An automatic implant membrane patch feeding and discharging device based on machine vision

Abstract

The application discloses an automatic implanting film piece feeding and discharging device based on machine vision and relates to the technical field of smart bracelet film piece processing.The automatic implanting film piece feeding and discharging device based on machine vision comprises an operation machine box, the inside of the operation machine box is provided with a conveyor for film piece conveying and a mechanical arm for film piece grabbing.In the process of feeding and discharging the film piece and implanting and placing the film piece on a bearing template, the film piece is fine-tuned after being pushed through a fine-tuning positioning assembly, one side of the film piece is abutted with one side of a push plate, the effect of fine-tuning and positioning the film piece after sliding is achieved, the subsequent feeding and discharging operation of the film piece is more accurate, and in the process of fine-tuning and positioning, the film piece is flattened and supported through a supporting assembly, the film piece after being implanted and placed is prevented from being warped and wrinkled to affect the subsequent normal feeding and discharging operation.

Description

Technical Field

[0001] This invention relates to the field of smart bracelet film processing technology, specifically to an automatic loading and unloading device for implantable films based on machine vision. Background Technology

[0002] Smart bracelet films typically refer to protective or functional films used on the bracelet screen or specific areas, such as waterproof and breathable films. The main functions of these films include: Screen protection: Prevents the smart bracelet screen from scratches, wear, and contamination during daily use, extending the lifespan of the smart bracelet. Waterproof and dustproof: A specific waterproof and breathable membrane can effectively isolate moisture and dust while ensuring the bracelet's breathability, thus improving the smart bracelet's protection level.

[0003] During the production and processing of wristband diaphragms, the diaphragms conveyed on the conveyor need to be implanted onto the carrier template through a loading and unloading device. During the loading and unloading process, the diaphragms implanted on the carrier template are positioned by pushing from the side. However, during the positioning of the diaphragms after loading and unloading by pushing, due to the small weight of the diaphragms themselves, the diaphragms are prone to continuous sliding under the force of the push, resulting in inaccurate positioning and affecting the subsequent accurate material handling operation of the implanted diaphragms. To address this, we propose an automatic loading and unloading device for implanted diaphragms based on machine vision. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic loading and unloading device for implantable films based on machine vision, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an automatic loading and unloading device for implantable films based on machine vision, comprising an operating chassis, wherein the operating chassis is internally equipped with a conveyor for film transport and a robotic arm for gripping the films, the front end of the robotic arm is equipped with a suction cup for adsorbing the films and a vision module for visual positioning during loading and unloading, and further comprising: A material retrieval window is located inside the operating chassis. A carrying template for retrieving materials is slidably connected to the material retrieval window. A pushing component is provided on the carrying template for positioning and pushing the implanted diaphragm. A turntable is provided above the carrying template. A rotating component for rotating the turntable is provided on the carrying template. A lifting plate is provided between the turntable and the carrying template. A lifting component for raising and lowering the lifting plate is provided on the turntable. A mounting column is fixed below the lifting plate. A fine-tuning positioning component for fine-tuning the positioning of the diaphragm on the carrying template and a support component for supporting the four corners of the diaphragm during fine-tuning positioning are provided at the lower end of the mounting column. The fine-tuning positioning component includes a strip seat fixed to one side of the mounting column, a mounting seat at the lower end of the strip seat, an elastic telescopic component for elastic telescopic connection between the strip seat and the mounting seat, a rotating seat rotatably connected below the mounting seat, a steering component for adjusting the direction of the rotating seat between the mounting seat and the strip seat, a rubber wheel for abutting and driving against the upper side of the diaphragm rotatably connected to the rotating seat, and a first motor for driving the rubber wheel mounted on the rotating seat.

[0006] Preferably, the support assembly includes a support frame fixed at the four corners of the lower end of the mounting column, a torque shaft rotatably connected to the support frame, and a support rod fixedly connected to the torque shaft via a connecting block. The four sets of support rods are arranged in an outward tilt, and the lower end of the support rod is rotatably connected to a ball via a spherical groove. A limiting component for limiting the torque shaft after rotation is provided between the torque shaft and the support frame.

