing the position fixation of the front axle workpiece 001, and the fourth connecting block 611 and the fifth connecting block 616 are arranged on the transition connecting plate 607, the third positioning pin 610 is arranged on the fourth connecting block 611, and the fourth positioning pin 615 capable of cooperating with the third positioning pin 610 to realize the positioning of the front axle workpiece 001 is arranged on the fifth connecting block 616; the third positioning pin 610 and the fourth positioning pin 615 cooperate to realize the positioning of the front axle workpiece 001, and the third supporting block 609, the fourth supporting block 613 and the fifth supporting block 614 cooperate to realize the position fixation of the front axle workpiece 001.

[0039] In specific use of the application, the first carrying robot 100 grasps the front axle workpiece 001 from the feeding table 800 to the tray 306 of the belt conveying device 300 through the gripper device 200, the feeding sensor 304 on the belt conveying device 300 senses the front axle workpiece 001, then the belt conveying device 300 conveys the front axle workpiece 001 on the tray 306 to the scanning area of the machine 3D vision device 400, after the front axle workpiece 001 is determined to be in place by the tray position sensor 315, the machine 3D vision device 400 obtains the spatial coordinate position of the front axle workpiece 001 through intelligent algorithm, and transmits the position information to the second carrying robot 500, the second carrying robot 500 sends the front axle workpiece 001 to the riveting device 700 for riveting through the gripper device 200, at the same time, the belt conveying device 300 conveys the tray 306 to the feeding position, and determines the tray 306 to be in place through the tray position sensor 315; after the riveting of the front axle workpiece 001 is completed, the second carrying robot 500 sends the front axle workpiece 001 to the accumulation trolley 603 of the accumulation and conveying device 600, the third supporting block 609, the fourth supporting block 613 and the fifth supporting block 614 cooperate to fix the front axle workpiece 001, after the workpiece sensor 606 on the accumulation trolley 603 senses the front axle workpiece 001, the motor 602 sends the accumulation trolley 603 to the accumulation blocking device 604, waits for the first carrying robot 100 to take away the front axle workpiece 001, at the same time, the next accumulation trolley 603 reaches the trolley position sensor 605, waits for the second carrying robot 500 to feed, finally, the first carrying robot 100 carries the front axle workpiece 001 on the accumulation and conveying device 600 to the next process unloading station 900.

[0040] The preferred embodiments of the present application have been described. It is to be understood that the application is not limited to the above specific embodiments, and that devices and structures not described in detail should be understood to be implemented in the ordinary way in the art; any person skilled in the art can make many possible changes and modifications to the technical solutions of the present application, or modify them into equivalent embodiments with equivalent changes, without departing from the scope of the technical solutions of the present application, which does not affect the essential content of the present application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application, without departing from the content of the technical solutions of the present application, still belongs to the scope of protection of the technical solutions of the present application.

Claims

1. A machine 3D vision intelligent conveying device for automobile front axle, characterized in that: The front axle workpiece (001), the first carrying robot (100) and the second carrying robot (500) are included, the upper feeding table (800) is arranged on one side of the first carrying robot (100), the lower discharging station (900) is arranged on the other side of the first carrying robot (100), the gripper device (200) is arranged on the first carrying robot (100) and the second carrying robot (500), the belt conveying device (300) and the accumulation conveying device (600) capable of conveying the front axle workpiece (001) are arranged between the first carrying robot (100) and the second carrying robot (500), the accumulation conveying device (600) is arranged on one side of the belt conveying device (300), the machine 3D vision device (400) is arranged above the end of the belt conveying device (300), and the riveting device (700) is arranged on one side of the second carrying robot (500); The gripper device (200) includes a gripping frame (202), a first sensor (214) capable of sensing the position of the front axle workpiece (001) is arranged on the gripping frame (202), a flange plate (201) capable of connecting the first carrying robot (100) and the second carrying robot (500) is arranged on the gripping frame (202), left and right side base plates (203) and (216) are respectively arranged on both sides of the gripping frame (202), a first clamping cylinder (204) and a first supporting block (207) capable of clamping the front axle workpiece (001) in cooperation with the first clamping cylinder (204) are arranged on the left side base plate (203), a second clamping cylinder (217) and a second supporting block (220) capable of clamping the front axle workpiece (001) in cooperation with the second clamping cylinder (217) are arranged on the right side base plate (216), and a pneumatic connecting device (222) capable of connecting the first clamping cylinder (204) and the second clamping cylinder (217) is arranged on the side of the gripping frame (202). A first hinge pin (205) is arranged on the first clamping cylinder (204), and a first pressing block (206) capable of clamping the front axle workpiece (001) in cooperation with the first supporting block (207) is arranged on the first clamping cylinder (204), first limiting blocks (208) capable of limiting the clamping position are arranged on the first pressing block (206) and the left base plate (203), a positioning pin cylinder (209) is arranged on the left base plate (203), a first connecting block (210) is arranged on the positioning pin cylinder (209), a first positioning pin (212) is arranged on the first connecting block (210), a third connecting block (213) is arranged at the middle position of the grabbing frame (202), a second positioning pin (215) capable of cooperating with the first positioning pin (212) to position the front axle workpiece (001) is arranged on the third connecting block (213), and third limiting blocks (211) capable of limiting the activity position of the first positioning pin (212) are arranged on the first connecting block (210) and the left base plate (203). The accumulation and conveying device (600) comprises a conveying part and a clamp part, the conveying part of the accumulation and conveying device (600) comprises an accumulation support (601) mounted on a horizontal ground, an accumulation trolley (603) and a motor (602) capable of driving the accumulation trolley (603) are arranged on the accumulation support (601), the clamp part of the accumulation and conveying device (600) comprises a transition connecting plate (607) arranged on the accumulation trolley (603), a first corner seat (608) is arranged on the left side of the transition connecting plate (607), a third supporting block (609) is arranged on the first corner seat (608), a second corner seat (612) is arranged in the middle of the transition connecting plate (607), a fourth supporting block (613) is arranged on the second corner seat (612), a fifth supporting block (614) is arranged on the right side of the transition connecting plate (607), the third supporting block (609), the fourth supporting block (613) and the fifth supporting block (614) are combined to form a fixing structure capable of fixing the position of the front axle workpiece (001), and a fourth connecting block (611) and a fifth connecting block (616) are arranged on the transition connecting plate (607), a third positioning pin (610) is arranged on the fourth connecting block (611), and a fourth positioning pin (615) capable of cooperating with the third positioning pin (610) to position the front axle workpiece (001) is arranged on the fifth connecting block (616).

