Badminton feather piece automatic detection stamping equipment

Abstract

The invention discloses automatic detection and stamping equipment for badminton feather pieces, and the automatic detection and stamping equipment realizes full automation of the production process of the badminton feather pieces by integrating a feeding, conveying, detecting and positioning mechanism, an industrial camera detection mechanism, a clamping jaw conveying mechanism and a feather piece stamping mechanism. By means of the integrated design, the requirement for manual operation is greatly reduced, and therefore the production efficiency is remarkably improved. Particularly, a feather overturning conveying belt and a multi-stage guide system in the feeding conveying detection positioning mechanism ensure that the feathers can be automatically adjusted to ideal stamping shapes and positions in the conveying process. And the consistency and the accuracy of the product are further ensured by the dual detection functions (detecting the completeness of the feather and determining the stamping position) of the industrial camera detection mechanism. The innovative design not only improves the production speed, but also remarkably improves the product quality, so that the thickness and gram weight of each feather piece are more consistent, and the production of unqualified products is greatly reduced.

Description

Technical Field

[0001] The invention relates to the technical field of badminton production, in particular to an automatic detection and stamping device for badminton feathers. Background Art

[0002] Badminton is widely used in sports and leisure. In addition, since air flow has a great influence on the trajectory of badminton during its use, the manufacturing process of badminton is affected by many factors such as feather characteristics and external dimensions. At present, the punching of feather raw hair into hair pieces in the industry still completely relies on manual identification one by one and then putting it into the punching equipment for punching hair pieces, resulting in inconsistent coarseness and weight of the produced hair pieces, and low precision of the hair pieces. The existing production method has a great demand for personnel, and since the production process completely relies on manual identification of positive and negative hair, different batches of hair will be mistakenly punched into hair pieces for mixed loading during the production process. In addition, the punching of hair pieces needs to rely on molds, and each batch of feathers corresponds to different molds, so the hair pieces that are mistakenly punched cannot be used again and can only be scrapped. This situation requires manual re-screening of the punched hair pieces in the future, which brings great trouble to production and greatly reduces production efficiency. At present, it is also facing factors such as high personnel costs and difficulty in recruiting people. It is a pain point for the entire industry and an effective solution is urgently needed to achieve it. Summary of the invention

[0003] The object of the present invention is to provide a badminton feather automatic detection and punching device to solve the problems existing in the existing badminton production technology mentioned in the above background technology.

[0004] To achieve the above object, the present invention provides the following technical solution, a badminton feather automatic detection and stamping device, the automatic detection and stamping device comprising:

[0005] Lower rack;

[0006] The feed conveying detection positioning mechanism, the clamping jaw conveying mechanism, the rough piece punching mechanism and the industrial camera detection mechanism are arranged on the lower frame, wherein the feed conveying detection positioning mechanism is located on the right side of the automatic detection and punching equipment, the clamping jaw conveying mechanism is located on the left side of the feed conveying detection positioning mechanism, the rough piece punching mechanism is located on the left side of the automatic detection and punching equipment, and the industrial camera detection mechanism is located between the feed conveying detection positioning mechanism and the clamping jaw conveying mechanism;

[0007] An electric control box disposed above the lower frame;

[0008] An industrial computer, a display screen and a programmable control screen arranged on the electric control box;

[0009] A solenoid valve and an air source processor are arranged on the right side of the lower frame;

[0010] And defective product recycling agencies.

[0011] Preferably, the feed conveying detection and positioning mechanism comprises a feather feeding conveying mechanism, and the feather feeding conveying mechanism comprises:

[0012] A feeding chute, located at the entrance of the feather feeding and conveying mechanism;

[0013] A first right side plate and a first left side plate are respectively located on two sides of the feather feeding and conveying mechanism;

[0014] A feather turning conveyor belt, movably arranged between the first right plate and the first left plate;

[0015] An adjusting shaft is installed on the inner side of the adjusting feather turning conveyor belt through a bearing;

[0016] An adjusting block, fixedly connected to both ends of the adjusting shaft;

[0017] The connecting plate and the connecting fixing plate are respectively fixedly connected to the bottoms of both sides of the first right plate and the first left plate, and the connecting plate and the connecting fixing plate are located below the feather turning conveyor belt;

[0018] A positioning screw is used to fix the first right side plate and the first left side plate away from each other;

[0019] A first joint bearing is mounted on the positioning screw, wherein the first joint bearing is connected to a connecting rod;

[0020] A transmission shaft, arranged on the connecting rod;

[0021] A bearing fixing seat, fixed to a side away from an upper end of the first right plate and an upper end of the first left plate;

[0022] A second joint bearing is rotatably mounted on the upper end of the connecting rod;

[0023] A first guide light axis is connected to the connecting rod through the second joint bearing;

[0024] A first linear bearing, mounted on the first guide optical axis and fixed on the bearing fixing seat;

[0025] A fixed connecting rod connected to the top of the first guiding light axis;

[0026] A first fixing washer is sleeved on the outer side of the first guiding light axis, and the first fixing washer is connected to the inner side of the fixing connecting rod, and the first fixing washer and the fixing connecting rod are suitable for fixing the first guiding light axis;

[0027] A support column, fixed at the middle position of the lower side of the feather feeding and conveying mechanism;

[0028] A motor fixing seat, fixed to a side of the first left side plate away from the first right side plate;

[0029] A first motor mounting plate, fixed on the motor fixing seat;

[0030] A fourth servo motor is mounted on the first motor mounting plate;

[0031] A first synchronous wheel is movably mounted on a side of the first left plate away from the first right plate, and a first synchronous belt is provided on a transmission sleeve of the first synchronous wheel and the transmission shaft of the fourth servo motor;

[0032] Two sets of second synchronous wheels are movably installed at intervals on a side of the first left side plate away from the first right side plate, and second synchronous belts are installed on the two sets of the second synchronous wheels;

[0033] Two sets of guide blocks are respectively arranged at the inlet and outlet of the feather turning conveyor belt;

[0034] A roller fixing seat, fixed above the connecting fixing plate;

[0035] The rubber-coated roller and the floating rubber-coated roller are rotatably connected to the inner side of the roller fixing seat, and the floating rubber-coated roller is arranged above the rubber-coated roller;

[0036] Two sets of first transmission gears are respectively connected to the rubber-coated roller and the floating rubber-coated roller on the outer side of the roller fixing seat;

[0037] Two groups of first gears are arranged on a side of the first left plate away from the first right plate, and the two groups of first gears are meshed and transmission-connected;

[0038] Two groups of guide shafts are installed on the top of the roller fixing seat, and the tops of the two groups of guide shafts are fixedly connected with guide connecting plates;

[0039] A guide fixing plate, fixed to the top of the first left plate and the first right plate, and the guide fixing plate is arranged just above the floating rubber-coated roller;

[0040] Two groups of second linear bearings are installed at intervals on the top of the guide fixing plate, and the two groups of guide shafts are movably arranged on the inner sides of the two groups of second linear bearings;

[0041] A detection sheet, mounted on the guide connecting plate, the detection sheet detects the feather position by moving up and down through the floating rubber-coated roller;

[0042] The sensor bracket is fixed on the top of the guide fixing plate. A U-shaped photoelectric sensor is installed on the sensor bracket. The U-shaped photoelectric sensor is located above the floating rubber-coated roller.

[0043] Preferably, the feed conveying detection and positioning mechanism further comprises a detection and positioning conveying mechanism, and the detection and positioning conveying mechanism comprises:

[0044] A second guide block is located at the entrance of the detection positioning conveying mechanism;

[0045] A second right side plate and a second left side plate are respectively located on two sides of the detection positioning and conveying mechanism;

[0046] A fixed connecting plate, fixedly connected to a side of the second left side plate away from the second right side plate;

[0047] Two sets of guide rubber-coated rollers are rotatably installed between the second right plate and the second left plate at intervals in an upper and lower direction;

[0048] A light source mounting plate, fixedly connected to the top of the second right plate and the second left plate, the light source mounting plate is located above the guide rubber-coated roller, and a first light source is mounted on the light source mounting plate;

[0049] An aluminum profile is fixedly connected to the lower side between the second right plate and the second left plate, a second section of a lower synchronous conveyor belt and a second section of an upper synchronous conveyor belt are installed above the aluminum profile, four groups of third joint bearings, four groups of third linear bearings, four groups of bearing mounting seats, four groups of second guide light shafts and four groups of second fixed washers are installed on the front and rear sides of the second section of the lower synchronous conveyor belt, the third linear bearing is installed on the inner side of the bearing mounting seat, the second guide light shaft is penetrated through the inner side of the third linear bearing, the third joint bearing is connected to the bottom of the second guide light shaft, the second fixed washer is sleeved on the outer side of the upper end of the second guide light shaft, and the second fixed washer is embedded in the top of the bearing mounting seat;

[0050] The left fixed connecting plate has one end connected to the aluminum profile and the other end connected to the second lower synchronous conveyor belt;

[0051] A first camera mounting plate, fixed to the left fixed connecting plate, a first industrial camera is mounted on the first camera mounting plate, and the first industrial camera is located below the guide rubber-coated roller;

[0052] A fixed support seat, fixed below the aluminum profile;