[0007] Preferably, the limiting component includes a limiting plate fixed to one end of the torque shaft, the limiting plate having multiple sets of limiting slots, the support frame having a limiting plate connected to the limiting slots via an elastic component, the limiting plate having an inclined surface on one side for abutting against the inner side of the limiting slots, and the turntable having an unlocking component for assisting unlocking.

[0008] Preferably, the elastic component includes a fixing block fixed to one side of the support frame, a plurality of first sleeves fixed on the fixing block, a first slide rod slidably connected to each set of first sleeves, one end of the first slide rod being fixed to a limiting plate, and a first spring being sleeved on the outer side of the first sleeve.

[0009] Preferably, the unlocking component includes a C-shaped plate disposed on the outside of the mounting column, the C-shaped plate being connected and fixed to the turntable via a connecting plate, and a transmission plate being fixed on one side of the limiting plate for abutting against the lower end of the C-shaped plate.

[0010] Preferably, the elastic telescopic assembly includes multiple sets of T-shaped rods slidably connected to the strip seat, one end of each set of T-shaped rods is fixed to the mounting seat, and a second spring is sleeved on the outer side of each set of T-shaped rods.

[0011] Preferably, the steering assembly includes a mounting shaft rotatably connected to a mounting base, one end of the mounting shaft being fixed to a rotating base, multiple sets of transmission grooves being formed on the outer side of the mounting shaft, and a transmission block being slidably connected to each set of transmission grooves. A rotating shaft is rotatably connected to the lower end of the strip-shaped base, one end of each set of transmission blocks being fixed to the lower end of the rotating shaft, and a second motor for driving the rotating shaft is mounted on the upper end of the strip-shaped base.

[0012] Preferably, the lifting assembly includes a threaded rod rotatably connected to the lower end of the turntable, a threaded tube threadedly engaged with the threaded rod, one end of the threaded tube being fixed to the upper end of the lifting plate, a third motor for driving the threaded rod being installed at the upper end of the turntable, a second sleeve being fixed to the upper end of the lifting plate, a second slide rod being slidably connected to the second sleeve, and one end of the second slide rod being fixed to the lower end of the turntable.

[0013] Preferably, the rotating assembly includes an operating shaft rotatably connected above the bearing template, one end of the operating shaft being fixed to the lower end of the turntable, and a fourth motor for driving the operating shaft being provided at the lower end of the bearing template.

[0014] Preferably, the material pushing assembly is provided in two sets, and the two sets of material pushing assemblies are arranged perpendicular to each other. The material pushing assembly includes a push plate disposed on one side of the bearing template for pushing against one side of the diaphragm. A cylinder for extending and retracting the push plate is installed at the lower end of the bearing template.

[0015] Compared with the prior art, the beneficial effects of the present invention are: In the process of picking up and placing the diaphragm on the support template, the present invention uses a fine-tuning positioning component to fine-tune the pushed diaphragm so that one side of the diaphragm abuts against one side of the push plate. This achieves the effect of fine-tuning and repositioning the diaphragm after it has slipped, which facilitates more precise picking up and placing of the diaphragm in subsequent operations. During the fine-tuning and positioning process, the support component flattens and supports the diaphragm, preventing it from warping or wrinkling after placement, which would affect the subsequent normal picking operation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall external structure of the present invention; Figure 2 This is a schematic diagram of the internal structure of the operating chassis of the present invention; Figure 3 This is a schematic diagram of the robotic arm structure of the present invention; Figure 4 This is a schematic diagram of the rotating component structure of the present invention; Figure 5 This is a schematic diagram of the bottom structure of the load-bearing template of the present invention; Figure 6 This is a schematic diagram of the feeding assembly structure of the present invention; Figure 7 This is a schematic diagram of the lifting component structure of the present invention; Figure 8 This is a schematic diagram of the structure of the fine-tuning positioning component, the elastic telescopic component, and the steering component of the present invention; Figure 9 This is a schematic diagram of the unlocking component structure of the present invention; Figure 10 This is a schematic diagram of the support component structure of the present invention; Figure 11 This is a schematic diagram of the limiting component and support component of the present invention.