2. The machine 3D vision intelligent conveying device for the automobile front axle according to claim 1, characterized in that: A second hinge pin (218) is arranged on the second clamping cylinder (217), and a second pressing block (219) capable of clamping the front axle workpiece (001) in cooperation with the second supporting block (220) is arranged on the second clamping cylinder (217), second limiting blocks (221) capable of limiting the clamping position are arranged on the second pressing block (219) and the right base plate (216).

3. The machine 3D vision intelligent conveying device for the automobile front axle according to claim 1, characterized in that: The belt conveying device (300) comprises a belt frame (301) installed on the horizontal ground, a belt (302) and a conveying motor (303) capable of driving the belt (302) to move relative to the belt frame (301) are arranged on the belt frame (301), an upper feeding sensor (304) is arranged on the left side of the belt frame (301), and a discharging sensor (305) capable of sensing the discharging position of the front axle workpiece (001) is arranged on the right side of the belt frame (301).

4. The machine 3D vision intelligent conveying device for the automobile front axle according to claim 3, characterized in that: A tray (306) capable of reciprocating sliding left and right on the belt (302) is arranged on the belt (302), a connecting block (307) is arranged at each of the four corners of the tray (306), a first positioning block (308) is arranged on each of the connecting blocks (307), a fixed block (310) corresponding to the first positioning block (308) is arranged on the belt frame (301), a second positioning block (309) capable of cooperating with the first positioning block (308) is arranged on the fixed block (310), and a positioning and pressing cylinder (311) is arranged on the fixed block (310), the movable end of the positioning and pressing cylinder (311) is connected with a pressing block (313) through a third hinge pin (312), and a dead point block (314) capable of pressing the connecting block (307), the first positioning block (308) and the second positioning block (309) is arranged between the fixed block (310) and the pressing block (313).

5. The machine 3D vision intelligent conveying device for the automobile front axle according to claim 4, characterized in that: A tray position sensor (315) capable of sensing the position of the tray (306) is further arranged on the fixed block (310), and two tray position sensors (315) are arranged on the fixed blocks (310) corresponding to the left and right sides of the tray (306).

6. The machine 3D vision intelligent conveying device for the automobile front axle according to claim 5, characterized in that: The machine 3D vision device (400) comprises a base (406) installed on the ground, an adjusting height column (405) is arranged on the base (406), an installation support (401) is arranged on the adjusting height column (405), a trapezoidal shell (402) is arranged on the installation support (401), a pair of industrial cameras (403) are arranged on the bottom surface of the trapezoidal shell (402), and a laser (404) capable of providing light source is arranged on the bottom surface of the trapezoidal shell (402) between each pair of industrial cameras (403).

7. The machine 3D vision intelligent conveying device for the automobile front axle according to claim 1, characterized in that: A workpiece sensor (606) is arranged on the accumulation and storage trolley (603), an accumulation and storage blocking device (604) is arranged on the discharging side of the accumulation and storage support (601), and a trolley position sensor (605) capable of sensing the position of the accumulation and storage trolley (603) is arranged at the left and right ends of the accumulation and storage support (601).

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