[0053] Four groups of third synchronous wheels, two groups of the first third synchronous wheels are respectively fixedly connected with the two groups of the guide rubber-coated rollers, and the other two groups of the first third synchronous wheels are rotatably mounted on the surface of the left fixed connecting plate, and a third third synchronous belt is provided for transmission between the two horizontal groups of the first third synchronous wheels, and a second gear is installed at one end of the guide rubber-coated roller away from the first third synchronous wheel, and the two groups of the second second gears are meshed and transmitted;

[0054] The third section right side fixing plate and the third section left side fixing plate are respectively fixedly connected to the two sides of the aluminum profile, the third section right side fixing plate and the third section left side fixing plate are located at the rear of the detection positioning conveying mechanism, and a third section lower synchronous conveyor belt and a third section upper synchronous conveyor belt are provided between the third section right side fixing plate and the third section left side fixing plate, one end of the third section lower synchronous conveyor belt and the third section upper synchronous conveyor belt are both connected to a second transmission gear, and the two groups of the second transmission gears are meshed and transmission-connected;

[0055] The second motor mounting plate and the third motor mounting plate are respectively fixed on both sides of the aluminum profile, the first servo motor is mounted on the second motor mounting plate, the second servo motor is mounted on the third motor mounting plate, the fourth synchronous wheel is rotatably mounted on the second motor mounting plate and on the left fixed plate of the third section, the two groups of the fourth synchronous wheels are connected by a fourth synchronous belt transmission, the fifth synchronous wheel is rotatably mounted on the third motor mounting plate, the sixth synchronous wheel is rotatably mounted on the lower synchronous conveyor belt of the second section, and a fifth synchronous belt is provided for transmission between the fifth synchronous wheel and the sixth synchronous wheel.

[0056] Preferably, the industrial camera detection mechanism includes:

[0057] Dovetail bracket slide, used to adjust the position of industrial camera;

[0058] A camera mounting plate, fixed on the dovetail bracket slide;

[0059] A second industrial camera mounted on the camera mounting plate;

[0060] A light source fixing plate, located above the second industrial camera;

[0061] An optical axis fixing seat, mounted on the light source fixing plate;

[0062] Supporting the optical axis, fixed on the optical axis fixing seat;

[0063] An optical axis cross clamp, mounted on the supporting optical axis;

[0064] The adjustment optical axis is mounted on the optical axis cross clamp;

[0065] Optical axis support, connecting the adjustment optical axis and the light source mounting plate;

[0066] The second light source is installed on the light source installation plate.

[0067] Preferably, the gripper conveying mechanism comprises:

[0068] A servo module, with a fixed support seat and a front fixed support seat connected to the bottom, and the servo module is provided with two groups;

[0069] A module connecting plate, mounted on the servo module;

[0070] A linear guide rail is mounted on the module connecting plate;

[0071] A guide fixing seat, mounted on the linear guide rail;

[0072] The rear clamping jaw fixing plate is mounted on the linear guide rail;

[0073] A rear clamping jaw cylinder, mounted on the rear clamping jaw fixing plate;

[0074] A cylinder mounting seat, located below the rear clamping jaw fixing plate;

[0075] A pen-shaped cylinder is mounted on the cylinder mounting seat, and the cylinder connecting seat is connected to the pen-shaped cylinder;

[0076] A front clamping jaw fixing seat, mounted on the cylinder connecting seat;

[0077] The front clamping jaw cylinder is installed on the front clamping jaw fixing seat.

[0078] Preferably, the defective product recovery mechanism comprises:

[0079] The defective product recovery slide is fixed on the automatic detection and stamping equipment through a slide fixing bracket.

[0080] Preferably, the blank punching mechanism comprises:

[0081] A bottom plate and an upper fixed plate, wherein the upper fixed plate and the bottom plate are spaced apart from each other, two third guide light axes are fixedly arranged between the upper fixed plate and the bottom plate, and a servo motor mounting plate is provided on both the upper fixed plate and the bottom plate, and a third servo motor is mounted on the servo motor mounting plate;

[0082] A ball screw is drivingly connected to a motor shaft of a group of the third servo motors below;

[0083] A screw nut fixing seat connected to the ball screw;

[0084] A lower slide plate connected to the screw nut fixing seat;

[0085] Linear bearings are installed on both sides of the lower slide plate;

[0086] A lower mold, mounted on the lower sliding plate;

[0087] An upper mold, located above the lower mold;

[0088] A slide groove is arranged on the side of the blank punching mechanism, and the slide groove is fixedly connected to the upper fixing plate and one side of the bottom plate;

[0089] A sensor bracket, mounted on the slideway;

[0090] A proximity sensor, mounted on the sensor bracket;

[0091] An upper slide plate connected to the upper mold;

[0092] A sensor sheet is installed on the upper slide plate and the lower slide plate;

[0093] A motor synchronous wheel, drivingly connected to the motor shaft of the upper set of the third servo motors;

[0094] An upper ball screw is rotatably mounted on the top of the upper fixed plate, a screw synchronous wheel is mounted on the upper ball screw, and a sixth synchronous belt is transmission-connected between the screw synchronous wheel and the motor synchronous wheel;

[0095] A screw nut connecting plate, connecting the upper ball screw and the upper slide plate;

[0096] A rear waste chute and a front waste chute are both located on the lower slide plate, and the rear waste chute and the front waste chute are used to collect waste chips after stamping;

[0097] The finished product slide is located below the lower die and is used to transport the punched rough pieces to the finished product frame.

[0098] Preferably, the second section upper synchronous conveyor belt and the third section upper synchronous conveyor belt can float up and down.

[0099] Preferably, the two groups of servo modules of the gripper conveying mechanism work alternately.

[0100] Preferably, the feed conveying detection and positioning mechanism, the clamping jaw conveying mechanism, the industrial camera detection mechanism and the feather punching mechanism are coordinated and controlled through a programmable control screen to achieve automatic conveying, detection, positioning and punching of feathers.

[0101] Compared with the prior art, the badminton feather automatic detection and stamping equipment has the following beneficial effects:

[0102] 1) The automatic detection and stamping equipment of the present invention realizes the full automation of the badminton feather production process by integrating the feed conveying detection and positioning mechanism, the industrial camera detection mechanism, the clamping conveying mechanism and the feather punching mechanism. This integrated design greatly reduces the need for manual operation, thereby significantly improving production efficiency. In particular, the feather flipping conveyor belt and multi-level guide system in the feed conveying detection and positioning mechanism ensure that the feathers can automatically adjust to the ideal stamping shape and position during the conveying process. The dual detection function of the industrial camera detection mechanism (detecting feather integrity and determining the stamping position) further ensures the consistency and accuracy of the product. These innovative designs not only increase the production speed, but also significantly improve the product quality, making the thickness and gram weight of each feather more consistent, greatly reducing the generation of defective products;

[0103] 2) The design of the present invention greatly reduces the reliance on manual operation. The traditional badminton feather production process requires a large amount of manual work such as feather identification, placement and stamping, which is not only labor-intensive but also prone to human errors. The equipment has a high degree of automation, and the entire process from material input to finished product output can be completed with minimal human intervention. The double-group servo module alternating working design of the gripper conveying mechanism further improves production efficiency and reduces downtime. At the same time, the automatic identification and recycling function of the equipment for defective products reduces the need for subsequent manual screening. These features not only significantly reduce labor costs, but also solve the problems of difficulty in recruiting workers and high personnel costs currently faced by the industry, providing companies with sustainable production solutions;

[0104] 3) The design of the present invention is highly flexible and adaptable. Multiple adjustment mechanisms in the equipment, such as the tension adjustment of the feather flipping conveyor belt, the position adjustment of the industrial camera and the light source, etc., allow the equipment to easily adapt to feathers of different specifications and types. The adjustable mold system in the feather piece stamping mechanism allows the stamping mold to be quickly replaced or adjusted according to different batches or specifications of feathers. This flexibility allows the same equipment to produce badminton feathers of various specifications, improving the versatility of the production line. In addition, the modular design of the equipment also facilitates future upgrades and maintenance, and certain functional modules can be easily added or improved according to production needs. This design concept not only increases the service life of the equipment, but also provides manufacturers with greater room for product innovation, enabling them to quickly respond to changes in market demand and produce a variety of badminton feather products;

[0105] 4) The present invention is a new type of automatic feather detection and stamping equipment, which effectively improves the existing production efficiency, can ensure that each feather piece has consistent thickness and weight, reduces labor intensity, liberates productivity, reduces the company's dependence on personnel, and reduces production costs. The present invention has a simple structure, strong stability, flexible operation, and high flexibility. The operator only needs to put scattered goose feathers and duck feathers into the feed port, and the equipment can automatically complete the feather transportation, feather detection and judgment, automatic removal of feathers from different batches, and feather stamping processes, thereby realizing automated production. BRIEF DESCRIPTION OF THE DRAWINGS

[0106] Figure 1 An axonometric view of the feather automatic detection and punching equipment of the present invention;

[0107] Figure 2 Another isometric view of the feather automatic detection and punching device of the present invention;

[0108] Figure 3 It is a front view of the feather automatic detection and punching device of the present invention;

[0109] Figure 4 It is an axonometric diagram of the feeding conveying detection and positioning mechanism of the present invention;

[0110] Figure 5 Another isometric view of the feed conveying detection and positioning mechanism of the present invention;

[0111] Figure 6 An axonometric view of the feather feeding and conveying mechanism of the present invention;

[0112] Figure 7 Another isometric view of the feather feeding and conveying mechanism of the present invention;

[0113] Figure 8 It is an axonometric view of the feather turning conveyor belt of the present invention;

[0114] Fig. 9 Another axonometric view of the feather turning conveyor belt of the present invention;

[0115] Fig.10 An axonometric diagram of the detection, positioning and conveying mechanism of the present invention;

[0116] Fig.11 Another isometric view of the detection positioning conveying mechanism of the present invention;

[0117] Fig.12 An axonometric diagram of the industrial camera detection mechanism of the present invention;

[0118] Fig.13 Another isometric view of the industrial camera detection mechanism of the present invention;

[0119] Fig.14 It is an axonometric view of the clamping jaw conveying mechanism of the present invention;

[0120] Fig.15 Another isometric view of the gripper conveying mechanism of the present invention;

[0121] Fig.16 It is an axonometric diagram of the defective product recovery mechanism of the present invention;

[0122] Fig.17 It is an axonometric view of the blank punching mechanism of the present invention;

[0123] Fig.18 Another isometric view of the blank punching mechanism of the present invention.