[0017] In the diagram: 101. Control box; 102. Conveyor; 103. Robotic arm; 104. Suction cup; 105. Vision module; 2. Material handling window; 3. Bearing template; 401. Push plate; 402. Cylinder; 5. Turntable; 601. Operating shaft; 602. Fourth motor; 7. Lifting plate; 801. Threaded rod; 802. Threaded pipe; 803. Third motor; 804. Second sleeve; 805. Second slide bar; 9. Mounting column; 1001. Strip seat; 1002. Mounting seat; 1003. Rotating seat; 1004. Rubber wheel; 1005. First motor; 1101. T-shaped rod; 1102. 1201. Second spring; 1202. Mounting shaft; 1203. Transmission groove; 1204. Rotating shaft; 1205. Transmission block; 1206. Second motor; 1301. Support frame; 1302. Torque shaft; 1303. Connecting block; 1304. Support rod; 1305. Spherical groove; 1306. Ball bearing; 1401. Limiting plate; 1402. Limiting slot; 1403. Limiting plate; 1404. Inclined surface; 1501. Fixing block; 1502. First sleeve; 1503. First slide rod; 1504. First spring; 1601. Transmission plate; 1602. Connecting plate; 1603. C-shaped plate. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example 1

[0019] Please see Figures 1-11 The figure shows an automatic loading and unloading device for implantable films based on machine vision, including an operating box 101. Inside the operating box 101, there is a conveyor 102 for conveying films and a robotic arm 103 for gripping films. The front end of the robotic arm 103 is equipped with a suction cup 104 for adsorbing films and a vision module 105 for visual observation and positioning during loading and unloading. It should be noted here that the conveyor 102, the robotic arm 103 and the suction cup 104 are conventional technical means in the loading and unloading process, and their working methods and principles are relatively mature, and will not be described further in this application. It is worth noting here that the vision module 105 includes a CCD camera. Through the settings of the vision module 105, the loading and unloading of the film can be performed more accurately under the adjustment based on machine vision. Also includes: A material picking window 2 is provided inside the operating chassis 101. A carrying template 3 for picking up materials is slidably connected to the material picking window 2. A pushing component is provided on the carrying template 3 for positioning and pushing the diaphragm after it is implanted and placed on the carrying template 3. A turntable 5 is provided above the carrying template 3. A rotating component is provided on the carrying template 3 for rotating the turntable 5. A lifting plate 7 is provided between the turntable 5 and the carrying template 3. A lifting component is provided on the turntable 5 for lifting the lifting plate 7. A mounting column 9 is fixed below the lifting plate 7. A fine-tuning positioning component for fine-tuning the positioning of the diaphragm on the carrying template 3 and a support component for supporting the four corners of the diaphragm during the fine-tuning positioning process are provided at the lower end of the mounting column 9. The fine-tuning positioning component includes a strip seat 1001 fixed to one side of the mounting post 9, a mounting seat 1002 provided at the lower end of the strip seat 1001, an elastic telescopic component for elastic telescopic connection between the strip seat 1001 and the mounting seat 1002, a rotating seat 1003 rotatably connected below the mounting seat 1002, a steering component for adjusting the direction of the rotating seat 1003 provided between the mounting seat 1002 and the strip seat 1001, a rubber wheel 1004 for abutting and driving against the upper side of the diaphragm rotatably connected to the rotating seat 1003, and a first motor 1005 for driving the rubber wheel 1004 mounted on the rotating seat 1003. It should be noted that during the process of picking up and placing the diaphragm sheet on the support template 3, the micro-adjustment positioning component is used to fine-tune the pushed diaphragm sheet so that one side of the diaphragm sheet abuts against one side of the push plate 401. This achieves the effect of fine-tuning and repositioning the diaphragm sheet after it has slipped, which facilitates more precise picking up and placing of the diaphragm sheet in the future. During the fine-tuning and positioning process, the support component is used to flatten and support the diaphragm sheet, preventing the diaphragm sheet from warping or wrinkling after placement, which would affect the subsequent normal picking operation.

