Visual positioning grabbing method, system and device

Abstract

The invention relates to the technical field of material positioning and grabbing, in particular to a visual positioning and grabbing method, system and device which comprise an electric sliding rail, a sliding block, a lifting air cylinder, a base, a plurality of industrial cameras, a driving unit and a grabbing assembly. The grabbing assembly comprises two connecting rods and two grabbing claws, and the electric sliding rail is started to drive the sliding block to move, so that the base moves to the position above a paper box. The industrial camera is used for shooting the paper box and transmitting a picture to a background for analysis, so that visual positioning is completed; the driving unit is started to drive the connecting rod to move, the connecting rod drives the grabbing claw to stretch out and be inserted into the lower portion of the paper box, the lower portion of the paper box is supported and lifted up, then the lifting air cylinder is started to drive the paper box to move into follow-up production equipment, and therefore the paper box is lifted up, the lower portion of the paper box is supported, then the paper box is transported and moved, and a small area is not adsorbed. Deformation caused by overweight of materials in the paper box is avoided, and the paper box conveying quality is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of material positioning and grasping, and in particular to a visual positioning and grasping method and a system and a device thereof. Background Art

[0002] In the production workshop, after the materials are produced, they are usually packed in packaging boxes or cartons, and then transported to the next production line for subsequent processing. The current traditional method is manual transportation, but this process requires a lot of repetitive operations, which greatly increases the labor intensity of the staff.

[0003] In the prior art, a motor is provided, the main shaft of the motor is fixedly connected with a first rotating arm, and a second rotating arm is rotatably connected to the bracket; the first rotating arm is arranged perpendicular to the main shaft of the motor, and the first rotating arm and the second rotating arm are arranged in parallel; the end of the first rotating arm and the end of the second rotating arm are rotatably connected to a mounting seat respectively, and a vacuum suction cup is arranged at the bottom of the mounting seat; when a paper box is detected, the main shaft of the motor rotates clockwise by a certain angle, driving the vacuum suction cup to descend; the vacuum suction cup sucks the paper box; the main shaft of the motor rotates counterclockwise by a certain angle, driving the mounting seat, the suction cup and the paper box to transfer to the other side as a whole, and the vacuum suction cup releases the paper box, and the main shaft of the motor rotates clockwise by a certain angle, returns to the initial state, and completes a working cycle; thereby, the paper box can be automatically grasped and transferred to another production line, which improves production efficiency and reduces the labor intensity of workers. In addition, compared with a robotic arm, the provided paper box rotating grasping device has a simple structure, is easy to assemble and use, occupies a small area, and has extremely low cost.

[0004] However, in the above-mentioned prior art, the paper box is made of corrugated paper, which is easy to deform. When materials are packed in the paper box, when the vacuum suction cup directly adsorbs and moves the top of the paper box, the paper box is affected by its own gravity. At the same time, when the weight of the paper box itself is large, it is easy to deform, affecting the conveying quality of the paper box. Summary of the invention

[0005] The purpose of the present invention is to provide a visual positioning grasping method and its system and device, so as to solve the problem in the prior art that the paper box is made of corrugated paper and is prone to deformation. When materials are packaged in the paper box, the paper box is directly adsorbed and moved above the paper box by a vacuum suction cup. At the same time, when the paper box itself is heavy, it is easy to deform, thereby affecting the conveying quality of the paper box.

[0006] To achieve the above-mentioned purpose, the present invention provides a visual positioning grasping device, comprising an electric slide rail, a slider, a lifting cylinder, a base, a plurality of industrial cameras, a driving unit and a grasping assembly, wherein the slider is arranged on the electric slide rail, the lifting cylinder is arranged below the slider, the base is arranged at the output end of the lifting cylinder, the plurality of industrial cameras are arranged on the base in sequence, and the driving unit is arranged on the base;

[0007] The grabbing assembly includes two connecting rods and two grabbing claws, one end of the two connecting rods is connected to the driving unit, and the other ends of the two connecting rods are respectively rotatably connected to the corresponding grabbing claws, and the two grabbing claws are arranged on the base.