[0124] In the figure:

[0125] 1. Lower frame; 2. Feeding, conveying, detecting and positioning mechanism; 3. Gripping conveying mechanism; 4. Feather stamping mechanism; 5. Industrial computer; 6. Display screen; 7. Programmable control panel; 8. Electric control box; 9. Solenoid valve; 10. Air source processor; 11. Industrial camera detection mechanism; 12. Defective product recovery mechanism; 13. Feather feeding and conveying mechanism; 14. Detection, positioning and conveying mechanism; 15. Feeding slide; 16. First right side plate; 17. First left side plate; 18. Adjustment block; 19. Feather turning conveyor belt; 20. Connecting plate; 21. Adjustment shaft; 22. First joint bearing; 23. Positioning screw; 24. Connecting rod; 25. Transmission shaft; 26. Second joint bearing; 27. First guide light axis; 28. First linear bearing; 29. Bearing fixing seat; 30, first fixing washer; 31, fixing connecting rod; 32, supporting column; 33, fourth servo motor; 34, first motor mounting plate; 35, motor fixing seat; 36, first synchronous belt; 37, first synchronous wheel; 38, second synchronous belt; 39, second synchronous wheel; 40, connecting fixing plate; 41, first guide block; 42, rubber-coated roller; 43, first transmission gear; 44, first gear; 45, floating rubber-coated roller; 46, roller fixing seat; 47, guide shaft; 48, guide fixing plate; 49, second linear bearing; 50, guide connecting plate; 51, detection sheet; 52, U-shaped photoelectric sensor; 53, sensor bracket; 54, second guide block; 55, second right side plate; 56, guide rubber-coated roller wheel; 57, second left side plate; 58, light source mounting plate; 59, first light source; 60, fixed connecting plate; 61, first industrial camera; 62, first camera mounting plate; 63, third synchronous wheel; 64, third synchronous belt; 65, left fixed connecting plate; 66, fixed support seat; 67, aluminum profile; 68, first servo motor; 69, second motor mounting plate; 70, fourth synchronous wheel; 71, fourth synchronous belt; 72, second lower synchronous conveyor belt; 73, second upper synchronous conveyor belt; 74, third joint bearing; 75, third linear bearing; 76, bearing mounting seat; 77, second guide light axis; 78, second fixed washer; 79, third right side fixed plate; 80, third lower synchronous conveyor belt; 81, third upper same Step conveyor belt; 82, the third section left fixed plate; 83, the fifth synchronous wheel; 84, the fifth synchronous belt; 85, the third motor mounting plate; 86, the second servo motor; 87, the second transmission gear; 88, the sixth synchronous wheel; 89, the second gear; 90, the dovetail bracket slide; 91, the second camera mounting plate; 92, the second industrial camera; 93, the light source fixing plate; 94, the optical axis fixing seat; 95, the support optical axis; 96, the optical axis cross clamp; 97, the adjustment optical axis; 98, the optical axis support; 99, the light source mounting plate; 100, the second light source; 101, the servo module; 102, the fixed support seat; 103, the module connecting plate; 104, the linear guide rail; 105, the front fixed support; 106, the guide fixed seat; 107, the pen-shaped cylinder;108, cylinder mounting seat; 109, cylinder connecting seat; 110, front jaw fixing seat; 111, front jaw cylinder; 112, rear jaw cylinder; 113, rear jaw fixing plate; 114, defective product recovery slide; 115, slide fixing bracket; 116, bottom plate; 117, third guide light axis; 118, third servo motor; 119, servo motor mounting plate; 120, ball screw; 121, screw nut fixing seat; 122, rear scrap slide; 123, lower slide plate; 124, fourth linear bearing; 125, lower mold; 126, upper mold; 127, slideway; 128, sensor bracket; 129, proximity sensor; 130, upper slide plate; 131, induction sheet; 132, upper fixed plate; 133, motor synchronous wheel; 134, sixth synchronous belt; 135, screw synchronous wheel; 136, upper ball screw; 137, screw nut connecting plate; 138, front waste slideway; 139, finished product slideway. ; DETAILED DESCRIPTION

[0126] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0127] In the description of the invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0128] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0129] See also Figure 1-3 The present invention provides a technical solution: a badminton feather automatic detection and stamping device, the automatic detection and stamping device comprising:

[0130] Lower rack 1.

[0131] The feed conveying detection and positioning mechanism 2, the clamping conveying mechanism 3, the rough piece punching mechanism 4 and the industrial camera detection mechanism 11 are arranged on the lower frame 1, wherein the feed conveying detection and positioning mechanism 2 is located on the right side of the automatic detection and punching equipment, the clamping conveying mechanism 3 is located on the left side of the feed conveying detection and positioning mechanism 2, the rough piece punching mechanism 4 is located on the left side of the automatic detection and punching equipment, and the industrial camera detection mechanism 11 is located between the feed conveying detection and positioning mechanism 2 and the clamping conveying mechanism 3.

[0132] An electric control box 8 is arranged above the lower frame 1 .

[0133] An industrial computer 5 , a display screen 6 and a programmable control screen 7 are arranged on an electric control box 8 .

[0134] The solenoid valve 9 and the air source processor 10 are arranged on the right side of the lower frame 1 .

[0135] And defective product recycling organization 12.

[0136] Specifically, the equipment consists of a lower frame 1, a feeding conveying detection positioning mechanism 2, a gripper conveying mechanism 3, a blank stamping mechanism 4, an industrial camera detection mechanism 11, an industrial computer 5, a display screen 6, a programmable control screen 7, an electric control box 8, a solenoid valve 9, an air source processor 10, etc.; a solenoid valve 9 and an air source processor 10 are installed on the right side of the lower frame 1 for controlling the pneumatic components of the equipment, an electric control box 8 is installed above the lower frame 1 for electrical control of the equipment, a programmable control screen 7 is installed on the side of the electric control box 8 for operating the equipment, an industrial computer 5 and a display screen 6 are installed on the electric control box 8, and a feeding conveying detection positioning mechanism 2, a gripper conveying mechanism 3 and an industrial camera detection machine are installed in the middle above the lower frame 1. Structure 11, the feed conveying detection and positioning mechanism 2 is used for conveying and measuring the feathers, the clamping conveying mechanism 3 is used for conveying the measured feathers to the industrial camera detection mechanism 11, the industrial camera detection mechanism 11 takes pictures of the feathers through the industrial camera, compares the taken pictures and gives a judgment result, the clamping conveying mechanism 3 continues to convey the feathers forward to the blanking area or to the hair piece stamping mechanism 4 according to the result of the detection and judgment, the hair piece stamping mechanism 4 is installed on the left side above the lower frame 1, and the hair piece stamping mechanism 4 is equipped with an upper mold 126 and a lower mold 125 for stamping the feathers into pieces, and the stamped finished feather pieces are conveyed to the finished material frame through the finished product slide 139.