[0020] Preferably, the support assembly includes a support frame 1301 fixed at the four corners of the lower end of the mounting column 9. A torque shaft 1302 is rotatably connected to the support frame 1301. A support rod 1304 is fixedly connected to the torque shaft 1302 through a connecting block 1303. The four sets of support rods 1304 are arranged in an outward tilt. The lower end of the support rod 1304 is rotatably connected to a ball bearing 1306 through a spherical groove 1305. A limiting assembly for limiting the torque shaft 1302 after rotation is provided between the torque shaft 1302 and the support frame 1301. It should be noted that during the fine-tuning and positioning of the diaphragm by lowering the mounting column 9, as the mounting column 9 descends, the ball bearings 1306 at the front end of the four sets of support rods 1304 first abut against the four corners of the upper side of the diaphragm. During this abutment process, as the mounting column 9 continues to descend and the torque shaft 1302 and the connecting block 1303 rotatably connect the support rods 1304, the front ends of each set of support rods 1304 disperse towards the four corners of the diaphragm. During this movement, through the pushing action of the ball bearings 1306 at the front end of each set of support rods 1304 against the upper side of the diaphragm, the diaphragm is pushed from the center position towards the four corners at a certain angle, further achieving flattening and support of the diaphragm.

[0021] Preferably, the limiting component includes a limiting disk 1401 fixed to one end of the torque shaft 1302. The limiting disk 1401 has multiple sets of limiting slots 1402. The support frame 1301 is connected by an elastic component to a limiting plate 1403 for locking and limiting with the limiting slots 1402. One side of the limiting plate 1403 has an inclined surface 1404 for abutting against the inner side of the limiting slots 1402 for transmission. The turntable 5 is provided with an unlocking component for assisting unlocking. It should be noted that during the rotation of the limiting disk 1401, the limiting plate 1403 is forced to contract and move due to the abutting transmission action between the inner side of the limiting slot 1402 and the inclined surface 1404. After the limiting disk 1401 rotates, the elastic component pushes the limiting plate 1403 into the interior of the limiting slot 1402, thereby limiting the reset rotation of the limiting disk 1401.

[0022] Preferably, the elastic component includes a fixing block 1501 fixed to one side of the support frame 1301, a plurality of first sleeves 1502 fixed on the fixing block 1501, a first slide rod 1503 slidably connected to each set of first sleeves 1502, one end of the first slide rod 1503 being fixed to the limiting plate 1403, and a first spring 1504 being sleeved on the outside of the first sleeve 1502; It should be noted that the first sleeve 1502 and the first slide rod 1503 facilitate the extension and retraction guidance of the auxiliary limiting plate 1403 after being subjected to force, and the first spring 1504 facilitates the reset of the limiting plate 1403 after being retracted under force.

[0023] Preferably, the unlocking component includes a C-shaped plate 1603 disposed on the outside of the mounting column 9. The C-shaped plate 1603 is connected and fixed to the turntable 5 by a connecting plate 1602. A transmission plate 1601 for abutting against the lower end of the C-shaped plate 1603 is fixed on one side of the limiting plate 1403. It should be noted that during the upward movement of the mounting column 9, the support frame 1301 and the transmission plate 1601 are driven to move upward. During the movement, the transmission plate 1601 abuts against the lower end of the C-shaped plate 1603. During the abutment, the transmission plate 1601 and the limiting plate 1403 are pushed towards the fixing block 1501 to retract. During the movement, the limiting plate 1403 slides out of the limiting slot 1402, releasing the limiting operation on the limiting plate 1401.

[0024] Preferably, the elastic telescopic assembly includes multiple sets of T-shaped rods 1101 slidably connected to the strip seat 1001, one end of each set of T-shaped rods 1101 is fixed to the mounting seat 1002, and a second spring 1102 is sleeved on the outer side of each set of T-shaped rods 1101. It should be noted here that: through transmission, the rubber wheel 1004 on the rotating seat 1003 abuts against the upper side of the diaphragm and moves as the mounting column 9 continues to descend, causing each set of T-shaped rods 1101 to slide on the strip seat 1001 and causing the second spring 1102 to deform under force and generate elastic force. The elastic force of the second spring 1102 pushes the rubber wheel 1004 to maintain a certain force against the upper side of the diaphragm.