[0008] Among them, the base includes an upper shell and two fixed plates, the upper shell is fixedly connected to the output end of the lifting cylinder, the two fixed plates are fixedly connected to the upper shell and are symmetrically distributed on both sides of the upper shell, the fixed plate has a groove, the connecting rod is located inside the groove, the other end of the connecting rod passes through the groove and is rotatably connected to the grabbing claw, and a plurality of industrial cameras are sequentially arranged below the upper shell.

[0009] Wherein, the driving unit includes a motor, two threaded rods, a connecting shaft, two threaded blocks, two upper racks, two lower racks and two gears, the motor is arranged inside the upper shell, the two threaded rods are symmetrically arranged at both ends of the connecting shaft and are located inside the upper shell, the output end of the motor is fixedly connected to the corresponding threaded rod, the two threaded blocks are respectively adapted to the corresponding threaded rods, the two upper racks are respectively fixedly connected to the corresponding threaded blocks, the two lower racks are both slidably connected to the upper shell, the two gears are respectively meshed with the corresponding upper racks and the lower racks, the gear is located between the upper rack and the lower rack, and one end of the connecting rod is rotatably connected to the bottom of the lower rack.

[0010] Among them, the grabbing claw includes a support plate, a plurality of arc-shaped rods, a grabbing rubber pad and a plurality of rollers, the other end of the connecting rod passes through the groove and is fixedly connected to the support plate, the fixing plate has a slot, one end of the plurality of arc-shaped rods are fixedly connected to the support plate, the other end of the plurality of arc-shaped rods passes through the slot and is fixedly connected to the grabbing rubber pad, and the plurality of rollers are rotatably connected to the grabbing rubber pad.

[0011] In which, the grabbing assembly also includes an auxiliary unit, which includes two supporting shafts, two supporting slides and two rubber protective sleeves, one end of the two supporting shafts are respectively rotatably connected to the corresponding gears, the other ends of the two supporting shafts are rotatably connected to the inner side wall of the upper shell body, one end of the two slides are respectively fixedly connected to the corresponding lower racks, the upper shell body has two sliding grooves, the other ends of the two slides are respectively slidably connected to the corresponding sliding grooves, and the two rubber protective sleeves are respectively arranged inside the corresponding slots.

[0012] Wherein, the grabbing assembly further comprises two pushing units, and the two pushing units are respectively arranged on the corresponding fixing plates;

[0013] The pushing unit comprises a pushing cylinder and a pushing plate. The pushing cylinder is arranged on the corresponding fixing plate, and the output end of the pushing cylinder is fixedly connected to the pushing plate.

[0014] The present invention also provides a visual positioning grasping method, which uses the above-mentioned visual positioning grasping device and includes the following steps:

[0015] The electric slide rail is started to drive the slide block to move so that the base moves to the top of the paper box;

[0016] The industrial camera takes a picture of the carton, transmits the picture to the background for analysis, and completes visual positioning;

[0017] The driving unit is started to drive the connecting rod to move, and the connecting rod drives the grabbing claw to extend;

[0018] The gripping rubber pad is inserted under the paper box, and the roller contacts the paper box, so that the entire arc rod moves under the paper box to lift the paper box and provide support for the paper box;

[0019] The lifting cylinder is started to drive the paper box to move upward to complete the grabbing action.

[0020] The present invention also provides a visual positioning and grasping system, comprising the visual positioning and grasping device described above, and also comprising a material feeding device, a label labeling device, a visual processing device, a background control device and a material discharging device, wherein the material feeding device is connected to one end of the label labeling device, the other end of the label labeling device is connected to one end of the visual processing device, the other end of the visual processing device is connected to the visual positioning and grasping device, the other end of the visual positioning and grasping device is connected to the material discharging device, and the material feeding device, the label labeling device, the visual processing device, the visual positioning and grasping device and the material discharging device are all connected to the background control device.

[0021] The present invention provides a visual positioning grasping method and its system and device. The industrial camera takes a picture of the carton and transmits the picture to the background for analysis to complete the visual positioning. The driving unit is started to drive the connecting rod to move. The connecting rod drives the grasping claw to extend and insert under the carton to support the bottom of the carton to complete the lifting. Then the lifting cylinder is started to drive the carton to move to the subsequent production equipment. Through the above-mentioned structural setting, the carton is lifted, and the bottom of the carton is supported, and then it is transported and moved. A small area is not adsorbed, so as to avoid deformation caused by excessive weight due to the presence of materials in the carton, thereby ensuring the conveying quality of the carton. At the same time, by supporting the bottom of the carton, compared with the traditional clamping and adsorption methods, it avoids falling caused by insufficient friction and insufficient adsorption, and greatly improves the stability of grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0024] Figure 2 It is a cross-sectional view of the whole of the present invention.