[0137] See also Figure 4-9 In some embodiments, the feeding conveying detection and positioning mechanism 2 includes a feather feeding conveying mechanism 13, and the feather feeding conveying mechanism 13 includes:

[0138] A feeding chute 15 is located at the entrance of the feather feeding and conveying mechanism 13;

[0139] A first right side plate 16 and a first left side plate 17 are respectively located on two sides of the feather feeding and conveying mechanism 13;

[0140] A feather turning conveyor belt 19 is movably arranged between the first right side plate 16 and the first left side plate 17;

[0141] The adjusting shaft 21 is mounted on the inner side of the feather turning conveyor belt 19 through a bearing;

[0142] The adjusting block 18 is fixedly connected to both ends of the adjusting shaft 21;

[0143] The connecting plate 20 and the connecting fixing plate 40 are respectively fixedly connected to the bottom of both sides of the first right plate 16 and the first left plate 17, and the connecting plate 20 and the connecting fixing plate 40 are located below the feather turning conveyor belt 19;

[0144] A positioning screw 23 is used to fix the first right side plate 16 and the first left side plate 17 away from each other;

[0145] A first joint bearing 22 is mounted on a positioning screw 23, and the first joint bearing 22 is connected to a connecting rod 24;

[0146] A transmission shaft 25 is arranged on the connecting rod 24;

[0147] The bearing fixing seat 29 is fixed to a side away from the upper end of the first right plate 16 and the upper end of the first left plate 17;

[0148] The second joint bearing 26 is rotatably mounted on the upper end of the connecting rod 24;

[0149] The first guide light axis 27 is connected to the connecting rod 24 through the second joint bearing 26;

[0150] A first linear bearing 28 is mounted on the first guide light axis 27 and fixed on a bearing fixing seat 29;

[0151] A fixed connecting rod 31 connected to the top of the first guiding light axis 27;

[0152] A first fixing washer 30 is sleeved on the outer side of the first guide light axis 27, and the first fixing washer 30 is connected to the inner side of the fixing connecting rod 31. The first fixing washer 30 and the fixing connecting rod 31 are suitable for fixing the first guide light axis 27;

[0153] A support column 32 is fixed to the middle position of the lower side of the feather feeding and conveying mechanism 13;

[0154] A motor fixing seat 35 is fixed to a side of the first left side plate 17 away from the first right side plate 16;

[0155] A first motor mounting plate 34 is fixed on a motor fixing seat 35;

[0156] A fourth servo motor 33 is mounted on the first motor mounting plate 34;

[0157] A first synchronous wheel 37 is movably mounted on a side of the first left side plate 17 away from the first right side plate 16, and a first synchronous belt 36 is provided on a transmission sleeve of the first synchronous wheel 37 and the transmission shaft of the fourth servo motor 33;

[0158] Two sets of second synchronous wheels 39 are movably installed at intervals on a side of the first left side plate 17 away from the first right side plate 16, and the second synchronous belts 38 are installed on the two sets of second synchronous wheels 39;

[0159] Two sets of guide blocks 41 are respectively arranged at the inlet and outlet of the feather turning conveyor belt 19;

[0160] A roller fixing seat 46 is fixed above the connecting fixing plate 40;

[0161] The rubber-coated roller 42 and the floating rubber-coated roller 45 are rotatably connected to the inner side of the roller fixing seat 46, and the floating rubber-coated roller 45 is arranged above the rubber-coated roller 42;

[0162] The two sets of first transmission gears 43 are respectively connected to the rubber-coated roller 42 and the floating rubber-coated roller 45 on the outer side of the roller fixing seat 46;

[0163] Two groups of first gears 44 are arranged on a side of the first left side plate 17 away from the first right side plate 16, and the two groups of first gears 44 are meshed and transmission-connected with each other;

[0164] Two sets of guide shafts 47 are mounted on the top of the roller fixing seat 46, and the tops of the two sets of guide shafts 47 are fixedly connected with guide connecting plates 50;

[0165] The guide fixing plate 48 is fixed to the top of the first left plate 17 and the first right plate 16 , and the guide fixing plate 48 is arranged just above the floating rubber-coated roller 45 ;

[0166] Two sets of second linear bearings 49 are installed at intervals on the top of the guide fixing plate 48, and two sets of guide shafts 47 are movably arranged inside the two sets of second linear bearings 49;

[0167] A detection sheet 51 is mounted on the guide connecting plate 50, and the detection sheet 51 moves up and down through the floating rubber-coated roller 45 to detect the position of the feather;

[0168] The sensor bracket 53 is fixed to the top of the guide fixing plate 48 . A U-shaped photoelectric sensor 52 is installed on the sensor bracket 53 . The U-shaped photoelectric sensor 52 is located above the floating rubber-coated roller 45 .

[0169] Specifically, the feather feeding and conveying mechanism 13 is composed of a feed chute 15, a first left side plate 17, a first right side plate 16, a feather flip conveyor belt 19, and a servo motor 33. The feather feeding and conveying mechanism 13 is powered by a fourth servo motor 33. The feed chute 15 is installed between the left side plate 17 and the right side plate 16, and a feather flip conveyor belt 19 is installed below the feed chute 15. A connecting plate 20 is installed below the feather flip conveyor belt 19 for fixed support. A bearing and an adjusting shaft 21 are installed in the middle of the feather flip conveyor belt 19. The adjusting shaft 21 adjusts the tension of the feather flip conveyor belt 19 through an adjusting block 18. A guide block 41 is installed at the entrance of the feather flip conveyor belt 19 to guide the feathers into the feather flip conveyor belt. The conveying belt 19 is provided with a first joint bearing 22 on the left and right sides, the first joint bearing 22 is fixed by a positioning screw 23, and the other end is connected to a connecting rod 24, a transmission shaft 25 is also provided on the connecting rod 24, a second joint bearing 26 is also provided above the connecting rod 24, the second joint bearing 26 is connected to a first guide light axis 27, a first linear bearing 28 is provided on the first guide light axis 27, the first linear bearing 28 is fixed on a bearing fixing seat 29, and the other end of the first guide light axis 27 is fixed on a fixed connecting rod 31, and locked by a first fixed washer 30. Since joint bearings and linear bearings are provided on both sides, floating can be provided for feathers to enter, and a supporting column 32 is provided in the middle position of the conveying mechanism, and the supporting column 32 is used The mechanism is fixed on the lower frame of the equipment, and a fourth servo motor 33 is installed above the supporting column 32. The fourth servo motor 33 is fixed on the first motor mounting plate 34. The first motor mounting plate 34 is fixed on the motor fixing seat 35. The fourth servo motor 33 transmits power to the conveyor belt through the first synchronous belt 36 and the first synchronous wheel 37. Two second synchronous wheels 39 and a second synchronous belt 38 are also installed below the first synchronous wheel 37. In this way, the power on the conveyor belt can be transmitted to the rubber-coated roller 42, so that the rubber-coated roller 42 can run with power. A floating rubber-coated roller 45 is also installed above the rubber-coated roller 42. Both the rubber-coated roller 42 and the floating rubber-coated roller 45 are powered, which can solve the problem of feather passing through jamming. The fourth servo motor On the other side of the machine 33, a pair of first gears 44 are installed, so that the conveyor belt can transmit power both above and below. The floating rubber-coated roller 45 is installed on the roller fixing seat 46, and the roller fixing seat 46 is equipped with a guide shaft 47. The guide shaft 47 realizes floating displacement through a second linear bearing 49. A guide fixing plate 48 is installed above the roller fixing seat 46, and a second linear bearing 49 is installed on the guide fixing plate 48. A sensor bracket 53 is installed on the other side of the guide fixing plate 48, and a U-shaped photoelectric sensor 52 is installed on the sensor bracket 53. On the other side of the guide shaft 47, a guide connecting plate 50 is installed, and a detection piece 51 is installed on the guide connecting plate 50. The detection piece 51 detects the position of the feather by moving up and down the floating rubber-coated roller 45.

[0170] Specifically, the action flow of the feather feeding and conveying mechanism 13 is as follows: the feathers are manually placed in the equipment feed port 15, the feather turning conveyor belt 19 conveys the feathers forward, the feathers are guided into the middle position of the conveyor belt through the guide block, and then the feathers are sent to the feather turning conveyor belt 19. After being conveyed by the feather turning conveyor belt 19, the feathers will automatically adjust to the shape we need to punch. After the feathers come out of the feather turning conveyor belt 19, they will pass through the first guide block 41 again for correction. The corrected feathers continue to be conveyed forward. The feathers enter the middle of the two rubber-coated rollers 42 and lift up the upper rubber-coated roller 45. After the upper rubber-coated roller 45 is lifted up, it will trigger the top U-shaped photoelectric sensor 52 for detection. The U-shaped photoelectric sensor 52 feeds back the detection signal to the programmable controller, and the programmable controller sends a counting instruction to the servo motor 33 on the feather feeding and conveying mechanism 13 and the servo motor 68 on the second-stage detection and positioning conveying mechanism. The servo motors of the two-stage conveying mechanism start counting, and the feathers continue to be conveyed forward, and the feathers are sent to the second-stage detection and positioning conveying mechanism 14.

[0171] See also Figure 4-5 and Figure 10-11 In some embodiments, the feed conveying detection and positioning mechanism 2 further includes a detection and positioning conveying mechanism 14, and the detection and positioning conveying mechanism 14 includes:

[0172] The second guide block 54 is located at the entrance of the detection positioning conveying mechanism 14;

[0173] The second right side plate 55 and the second left side plate 57 are respectively located on both sides of the detection positioning and conveying mechanism 14;

[0174] A fixed connecting plate 60, fixedly connected to a side of the second left side plate 57 away from the second right side plate 55;

[0175] Two sets of guide rubber-coated rollers 56 are rotatably installed between the second right side plate 55 and the second left side plate 57 at intervals in the upper and lower directions;

[0176] A light source mounting plate 58 is fixedly connected to the second right side plate 55 and the top of the second left side plate 57. The light source mounting plate 58 is located above the guide rubber-coated roller 56. A first light source 59 is mounted on the light source mounting plate 58.

[0177] The aluminum profile 67 is fixedly connected to the lower side between the second right side plate 55 and the second left side plate 57. The second section of the lower synchronous conveyor belt 72 and the second section of the upper synchronous conveyor belt 73 are installed above the aluminum profile 67. Four sets of third joint bearings 74, four sets of third linear bearings 75, four sets of bearing mounting seats 76, four sets of second guide light shafts 77 and four sets of second fixed washers 78 are installed on the front and rear sides of the second section of the lower synchronous conveyor belt 72. The third linear bearing 75 is installed on the inner side of the bearing mounting seat 76. The second guide light shaft 77 is penetrated on the inner side of the third linear bearing 75. The third joint bearing 74 is connected to the bottom of the second guide light shaft 77. The second fixed washer 78 is sleeved on the outer side of the upper end of the second guide light shaft 77, and the second fixed washer 78 is embedded in the top of the bearing mounting seat 76.