[0025] Preferably, the steering assembly includes a mounting shaft 1201 rotatably connected to the mounting base 1002, one end of the mounting shaft 1201 being fixed to the rotating base 1003, a plurality of transmission grooves 1202 being provided on the outer side of the mounting shaft 1201, a transmission block 1204 being slidably connected to each set of transmission grooves 1202, a rotating shaft 1203 being rotatably connected to the lower end of the strip base 1001, one end of each set of transmission blocks 1204 being fixed to the lower end of the rotating shaft 1203, and a second motor 1205 for driving the rotating shaft 1203 being mounted on the upper end of the strip base 1001; It should be noted here that: the rotating shaft 1203 is driven to rotate by the second motor 1205. During the rotation of the rotating shaft 1203, the mounting shaft 1201 and the rotating seat 1003 on the mounting shaft 1201 are driven to rotate through the connection and transmission of each set of transmission blocks 1204 and transmission groove 1202, thereby adjusting the use angle of the rubber wheel 1004 on the rotating seat 1003. It is worth noting that the connection between the transmission blocks 1204 and the transmission grooves 1202 facilitates the transmission between the rotating shaft 1203 and the mounting shaft 1201 during the telescopic movement of the mounting base 1002.

[0026] Preferably, the lifting assembly includes a threaded rod 801 rotatably connected to the lower end of the turntable 5, a threaded tube 802 threadedly engaged with the threaded rod 801, one end of the threaded tube 802 being fixed to the upper end of the lifting plate 7, a third motor 803 for driving the threaded rod 801 being installed at the upper end of the turntable 5, a second sleeve 804 being fixed to the upper end of the lifting plate 7, a second slide rod 805 being slidably connected to the second sleeve 804, one end of the second slide rod 805 being fixed to the lower end of the turntable 5; It should be noted here that the threaded rod 801 is driven to rotate by the third motor 803. During the rotation of the threaded rod 801, the lifting plate 7 under force moves up and down through the mutual meshing transmission between the threaded rod 801 and the threaded tube 802 and the sliding guidance effect between the second sleeve 804 and the second slide rod 805.

[0027] Preferably, the rotating assembly includes an operating shaft 601 rotatably connected above the bearing template 3, one end of the operating shaft 601 being fixed to the lower end of the turntable 5, and a fourth motor 602 for driving the operating shaft 601 is provided at the lower end of the bearing template 3. It should be noted that during the placement of the diaphragm on the support template 3, the turntable 5 is rotated and adjusted by the rotating component to avoid interference with the placement of the diaphragm. After the diaphragm is placed, the turntable 5 is driven to rotate by the rotating component to facilitate fine-tuning and support operations. During the rotation, the turntable 5 can be driven to rotate by the driving action of the fourth motor 602 and the connecting action of the operating shaft 601.

[0028] Preferably, there are two sets of pushing components, and the two sets of pushing components are arranged perpendicular to each other. The pushing component includes a push plate 401 arranged on one side of the bearing template 3 for pushing against one side of the diaphragm. A cylinder 402 for extending and retracting the push plate 401 is installed at the lower end of the bearing template 3. It should be noted here that the cylinder 402 pushes the push plate 401 to move and abut against one side of the diaphragm, thereby positioning the diaphragm.