[0025] Figure 3 The present invention Figure 2 AA line section view.

[0026] Figure 4 It is a schematic structural diagram of the driving unit of the present invention.

[0027] Figure 5 1 is a top view of the drive unit of the present invention.

[0028] Figure 6 The present invention Figure 2 Enlarged view of the local structure at point B.

[0029] Figure 7 The present invention Figure 2 Enlarged view of the local structure at location C.

[0030] Figure 8 The present invention Figure 2 Enlarged view of the local structure at D.

[0031] Fig. 9 It is a schematic diagram of the visual positioning grasping system of the present invention.

[0032] Fig.10 It is a flow chart of the steps of the visual positioning grasping method of the present invention.

[0033] 1-electric slide rail, 2-slider, 3-lifting cylinder, 4-base, 5-industrial camera, 6-connecting rod, 7-upper shell, 8-fixed plate, 9-groove, 10-motor, 11-threaded rod, 12-connecting shaft, 13-threaded block, 14-upper rack, 15-lower rack, 16-gear, 17-support plate, 18-arc rod, 19-grabbing rubber pad, 20-roller, 21-slot, 22-support shaft, 23-support slide plate, 24-rubber protective cover, 25-slide, 26-pushing cylinder, 27-pushing plate, 28-material feeding device, 29-label labeling device, 30-visual processing device, 31-backstage control device, 32-material discharging device. DETAILED DESCRIPTION

[0034] Embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0035] See also Figures 1 to 8 The present invention provides a visual positioning grasping device, including an electric slide rail 1, a slider 2, a lifting cylinder 3, a base 4, multiple industrial cameras 5, a driving unit and a grasping assembly, wherein the grasping assembly includes two connecting rods 6 and two grasping claws, the base 4 includes an upper shell 7 and two fixing plates 8, the driving unit includes a motor 10, two threaded rods 11, a connecting shaft 12, two threaded blocks 13, two upper racks 14, two lower racks 15 and two gears 16, the grasping claw includes a support plate 17, multiple arc rods 18, a grasping rubber pad 19 and multiple rollers 20, the grasping assembly also includes an auxiliary unit, the auxiliary unit includes two supporting shafts 22, two supporting slide plates 23 and two rubber protective sleeves 24, the grasping assembly also includes two pushing units, the pushing unit includes a pushing cylinder 26 and a pushing plate 27.

[0036] The slider 2 is arranged on the electric slide rail 1, the lifting cylinder 3 is arranged below the slider 2, the base 4 is arranged at the output end of the lifting cylinder 3, a plurality of industrial cameras 5 are arranged on the base 4 in sequence, the driving unit is arranged on the base 4, one end of the two connecting rods 6 are connected to the driving unit, the other ends of the two connecting rods 6 are respectively connected to the corresponding grab claws, and the two grab claws are arranged on the base 4. The industrial camera 5 takes a picture of the carton, transmits the picture to the background for analysis, and completes the visual positioning; the driving unit starts, drives the connecting rod 6 to move, the connecting rod 6 drives the grab claw to extend, insert under the carton, support the bottom of the carton, complete the lifting, and then the lifting cylinder 3 starts, driving the carton to move to the subsequent production equipment.

[0037] Secondly, the upper shell 7 is fixedly connected to the output end of the lifting cylinder 3, and the two fixing plates 8 are fixedly connected to the upper shell 7 and symmetrically distributed on both sides of the upper shell 7. The fixing plate 8 has a groove 9, and the connecting rod 6 is located inside the groove 9. The other end of the connecting rod 6 passes through the groove 9 and is rotatably connected to the grab claw. A plurality of industrial cameras 5 are sequentially arranged below the upper shell 7. The upper shell 7 supports the internal driving unit, and the fixing plate 8 serves to limit the moving angle of the grab claw and supports the pushing unit at the same time.