[0178] The left fixed connecting plate 65 has one end connected to the aluminum profile 67 and the other end connected to the second lower synchronous conveyor belt 72;

[0179] A first camera mounting plate 62 is fixed on the left fixed connecting plate 65 , and a first industrial camera 61 is mounted on the first camera mounting plate 62 , and the first industrial camera 61 is located below the guide rubber-coated roller 56 ;

[0180] A fixed support seat 66 is fixed below the aluminum profile 67;

[0181] Four groups of third synchronous wheels 63, of which two groups of first and third synchronous wheels 63 are fixedly connected to two groups of guide rubber-coated rollers 56 respectively, and the other two groups of first and third synchronous wheels 63 are rotatably mounted on the surface of the left fixed connecting plate 65, and a third synchronous belt 64 is provided for transmission between the two horizontal groups of first and third synchronous wheels 63, and a second gear 89 is installed at one end of the guide rubber-coated roller 56 away from the first and third synchronous wheels 63, and the two groups of second gears 89 are meshed and transmission-connected;

[0182] The third section right side fixing plate 79 and the third section left side fixing plate 82 are respectively fixedly connected to the two sides of the aluminum profile 67, and the third section right side fixing plate 79 and the third section left side fixing plate 82 are located at the rear of the detection positioning conveying mechanism 14. A third section lower synchronous conveyor belt 80 and a third section upper synchronous conveyor belt 81 are provided between the third section right side fixing plate 79 and the third section left side fixing plate 82. One end of the third section lower synchronous conveyor belt 80 and the third section upper synchronous conveyor belt 81 are both connected to a second transmission gear 87, and the two sets of second transmission gears 87 are meshed and transmission-connected.

[0183] The second motor mounting plate 69 and the third motor mounting plate 85 are respectively fixed on both sides of the aluminum profile 67, the first servo motor 68 is installed on the second motor mounting plate 69, the second servo motor 86 is installed on the third motor mounting plate 85, the fourth synchronous wheel 70 is rotatably installed on the second motor mounting plate 69 and the third section left fixed plate 82, the two groups of fourth synchronous wheels 70 are connected by a fourth synchronous belt 71, the fifth synchronous wheel 83 is rotatably installed on the third motor mounting plate 85, the sixth synchronous wheel 88 is rotatably installed on the second section lower synchronous conveyor belt 72, and a fifth synchronous belt 84 is provided between the fifth synchronous wheel 83 and the sixth synchronous wheel 88.

[0184] Specifically, the detection positioning conveying mechanism 14 is composed of a second second guide block 54, a guide rubber-coated roller 56 and a first industrial camera 61; a second left plate 57 and a second right plate 55 are installed at the entrance of the detection positioning conveying mechanism 14, and a second second guide block 54 is installed on the two side plates to guide the feathers, a guide rubber-coated roller 56 is installed in front of the second second guide block 54, a light source mounting plate 58 is installed above the guide rubber-coated roller 56, and a first light source 59 is fixed on the light source mounting plate 58. A third synchronous wheel 63 and a third synchronous belt 64 are installed on one side of the upper and lower guide rubber-coated rollers 56 to provide The guide rubber-coated roller 56 transmits power, and a pair of second gears 89 are installed on the other side of the upper and lower guide rubber-coated rollers 56 to ensure that the upper and lower guide rubber-coated rollers 56 have power. A first industrial camera 61 is installed below the guide rubber-coated roller 56. The first industrial camera 61 is fixed on the first camera mounting plate 62, and the first camera mounting plate 62 is fixed on the left fixed connecting plate 65. One end of the left fixed connecting plate 65 is installed on the aluminum profile 67, and the other end is connected to the second section of the lower synchronous conveyor belt 72. A fixed support seat 66 is installed below the aluminum profile 67, and the fixed support seat 66 is used to fix it on the lower frame. A second section of lower synchronous conveyor belt 72 and a second section of upper synchronous conveyor belt 73 are installed above the aluminum profile 67. Four spherical bearings 74, linear bearings 75, bearing mounting seats 76, guide light shafts 77 and fixed washers 78 are installed on the front and rear sides of the second section of lower synchronous conveyor belt 72, so that the second section of upper synchronous conveyor belt 73 can float up and down to avoid fracturing the capillary tube. The power of the second section of lower synchronous conveyor belt 72 and the second section of upper synchronous conveyor belt 73 is transmitted by a servo motor 68 through a synchronous wheel 83 and a synchronous belt 84. The servo motor 68 is installed on a motor mounting plate 85, and the motor mounting plate 85 is fixed on the aluminum profile 67. The other end of the aluminum profile 67 is provided with a third section right side fixed plate 79, a third section lower synchronous conveyor belt 80, a third section upper synchronous conveyor belt 81 and a third section left side fixed plate 82. A pair of transmission gears 87 are provided on one side of the third section lower synchronous conveyor belt 80 and the third section upper synchronous conveyor belt 81 so as to realize that both the upper and lower conveyor belts have power. The power source of the third section lower synchronous conveyor belt 80 is a servo motor 86 which realizes transmission through the synchronous wheel 70 and the synchronous belt 71.

[0185] Specifically, the action flow of the detection and positioning conveying mechanism 14 is as follows: the feather continues to be conveyed forward, passes through the second guide block 54, and is corrected for the third time. The corrected feather enters the middle of the two power guide rubber-coated rollers 56 and continues to be conveyed. When the feather enters the field of view of the first industrial camera 61, the first industrial camera 61 starts to take pictures for detection. During the photographing process of the feather, the conveyor belt does not stop. After the feather passes through the field of view of the first industrial camera 61, the first industrial camera 61 performs detection and judgment based on the complete picture of the feather taken, and sends the found punching point position of the feather to the programmable controller. The programmable controller will stop the feather at the exit position of the third conveyor belt according to the position given by the first industrial camera 61. The feather is transported to the exit position of the third conveyor belt, and the third conveyor belt stops.

[0186] See also Figure 12-13 In some embodiments, the industrial camera detection mechanism 11 includes:

[0187] Dovetail bracket slide 90, used to adjust the position of industrial camera;

[0188] A camera mounting plate 91 is fixed on a dovetail bracket slide 90;

[0189] A second industrial camera 92, mounted on the camera mounting plate 91;

[0190] A light source fixing plate 93, located above the second industrial camera 92;

[0191] An optical axis fixing seat 94 is mounted on the light source fixing plate 93;

[0192] Supporting optical axis 95, fixed on optical axis fixing seat 94;

[0193] An optical axis cross clamp 96 is mounted on the supporting optical axis 95;

[0194] The adjustment optical axis 97 is mounted on the optical axis cross clamp 96;

[0195] An optical axis support 98, connecting the adjustment optical axis 97 and the light source mounting plate 99;

[0196] The second light source 100 is mounted on the light source mounting plate 99 .

[0197] Specifically, the industrial camera detection mechanism 11 is composed of an industrial camera 92, a dovetail bracket slide 90 and a second light source 100; the industrial camera 92 is fixed on a camera mounting plate 91, the camera mounting plate 91 is mounted on a dovetail bracket slide 90, the dovetail bracket slide 90 is used to adjust the left and right, up and down of the industrial camera 92, and a light source fixing plate 93 is installed above the industrial camera 92; an optical axis fixing seat 94 is installed on the light source fixing plate 93, a supporting optical axis 95 is installed on the optical axis fixing seat 94, an optical axis cross clamp 96 is installed on the supporting optical axis 95, an adjusting optical axis 97 is installed on the optical axis cross clamp 96, an optical axis support 98 is installed at the other end of the adjusting optical axis 97, a light source mounting plate 99 is installed on the optical axis support 98, and the second light source 100 is installed on the light source mounting plate 99 for supplementary lighting for the industrial camera 92.

[0198] Specifically, the action flow of the industrial camera detection mechanism 11 is as follows: the industrial camera 92 takes a photo of the feather for detection, and the second light source 100 provides fill light during the shooting process, and the taken photos are compared and a determination result is given.

[0199] See also Figure 14-15 In some embodiments, the gripper conveying mechanism 3 includes:

[0200] The servo module 101 has a fixed support base 102 and a front fixed support base 105 connected to the bottom thereof. The servo module 101 has two groups in total.

[0201] The module connecting plate 103 is mounted on the servo module 101;

[0202] The linear guide rail 104 is mounted on the module connecting plate 103;

[0203] A guide fixing seat 106 is installed on the linear guide rail 104;

[0204] The rear clamping jaw fixing plate 113 is mounted on the linear guide rail 104;

[0205] A rear clamping jaw cylinder 112 is mounted on a rear clamping jaw fixing plate 113;

[0206] The cylinder mounting seat 108 is located below the rear jaw fixing plate 113;

[0207] The pen-shaped cylinder 107 is mounted on a cylinder mounting seat 108, and a cylinder connecting seat 109 is connected to the pen-shaped cylinder 107;

[0208] The front clamping jaw fixing seat 110 is mounted on the cylinder connecting seat 109;

[0209] The front clamping jaw cylinder 111 is mounted on the front clamping jaw fixing seat 110 .