[0029] In this solution, an automatic loading and unloading device for implantable films based on machine vision includes the following steps: During the process of implanting the diaphragm into the support template 3, the diaphragm is picked up by the suction cup 104 at the front end of the robotic arm 103 and the adsorption of the diaphragm conveyed on the conveyor 102. The adsorbed diaphragm is then implanted into the support template 3 by the drive of the robotic arm 103. After the diaphragm is placed, the diaphragm is pushed and positioned by two sets of pushing components that abut against the two sides of the placed diaphragm. After the diaphragm is pushed and positioned, to prevent further slippage due to inertia, a fine-tuning positioning operation is performed. During this operation, the turntable 5 is driven to rotate via the rotating assembly, positioning the lifting plate 7 above the pushed and positioned diaphragm. After rotation, the lifting assembly drives the lifting plate 7 and mounting column 9 to descend. During the descent, the rubber wheel 1004 on the rotating seat 1003 abuts against the upper side of the diaphragm. As the mounting column 9 continues to descend, the second spring 1102 on the elastic telescopic assembly deforms under force, generating elastic force. This elastic force pushes the rubber wheel 1004 to maintain a certain force against the upper side of the diaphragm. This process continues as the lifting plate 7 and mounting column 9 descend. After activation, the first motor 1005 drives the rubber wheel 1004 to rotate. Since the rubber wheel 1004 is in contact with the upper side of the diaphragm, during the rotation of the rubber wheel 1004, the friction between the rubber wheel 1004 and the upper side of the diaphragm drives the diaphragm to move slightly at the upper end of the bearing template 3, making fine adjustments to the diaphragm so that one side of the diaphragm is in contact with one side of the push plate 401. This achieves the effect of fine-tuning and repositioning the diaphragm after it has slipped, which facilitates more precise up and down picking operations of the diaphragm in the future. In addition, during the fine-tuning drive, the angle of the rubber wheel 1004 can be adjusted through the steering component, which makes it easier for the rubber wheel 1004 to drive the diaphragm to be fine-tuned and positioned in different directions, making the fine-tuning process more flexible. During the process of fine-tuning and positioning the diaphragm by lowering the mounting column 9, as the mounting column 9 descends, the ball bearings 1306 at the front end of the four sets of support rods 1304 first abut against the four corners on the upper side of the diaphragm. During this abutment process, as the mounting column 9 continues to descend and the torque shaft 1302 and the connecting block 1303 rotatably connect the support rods 1304, the front ends of each set of support rods 1304 disperse towards the four corners of the diaphragm. During this movement, through the movement of each set of support rods 1304... The 304 front ball bearing 1306 pushes against the upper side of the diaphragm, pushing the diaphragm from the middle position at a certain angle towards the four corners of the diaphragm, further flattening and supporting the diaphragm, preventing the diaphragm from warping or wrinkling after implantation and affecting subsequent normal material handling. During the support process, the rotation of the ball bearing 1306 inside the spherical groove 1305 can maintain the support of the diaphragm and allow the diaphragm to move smoothly during the fine-tuning and pushing process. During the transmission process, as the front ends of each set of support rods 1304 move dispersed towards the four corners of the diaphragm, the transmission action drives the limiting disk 1401 to rotate. After the limiting disk 1401 rotates, the limiting component restricts the reset rotation of the limiting disk 1401 and the torque shaft 1302, preventing the support rods 1304 from directly converging and resetting after fine-tuning and positioning, as the mounting column 9 rises. This causes the ball bearings 1306 at the front end of the support rod 1304 to rub against the upper side of the diaphragm, causing the diaphragm to be under force and tilt, thus maintaining the effect of flattening and supporting the diaphragm.

[0030] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0031] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A machine vision-based automatic loading and unloading device for implantable membranes, comprising: The operating housing (101) is equipped with a conveyor (102) for conveying the film and a robotic arm (103) for gripping the film. The front end of the robotic arm (103) is equipped with a suction cup (104) for adsorbing the film and a vision module (105) for visual positioning during loading and unloading. Its characteristic is that it further includes: A material picking window (2) is opened inside the operating box (101). A carrying template (3) for picking up materials is slidably connected to the material picking window (2). A pushing component for positioning and pushing the implanted diaphragm on the carrying template (3) is provided on the carrying template (3). A turntable (5) is provided above the carrying template (3). A rotating component for rotating the turntable (5) is provided on the carrying template (3). A lifting plate (7) is provided between the turntable (5) and the carrying template (3). A lifting component for lifting the lifting plate (7) is provided on the turntable (5). An installation column (9) is fixed below the lifting plate (7). A fine-tuning positioning component for fine-tuning the positioning of the diaphragm on the carrying template (3) and a support component for supporting the four corners of the diaphragm during the fine-tuning positioning process are provided at the lower end of the installation column (9). The fine-tuning positioning component includes a strip seat (1001) fixed to one side of the mounting column (9), a mounting seat (1002) is provided at the lower end of the strip seat (1001), an elastic telescopic component for elastic telescopic connection of the mounting seat (1002) is provided between the strip seat (1001) and the mounting seat (1002), a rotating seat (1003) is rotatably connected below the mounting seat (1002), a steering component for adjusting the direction of the rotating seat (1003) is provided between the mounting seat (1002) and the strip seat (1001), a rubber wheel (1004) for abutting and driving against the upper side of the diaphragm is rotatably connected on the rotating seat (1003), and a first motor (1005) for driving the rubber wheel (1004) is installed on the rotating seat (1003). The support assembly includes a support frame (1301) fixed at the four corners of the lower end of the mounting column (9). A torque shaft (1302) is rotatably connected to the support frame (1301). A support rod (1304) is fixedly connected to the torque shaft (1302) through a connecting block (1303). The four sets of support rods (1304) are inclined outward. The lower end of the support rod (1304) is rotatably connected to a ball bearing (1306) through a spherical groove (1305). A limiting component is provided between the torque shaft (1302) and the support frame (1301) to limit the torque shaft (1302) after rotation. The limiting component includes a limiting plate (1401) fixed to one end of the torque shaft (1302). The limiting plate (1401) has multiple limiting slots (1402). The support frame (1301) is connected by an elastic component to a limiting plate (1403) for locking and limiting with the limiting slots (1402). One side of the limiting plate (1403) has an inclined surface (1404) for abutting against the inner side of the limiting slots (1402) for transmission. The turntable (5) is provided with an unlocking component for assisting unlocking.