[0038] At the same time, the motor 10 is arranged inside the upper shell 7, the two threaded rods 11 are symmetrically arranged at both ends of the connecting shaft 12 and are located inside the upper shell 7, the output end of the motor 10 is fixedly connected to the corresponding threaded rod 11, the two threaded blocks 13 are respectively adapted to the corresponding threaded rods 11, the two upper racks 14 are respectively fixedly connected to the corresponding threaded blocks 13, the two lower racks 15 are both slidably connected to the upper shell 7, the two gears 16 are respectively meshed with the corresponding upper racks 14 and the lower racks 15, the gears 16 are located between the upper racks 14 and the lower racks 15, and one end of the connecting rod 6 is rotatably connected to the bottom of the lower rack 15. The motor 10 is started, and through the connection with the connecting shaft 12, it drives the two threaded rods 11 to rotate, cooperates with the threaded block 13, drives the upper rack 14 to move, cooperates with the gear 16, drives the lower rack 15 to move, and then drives the connecting rod 6 to move, and the connecting rod 6 drives the grabbing claw to move to grab the paper box.

[0039] In addition, the other end of the connecting rod 6 passes through the groove 9 and is fixedly connected to the support plate 17. The fixed plate 8 has a slot 21. One end of each of the arc rods 18 is fixedly connected to the support plate 17. The other end of each of the arc rods 18 passes through the slot 21 and is fixedly connected to the gripping rubber pad 19. Each of the rollers 20 is rotatably connected to the gripping rubber pad 19. The support plate 17 supports the arc rods 18. When the gripping claw is inserted under the paper box, it is inserted through the gripping rubber pad 19. The gripping rubber pad 19 is aligned with the overlap between the paper box and the ground, and then inserted under the paper box. At the same time, the gripping rubber pad 19 can be elastically deformed to a certain extent to avoid damaging the paper box. At the same time, when inserted, the roller 20 also contacts the paper box to reduce friction and improve the smoothness of the insertion of the arc rod 18.

[0040] Then, one end of the two support shafts 22 is rotatably connected to the corresponding gears 16, and the other ends of the two support shafts 22 are rotatably connected to the inner side wall of the upper shell 7. One end of the two slides is fixedly connected to the corresponding lower rack 15, and the upper shell 7 has two slide grooves 25. The other ends of the two slides are slidably connected to the corresponding slide grooves 25, and the two rubber protective sleeves 24 are respectively arranged inside the corresponding slots 21. The support shaft 22 supports the gear 16 to avoid deviation. When the lower rack 15 moves, the support slide 23 slides in the slide groove 25 to ensure the stability of movement. The rubber protective sleeve 24 protects the arc rod 18 to prevent the arc rod 18 from being worn when moving in the slot 21.

[0041] Finally, the two pushing units are respectively arranged on the corresponding fixing plates 8; the pushing cylinder 26 is arranged on the corresponding fixing plates 8, and the output end of the pushing cylinder 26 is fixedly connected to the pushing plate 27. When lifting the paper box, if the paper box is too closely in contact with the ground, the pushing cylinder 26 on one side can be started to drive the pushing plate 27 to move, and then one side of the paper box is pushed by the pushing plate 27, and the other side contacts the grabbing rubber pad 19, so that the paper box is tilted. At this time, the grabbing claw continues to extend and can be smoothly inserted under the paper box. In addition, the pushing plate 27 is relatively wide, which increases the force-bearing area. At the same time, the pushing plate 27 pushes the upper half of the side of the paper box, which is more labor-saving, thereby effectively avoiding deformation and damage of the paper box caused by excessive pushing force.