[0210] Specifically, the gripper conveying mechanism 3 is composed of two groups of servo modules 101 driving the gripper and other components. Specifically, a fixed support seat 102 and a front fixed support seat 105 are installed below the servo module 101. The two fixed supports are used to fix the servo module 101 on the lower frame. A module connecting plate 103 is installed above the module. A linear guide rail 104 is installed on the module connecting plate 103. One side of the linear guide rail 104 is fixed on the module connecting plate 103. There are three sliders on the linear guide rail 104, two of which are fixed on the guide fixing seat 106 to provide conveying support. Rigidity, another slider is equipped with a rear jaw fixing plate 113, a rear jaw cylinder 112 is installed above the rear jaw fixing plate 113, a cylinder mounting seat 108 is installed below the rear jaw fixing plate 113, a pen-shaped cylinder 107 is installed on the cylinder mounting seat 108, the other end of the pen-shaped cylinder 107 is connected to the cylinder connecting seat 109, a front jaw fixing seat 110 is installed on the cylinder connecting seat 109, and a front jaw cylinder 111 is installed above the front jaw fixing seat 110. In order to improve the grasping efficiency, the mechanism uses two sets of servo modules 101 and jaws to achieve alternating grasping.

[0211] Specifically, the action flow of the gripper conveying mechanism is as follows: the feather is conveyed to the exit position of the third conveyor belt, the third conveyor belt stops, the two grippers on the gripper conveying mechanism 3 clamp the feather, and after the feather is clamped, the servo module 101 of the gripper conveying mechanism 3 conveys the feather forward. During the conveying process, the pen-shaped cylinder 107 connected between the two gripper cylinders extends out, and the rear gripper combs the feather neatly, and then sends it to the detection area of ​​the industrial camera 92. The industrial camera 92 is located below the feather for photo detection, and the judgment result is given by comparing the taken photos. A second light source 100 is installed above the feather to supplement the industrial camera 92. The second light source 100 and the industrial camera 92 can be adjusted in height according to actual usage. The industrial camera 92 sends the status information and judgment result of the feather detection to the programmable controller through an instruction, and the programmable controller sends an instruction to the gripper conveying mechanism 3. The feather is secondarily judged by the industrial camera detection mechanism. If the judgment result is a defective product, the gripper conveying mechanism sends the feather to the defective product recovery mechanism, the two grippers open, and the feather falls into the defective product recovery slide 114, and then the two grippers retreat and wait to grab the next feather. If the industrial camera detection mechanism determines that the feather is a qualified product and gives a corresponding compensation value, the gripper conveying mechanism sends the feather to the feather sheet stamping station 4 for punching. Since the mechanism is composed of two sets of components, the two sets of components perform the above actions alternately during actual operation.

[0212] See also Fig.16 In some embodiments, the defective product recovery mechanism 12 includes:

[0213] The defective product recovery slide 114 is fixed on the automatic detection and stamping equipment through a slide fixing bracket 115.

[0214] See also Figure 17-18 In some embodiments, the blank punching mechanism 4 includes:

[0215] The bottom plate 116 and the upper fixing plate 132 are arranged with a vertical interval between the upper fixing plate 132 and the bottom plate 116, two third guide light axes 117 are fixedly arranged between the upper fixing plate 132 and the bottom plate 116, and a servo motor mounting plate 119 is arranged on the upper fixing plate 132 and the bottom plate 116, and a third servo motor 118 is installed on the servo motor mounting plate 119;

[0216] The ball screw 120 is drivingly connected to the motor shaft of a third servo motor 118 below;

[0217] A screw nut fixing seat 121 is connected to the ball screw 120;

[0218] The lower slide plate 123 is connected to the screw nut fixing seat 121;

[0219] Linear bearings 124 are installed on both sides of the lower slide plate 123;

[0220] A lower mold 125 is mounted on the lower slide plate 123;

[0221] The upper mold 126 is located above the lower mold 125;

[0222] The slide groove 127 is arranged on the side of the blank punching mechanism 4, and the slide groove 127 is fixedly connected to the upper fixing plate 132 and one side of the bottom plate 116;

[0223] A sensor bracket 128 is mounted on the slide slot 127;

[0224] A proximity sensor 129 mounted on the sensor bracket 128;

[0225] An upper slide plate 130 connected to the upper mold 126;

[0226] The induction sheet 131 is mounted on the upper slide plate 130 and the lower slide plate 123;

[0227] The motor synchronous wheel 133 is drivingly connected to the motor shaft of a third servo motor 118 above;

[0228] An upper ball screw 136 is rotatably mounted on the top of the upper fixed plate 132, a screw synchronous wheel 135 is mounted on the upper ball screw 136, and a sixth synchronous belt 134 is transmission-connected between the screw synchronous wheel 135 and the motor synchronous wheel 133;

[0229] The screw nut connecting plate 137 connects the upper ball screw 136 and the upper slide plate 130;

[0230] The rear waste chute 122 and the front waste chute 138 are both located on the lower slide plate 123, and the rear waste chute 122 and the front waste chute 138 are used to collect waste chips after stamping;

[0231] The finished product slide 139 is located below the lower mold 125 and is used to transport the punched blanks to the finished product frame.

[0232] Specifically, the blank stamping mechanism 4 is composed of a third servo motor 118, a ball screw 120, an upper mold 126 and a lower mold 125; two third guide optical axes 117 are installed on the bottom plate 116 for support and guidance, a servo motor mounting plate 119 is installed in the middle of the bottom plate 116, and the third servo motor 118 is installed on the servo motor mounting plate 119. The third servo motor 118 is equipped with a motor synchronous wheel 133, and the motor synchronous wheel 133 is equipped with a sixth synchronous belt 134. The other end of the sixth synchronous belt 134 is equipped with a screw synchronous wheel 135, and the screw synchronous wheel 135 is equipped with a ball screw 120. The ball screw 120 is connected to the screw nut fixing seat 121, and the other end is connected to the lower slide plate. 123 is connected, linear bearings 124 are installed on both sides of the lower slide 123, and the linear bearings 124 are installed on two third guide light axes 117 for sliding guidance. A lower mold 125 is installed on the lower slide 123, and a finished product slide 139 is installed at the blanking port below the lower mold 125. One end of the finished product slide 139 is connected to the lower mold 125, and the other end is connected to the finished product box. The finished product slide 139 transports the stamped rough pieces into the finished product box. An upper mold 126 is arranged above the lower mold 125. The upper mold 126 is installed in the middle position of the upper slide 130 and is aligned with the center of the lower mold 125. Linear bearings 124 are installed on both sides of the upper slide 130, and the linear bearings 124 are installed on the two third guide light axes 117. The upper slide plate 130 is used for sliding guidance. An upper fixing plate 132 is installed above the upper slide plate 130. The upper fixing plate 132 is used to connect and fix the two third guide optical axes 117. A servo motor mounting plate 119 is installed in the middle of the upper fixing plate 132. A third servo motor 118 is installed on the servo motor mounting plate 119. A motor synchronous wheel 133 is installed on the third servo motor 118. A sixth synchronous belt 134 is installed on the motor synchronous wheel 133. A lead screw synchronous wheel 135 is installed on the other end of the sixth synchronous belt 134. An upper ball screw 136 is installed on the lead screw synchronous wheel 135. One end of the upper ball screw 136 is fixed on the upper fixing plate 132. The nut of the upper ball screw 136 is connected to the lead screw nut connecting plate 137. The female connecting plate 137 is connected to the upper slide plate 130, and a slide groove 127 is installed on the side of the equipment, and a sensor bracket 128 is installed on the slide groove 127. A proximity sensor 129 is installed on the sensor bracket 128. The sensor bracket 128 and the T-shaped slider are fixed to the slide groove 127 by screws. The spacing of the proximity sensor 129 can be adjusted according to actual conditions. In addition, induction sheets 131 are installed on the upper slide plate 130 and the lower slide plate 123. The induction sheets 131 can allow the proximity sensor 129 to accurately find the positions of the upper slide plate 130 and the lower slide plate 123 and perform precise positioning. The rear waste slide 122 and the front waste slide 138 are installed on the lower slide plate 123 to collect waste chips after punching.

[0233] Specifically, the action flow of the feather piece stamping mechanism 4 is as follows: when the feather is sent into the upper and lower molds of the mechanism by the clamping claw conveying mechanism 3, the upper and lower third servo motors 118 start to rotate at the same time, and the upper and lower third servo motors 118 drive the ball screw 120 to rotate through the sixth synchronous belt 134. After the upper and lower screws rotate, the upper and lower screws push the lower slide 123 and the upper slide 130 to make relative motion, and the upper mold 126 and the lower mold 125 installed on the upper slide 130 and the lower slide 123 are molded together to stamp the feather piece. The stamped finished feather piece enters the finished material frame through the finished product slide 139, and the waste chips after stamping will fall into the rear waste slide 122 and the front waste slide 138.

[0234] In some embodiments, the second section upper synchronous conveyor belt 73 and the third section upper synchronous conveyor belt 81 can float up and down.

[0235] In some embodiments, the two groups of servo modules 101 of the gripper conveying mechanism 3 work alternately.