2. The automatic loading and unloading device for implantable membranes based on machine vision according to claim 1, characterized in that: The elastic component includes a fixing block (1501) fixed to one side of the support frame (1301). Multiple sets of first sleeves (1502) are fixed on the fixing block (1501). A first slide rod (1503) is slidably connected to each set of first sleeves (1502). One end of the first slide rod (1503) is fixed to the limiting plate (1403). A first spring (1504) is sleeved on the outside of the first sleeve (1502).

3. The automatic loading and unloading device for implantable membranes based on machine vision according to claim 2, characterized in that: The unlocking component includes a C-shaped plate (1603) located on the outside of the mounting column (9). The C-shaped plate (1603) is connected and fixed to the turntable (5) by a connecting plate (1602). A transmission plate (1601) is fixed on one side of the limiting plate (1403) for abutting against the lower end of the C-shaped plate (1603).

4. The automatic loading and unloading device for implantable membranes based on machine vision according to claim 1, characterized in that: The elastic telescopic assembly includes multiple sets of T-shaped rods (1101) slidably connected to the strip seat (1001). One end of each set of T-shaped rods (1101) is fixed to the mounting seat (1002), and a second spring (1102) is sleeved on the outside of each set of T-shaped rods (1101).

5. The automatic loading and unloading device for implantable membranes based on machine vision according to claim 1, characterized in that: The steering assembly includes a mounting shaft (1201) rotatably connected to a mounting base (1002). One end of the mounting shaft (1201) is fixed to a rotating base (1003). Multiple sets of transmission grooves (1202) are provided on the outer side of the mounting shaft (1201). A transmission block (1204) is slidably connected to each set of transmission grooves (1202). A rotating shaft (1203) is rotatably connected to the lower end of the strip base (1001). One end of each set of transmission blocks (1204) is fixed to the lower end of the rotating shaft (1203). A second motor (1205) for driving the rotating shaft (1203) is installed on the upper end of the strip base (1001).

6. The automatic loading and unloading device for implantable membranes based on machine vision according to claim 1, characterized in that: The lifting assembly includes a threaded rod (801) rotatably connected to the lower end of the turntable (5), a threaded tube (802) threadedly engaged with the threaded rod (801), one end of the threaded tube (802) being fixed to the upper end of the lifting plate (7), a third motor (803) for driving the threaded rod (801) being installed on the upper end of the turntable (5), a second sleeve (804) being fixed to the upper end of the lifting plate (7), a second slide rod (805) being slidably connected to the second sleeve (804), one end of the second slide rod (805) being fixed to the lower end of the turntable (5).

7. The automatic loading and unloading device for implantable membranes based on machine vision according to claim 1, characterized in that: The rotating assembly includes an operating shaft (601) rotatably connected above the bearing template (3). One end of the operating shaft (601) is fixed to the lower end of the turntable (5). The lower end of the bearing template (3) is provided with a fourth motor (602) for driving the operating shaft (601).

8. The automatic loading and unloading device for implantable membranes based on machine vision according to claim 1, characterized in that: The material pushing assembly is provided in two sets, and the two sets of material pushing assemblies are arranged perpendicular to each other. The material pushing assembly includes a push plate (401) disposed on one side of the bearing template (3) for pushing against one side of the diaphragm. The lower end of the bearing template (3) is equipped with a cylinder (402) for extending and retracting the push plate (401).

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