[0236] In some embodiments, the feed conveying detection and positioning mechanism 2, the gripper conveying mechanism 3, the industrial camera detection mechanism 11 and the feather punching mechanism 4 are coordinated and controlled through the programmable control screen 7 to achieve automatic conveying, detection, positioning and punching of feathers.

[0237] Specifically, the working process of the feather automatic detection and stamping equipment is as follows: manually put the feather into the equipment feed port 15, the equipment feather feeding and conveying mechanism 13 conveys the feather forward, the feather passes through the guide block to guide it into the middle position of the conveyor belt, and then the feather is sent to the feather flip conveyor belt 19. After being conveyed by the feather flip conveyor belt 19, the feather will automatically adjust to the shape we need to punch. After the feather comes out of the feather flip conveyor belt 19, it will pass through the guide block 41 again for correction. The corrected feather enters and continues to be conveyed forward. The feather enters the middle of the two rubber-coated rollers 42 and lifts up the upper rubber-coated roller 45. After the upper rubber-coated roller 45 is lifted up, it will trigger the top U-shaped photoelectric sensor 52 for detection. The U-shaped photoelectric sensor 52 on the feather feeding and conveying mechanism 13 The electric sensor 52 feeds back the detection signal to the programmable controller, and the programmable controller sends a counting instruction to the servo motor 33 on the feather feeding conveying mechanism 13 and the servo motor 68 on the second-stage detection and positioning conveying mechanism. The servo motors of the two-stage conveying mechanism start counting, and the feather continues to be conveyed forward, and the feather is sent to the second-stage detection and positioning conveying mechanism 14. The second-stage detection and positioning conveying mechanism 14 is equipped with a second guide block 54, which guides the feather for the third time. The guided feather enters the middle of the two power rubber-coated rollers 56 and continues to be conveyed. When the feather enters the field of view of the industrial camera 61, the industrial camera 61 starts to take pictures and detect. During the feather photography process, the conveyor belt does not stop. After the feather passes through the field of view of the industrial camera 61, the industrial camera 6 1 performs detection and judgment based on the complete picture of the feather taken, and sends the found punching point position of the feather to the programmable controller. The programmable controller stops the feather at the exit position of the third conveyor belt according to the position given by the industrial camera 61. The feather is transported to the exit position of the third conveyor belt, and the third conveyor belt stops. The two clamps on the clamp conveying mechanism 3 clamp the feather. After the feather is clamped, the servo module 101 of the clamp conveying mechanism 3 transports the feather forward. During the transportation process, the pen-shaped cylinder 107 connected between the two clamp cylinders extends, and the rear clamp combs the feather neatly, and then sends it to the detection area of ​​the industrial camera 92. The industrial camera 92 is located below the feather for photo detection, and the judgment result is given by comparing the photos taken. The feather is installed above A second light source 100 is used to supplement the industrial camera 92. The second light source 100 and the industrial camera 92 can be adjusted in height according to actual usage. The industrial camera 92 sends the status information and the judgment result of the feather detection to the programmable controller through an instruction, and the programmable controller sends an instruction to the clamping conveying mechanism 3. The feather is secondarily judged by the industrial camera detection mechanism. If the judgment result is a defective product, the clamping conveying mechanism sends the feather to the defective product recovery mechanism, the two clamping jaws are opened, and the feather falls into the defective product recovery slide 114, and then the two clamping jaws are withdrawn, waiting to grab the next feather. If the industrial camera detection mechanism determines that the feather is a qualified product and gives a corresponding compensation value, the clamping conveying mechanism sends the feather to the feather sheet stamping station 4 for punching.During the feather stamping process, the upper die 126 moves downward to stamp the finished feather into the lower die 125. The outlet of the lower die 125 is connected to the finished product slide 139. The stamped finished product falls into the finished product frame through the finished product slide 139. After the stamping is completed, the upper and lower dies are retracted, and then the connecting cylinder of the two clamps is retracted. After the two clamps are merged together, the clamp conveying mechanism returns to the outlet of the feeding conveying mechanism to wait for the next feather to be grabbed. In order to improve production efficiency, the clamp conveying mechanism has two sets of clamps that perform the above operations alternately, and the equipment repeats the above actions during operation.

[0238] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A badminton feather automatic detection and stamping equipment, characterized in that: The automatic detection and stamping equipment comprises: Lower rack (1); A feed conveying detection positioning mechanism (2), a clamping jaw conveying mechanism (3), a rough piece punching mechanism (4) and an industrial camera detection mechanism (11) are arranged on the lower frame (1), wherein the feed conveying detection positioning mechanism (2) is located on the right side of the automatic detection and punching equipment, the clamping jaw conveying mechanism (3) is located on the left side of the feed conveying detection positioning mechanism (2), the rough piece punching mechanism (4) is located on the left side of the automatic detection and punching equipment, and the industrial camera detection mechanism (11) is located between the feed conveying detection positioning mechanism (2) and the clamping jaw conveying mechanism (3); An electric control box (8) arranged above the lower frame (1); An industrial computer (5), a display screen (6) and a programmable control screen (7) arranged on the electric control box (8); A solenoid valve (9) and an air source processor (10) arranged on the right side of the lower frame (1); and defective product recycling agencies (12).

2. The badminton feather automatic detection and stamping equipment according to claim 1 is characterized in that: The feed conveying detection and positioning mechanism (2) comprises a feather feed conveying mechanism (13), and the feather feed conveying mechanism (13) comprises: A feeding chute (15) located at the entrance of the feather feeding and conveying mechanism (13); A first right side plate (16) and a first left side plate (17), respectively located on two sides of the feather feeding and conveying mechanism (13); A feather turning conveyor belt (19) movably arranged between the first right side plate (16) and the first left side plate (17); An adjusting shaft (21) is mounted on the inner side of the adjusting feather turning conveyor belt (19) via a bearing; An adjustment block (18) fixedly connected to both ends of the adjustment shaft (21); The connecting plate (20) and the connecting fixing plate (40) are respectively fixedly connected to the bottoms of both sides of the first right side plate (16) and the first left side plate (17), and the connecting plate (20) and the connecting fixing plate (40) are located below the feather turning conveyor belt (19); A positioning screw (23) is used to fix the first right side plate (16) and the first left side plate (17) away from each other; A first joint bearing (22) is mounted on the positioning screw (23), and the first joint bearing (22) is connected to a connecting rod (24); A transmission shaft (25) is arranged on the connecting rod (24); A bearing fixing seat (29) fixed to a side of the upper end of the first right plate (16) and away from the upper end of the first left plate (17); A second joint bearing (26) is rotatably mounted on the upper end of the connecting rod (24); A first guide light axis (27) connected to the connecting rod (24) via the second joint bearing (26); A first linear bearing (28) is mounted on the first guide light axis (27) and fixed on the bearing fixing seat (29); A fixed connecting rod (31) connected to the top of the first guiding light axis (27); A first fixing washer (30) is sleeved on the outer side of the first guiding light axis (27), and the first fixing washer (30) is connected to the inner side of a fixing connecting rod (31), and the first fixing washer (30) and the fixing connecting rod (31) are suitable for fixing the first guiding light axis (27); A support column (32) fixed at a middle position on the lower side of the feather feeding and conveying mechanism (13); A motor fixing seat (35) fixed to a side of the first left side plate (17) away from the first right side plate (16); A first motor mounting plate (34) fixed on the motor fixing seat (35); a fourth servo motor (33), mounted on the first motor mounting plate (34); A first synchronous wheel (37) is movably mounted on a side of the first left side plate (17) away from the first right side plate (16), and a first synchronous belt (36) is provided on a transmission sleeve of the first synchronous wheel (37) and the transmission shaft of the fourth servo motor (33); Two sets of second synchronous wheels (39) are movably installed at intervals on a side of the first left side plate (17) away from the first right side plate (16), and second synchronous belts (38) are installed on the two sets of the second synchronous wheels (39); Two groups of guide blocks (41) are respectively arranged at the inlet and outlet of the feather turning conveyor belt (19); A roller fixing seat (46) fixed above the connecting fixing plate (40); The rubber-coated roller (42) and the floating rubber-coated roller (45) are rotatably connected to the inner side of the roller fixing seat (46), and the floating rubber-coated roller (45) is arranged above the rubber-coated roller (42); Two sets of first transmission gears (43) are respectively connected to the rubber-coated roller (42) and the floating rubber-coated roller (45) at the outer side of the roller fixing seat (46); Two groups of first gears (44) are arranged on a side of the first left side plate (17) away from the first right side plate (16), and the two groups of first gears (44) are meshed and transmission-connected with each other; Two groups of guide shafts (47) are mounted on the top of the roller fixing seat (46), and the tops of the two groups of guide shafts (47) are fixedly connected with guide connecting plates (50); A guide fixing plate (48) fixed to the top of the first left side plate (17) and the first right side plate (16), wherein the guide fixing plate (48) is arranged directly above the floating rubber-coated roller (45); Two groups of second linear bearings (49) are installed at intervals on the top of the guide fixing plate (48), and the two groups of guide shafts (47) are movably arranged on the inner sides of the two groups of second linear bearings (49); A detection sheet (51) is mounted on the guide connecting plate (50), and the detection sheet (51) detects the position of the feather by moving up and down through the floating rubber-coated roller (45); The sensor bracket (53) is fixed on the top of the guide fixing plate (48), and a U-shaped photoelectric sensor (52) is installed on the sensor bracket (53). The U-shaped photoelectric sensor (52) is located above the floating rubber-coated roller (45).

3. The badminton feather automatic detection and stamping equipment according to claim 1 is characterized in that: The feed conveying detection and positioning mechanism (2) further comprises a detection and positioning conveying mechanism (14), wherein the detection and positioning conveying mechanism (14) comprises: A second guide block (54) is located at the entrance of the detection positioning conveying mechanism (14); A second right side plate (55) and a second left side plate (57) are respectively located on both sides of the detection positioning conveying mechanism (14); A fixed connecting plate (60) fixedly connected to a side of the second left side plate (57) away from the second right side plate (55); Two sets of guide rubber-coated rollers (56) are rotatably installed between the second right side plate (55) and the second left side plate (57) at intervals in the upper and lower directions; a light source mounting plate (58) fixedly connected to the top of the second right side plate (55) and the second left side plate (57), the light source mounting plate (58) being located above the guide rubber-coated roller (56), and a first light source (59) being mounted on the light source mounting plate (58); An aluminum profile (67) is fixedly connected to the lower side between the second right side plate (55) and the second left side plate (57); a second section of a lower synchronous conveyor belt (72) and a second section of an upper synchronous conveyor belt (73) are installed above the aluminum profile (67); four groups of third joint bearings (74), four groups of third linear bearings (75), four groups of bearing mounting seats (76), four groups of second guide light shafts (77) and four groups of second fixed washers (78) are installed on the front and rear sides of the second section of the lower synchronous conveyor belt (72); the third linear bearing (75) is installed on the inner side of the bearing mounting seat (76); the second guide light shaft (77) is penetrated through the inner side of the third linear bearing (75); the third joint bearing (74) is connected to the bottom of the second guide light shaft (77); the second fixed washer (78) is sleeved on the outer side of the upper end of the second guide light shaft (77); and the second fixed washer (78) is embedded in the top of the bearing mounting seat (76); A left fixed connecting plate (65) is connected to the aluminum profile (67) at one end and connected to the second lower synchronous conveyor belt (72) at the other end; A first camera mounting plate (62) is fixed on the left fixed connecting plate (65), a first industrial camera (61) is mounted on the first camera mounting plate (62), and the first industrial camera (61) is located below the guide rubber-coated roller (56); A fixed support seat (66) fixed below the aluminum profile (67); Four groups of third synchronous wheels (63), wherein two groups of the first third synchronous wheels (63) are respectively fixedly connected to the two groups of the guide rubber-coated rollers (56), and the other two groups of the first third synchronous wheels (63) are rotatably mounted on the surface of the left fixed connecting plate (65), and a third third synchronous belt (64) is provided for transmission between the two horizontal groups of the first third synchronous wheels (63), and a second gear (89) is installed at one end of the guide rubber-coated roller (56) away from the first third synchronous wheel (63), and the two groups of the second second gears (89) are meshed and transmission-connected; The third section right side fixing plate (79) and the third section left side fixing plate (82) are respectively fixedly connected to the two sides of the aluminum profile (67); the third section right side fixing plate (79) and the third section left side fixing plate (82) are located at the rear of the detection positioning conveying mechanism (14); a third section lower synchronous conveyor belt (80) and a third section upper synchronous conveyor belt (81) are provided for transmission between the third section right side fixing plate (79) and the third section left side fixing plate (82); one end of the third section lower synchronous conveyor belt (80) and the third section upper synchronous conveyor belt (81) are both connected to a second transmission gear (87); and the two groups of the second transmission gears (87) are meshed and transmission-connected; The second motor mounting plate (69) and the third motor mounting plate (85) are respectively fixed on both sides of the aluminum profile (67); the first servo motor (68) is mounted on the second motor mounting plate (69); the second servo motor (86) is mounted on the third motor mounting plate (85); the fourth synchronous wheel (70) is rotatably mounted on the second motor mounting plate (69) and the third section left fixed plate (82); the two groups of the fourth synchronous wheels (70) are connected by a fourth synchronous belt (71); the fifth synchronous wheel (83) is rotatably mounted on the third motor mounting plate (85); the sixth synchronous wheel (88) is rotatably mounted on the second section lower synchronous conveyor belt (72); a fifth synchronous belt (84) is provided between the fifth synchronous wheel (83) and the sixth synchronous wheel (88).

4. The badminton feather automatic detection and stamping equipment according to claim 1 is characterized in that: The industrial camera detection mechanism (11) comprises: A dovetail bracket slide (90) is used to adjust the position of the industrial camera; A camera mounting plate (91) fixed on the dovetail bracket slide (90); A second industrial camera (92) mounted on the camera mounting plate (91); A light source fixing plate (93), located above the second industrial camera (92); An optical axis fixing seat (94) is mounted on the light source fixing plate (93); A supporting optical axis (95) fixed on the optical axis fixing seat (94); An optical axis cross clamp (96) mounted on the supporting optical axis (95); The adjustment optical axis (97) is mounted on the optical axis cross clamp (96); An optical axis support (98) connected to the adjustment optical axis (97) and the light source mounting plate (99); The second light source (100) is mounted on the light source mounting plate (99).

5. The badminton feather automatic detection and stamping equipment according to claim 1 is characterized in that: The clamping jaw conveying mechanism (3) comprises: A servo module (101), with a fixed support seat (102) and a front fixed support seat (105) connected to the bottom thereof, wherein the servo module (101) is provided with two groups in total; A module connecting plate (103) mounted on the servo module (101); A linear guide rail (104) mounted on the module connecting plate (103); A guide fixing seat (106) mounted on the linear guide rail (104); A rear clamping jaw fixing plate (113) is mounted on the linear guide rail (104); A rear clamping jaw cylinder (112) mounted on the rear clamping jaw fixing plate (113); A cylinder mounting seat (108) located below the rear clamping jaw fixing plate (113); A pen-shaped cylinder (107) is mounted on the cylinder mounting seat (108), and the cylinder connecting seat (109) is connected to the pen-shaped cylinder (107); A front clamping jaw fixing seat (110) is mounted on the cylinder connecting seat (109); The front clamping jaw cylinder (111) is mounted on the front clamping jaw fixing seat (110).

6. The badminton feather automatic detection and stamping equipment according to claim 1 is characterized in that: The defective product recovery mechanism (12) comprises: The defective product recovery slideway (114) is fixed on the automatic detection and stamping equipment via a slideway fixing bracket (115).

7. The badminton feather automatic detection and stamping equipment according to claim 1 is characterized in that: The blank punching mechanism (4) comprises: A bottom plate (116) and an upper fixing plate (132), wherein the upper fixing plate (132) and the bottom plate (116) are arranged with a vertical interval, two third guide light axes (117) are fixedly arranged between the upper fixing plate (132) and the bottom plate (116), and a servo motor mounting plate (119) is provided on both the upper fixing plate (132) and the bottom plate (116), and a third servo motor (118) is mounted on the servo motor mounting plate (119); A ball screw (120) is drivingly connected to a motor shaft of a group of third servo motors (118) below; A screw nut fixing seat (121), connected to the ball screw (120); A lower slide plate (123) connected to the screw nut fixing seat (121); Linear bearings (124) are installed on both sides of the lower slide plate (123); A lower mold (125) is mounted on the lower slide plate (123); An upper mold (126) is located above the lower mold (125); A slide groove (127) is arranged on a side of the blank punching mechanism (4), and the slide groove (127) is fixedly connected to the upper fixing plate (132) and one side of the bottom plate (116); A sensor bracket (128) mounted on the slide groove (127); A proximity sensor (129) mounted on the sensor bracket (128); An upper slide plate (130) connected to the upper mold (126); A sensing sheet (131) is mounted on the upper slide plate (130) and the lower slide plate (123); A motor synchronous wheel (133) is drivingly connected to the motor shaft of a group of third servo motors (118) above; An upper ball screw (136) is rotatably mounted on the top of the upper fixed plate (132), a screw synchronous wheel (135) is mounted on the upper ball screw (136), and a sixth synchronous belt (134) is transmission-connected between the screw synchronous wheel (135) and the motor synchronous wheel (133); A screw nut connecting plate (137) connecting the upper ball screw (136) and the upper slide plate (130); A rear waste chute (122) and a front waste chute (138) are both located on the lower slide plate (123), and the rear waste chute (122) and the front waste chute (138) are used to collect waste chips after stamping; A finished product slideway (139) is located below the lower die (125), and the finished product slideway (139) is used to transport the punched rough pieces to the finished product material frame.

8. The badminton feather automatic detection and stamping equipment according to claim 3 is characterized in that: The second section upper synchronous conveyor belt (73) and the third section upper synchronous conveyor belt (81) are capable of floating up and down.

9. The badminton feather automatic detection and stamping equipment according to claim 5, characterized in that: The two groups of servo modules (101) of the clamping jaw conveying mechanism (3) work alternately.

10. The badminton feather automatic detection and punching equipment according to any one of claims 1 to 9, characterized in that: The feed conveying detection and positioning mechanism (2), the clamping jaw conveying mechanism (3), the industrial camera detection mechanism (11) and the feather piece punching mechanism (4) are coordinated and controlled via a programmable control screen (7) to achieve automatic conveying, detection, positioning and punching of feathers.

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