[0042] When using a visual positioning and grasping device of the present embodiment, the industrial camera 5 takes a picture of the carton and transmits the picture to the background for analysis to complete the visual positioning; the motor 10 is started, and through the connection of the connecting shaft 12, it drives the two threaded rods 11 to rotate, cooperates with the threaded block 13, drives the upper rack 14 to move, cooperates with the gear 16, drives the lower rack 15 to move, and then drives the connecting rod 6 to move, and the connecting rod 6 drives the grasping claw to extend, and when the grasping claw is inserted under the carton, it is inserted through the grasping rubber pad 19, and the grasping rubber pad 19 is aligned with the overlap between the carton and the ground, and then inserted under the carton. At the same time, the grasping rubber pad 19 can undergo a certain degree of elastic deformation to avoid damaging the carton. At the same time, when inserted, the The roller 20 also contacts the carton to reduce friction, improve the smoothness of the insertion of the arc rod 18, and complete the grabbing operation; then the lifting cylinder 3 is started to drive the carton to move to the subsequent production equipment. In addition, when the carton is lifted up, if the carton is in too close contact with the ground, the pushing cylinder 26 on one side can be started to drive the pushing plate 27 to move, and then one side of the carton is pushed by the pushing plate 27, and the other side contacts the grabbing rubber pad 19, so that the carton is tilted. At this time, the grabbing claw continues to extend and can be smoothly inserted under the carton; through the above-mentioned structural setting, the carton is lifted, and the bottom of the carton is supported, and then it is transported and moved, without adsorbing a small area, to avoid deformation caused by excessive weight due to materials in the carton, thereby ensuring the quality of carton transportation.

[0043] See also Fig.10 The present invention also provides a visual positioning grasping method, comprising the following steps:

[0044] S1: The electric slide rail 1 is started to drive the slide block 2 to move, so that the base 4 moves to the top of the paper box;

[0045] S2: The industrial camera 5 takes a picture of the paper box and transmits the picture to the background for analysis to complete visual positioning;

[0046] S3: the driving unit starts to drive the connecting rod 6 to move, and the connecting rod 6 drives the grabbing claw to extend;

[0047] S4: The gripping rubber pad 19 is inserted under the paper box, and the roller 20 contacts the paper box, so that the entire arc rod 18 moves to the bottom of the paper box, lifts the paper box, and supports the paper box;

[0048] S5: The lifting cylinder 3 is started to drive the paper box to move upward to complete the grabbing action.

[0049] Among them, the electric slide rail 1 is started to drive the slider 2 to move, so that the base 4 moves to the top of the carton; the industrial camera 5 takes a picture of the carton, and transmits the picture to the background for analysis to complete the visual positioning; the drive unit is started to drive the connecting rod 6 to move, and the connecting rod 6 drives the grabbing claw to extend; the grabbing rubber pad 19 is inserted under the carton, and the roller 20 contacts the carton, and then the entire arc rod 18 moves to the bottom of the carton, lifts the carton, and supports the carton; the lifting cylinder 3 is started to drive the carton to move up, completing the grabbing action.

[0050] See also Fig. 9 The present invention also provides a visual positioning and grasping system, including the visual positioning and grasping device described above, and also including a material feeding device 28, a label labeling device 29, a visual processing device 30, a background control device 31 and a material discharging device 32, wherein the material feeding device 28 is connected to one end of the label labeling device 29, the other end of the label labeling device 29 is connected to one end of the visual processing device 30, the other end of the visual processing device 30 is connected to the visual positioning and grasping device, and the other end of the visual positioning and grasping device is connected to the material discharging device 32, and the material feeding device 28, the label labeling device 29, the visual processing device 30, the visual positioning and grasping device and the material discharging device 32 are all connected to the background control device 31.

[0051] Among them, the carton is first transported by the material feeding device 28, and then the carton is labeled by the label labeling device 29. At this time, it moves to the visual positioning device, relies on the industrial camera 5 to shoot the label, and analyzes the shooting picture through the background control system to complete the visual positioning, so as to identify whether the carton is loaded with material, so as to judge the weight of the carton. When there is no material in the carton, it only needs to drive the pushing plate 27 to clamp and fix the carton through the pushing cylinder 26, and then it can be moved; when there is material in the carton, in order to avoid deformation caused by excessive clamping force, the grabbing claw can be started to grab and support the bottom, and finally move to the material discharging device 32 to complete the discharging, and move to the subsequent production equipment.

[0052] What is disclosed above is only one or more preferred embodiments of the present application, and cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiments and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A visual positioning grasping device, comprising an electric slide rail, a slider, a lifting cylinder, a base, a plurality of industrial cameras and a driving unit, wherein the slider is arranged on the electric slide rail, the lifting cylinder is arranged below the slider, the base is arranged at the output end of the lifting cylinder, the plurality of industrial cameras are arranged on the base in sequence, and the driving unit is arranged on the base, characterized in that: Also includes grabbing components; The grabbing assembly includes two connecting rods and two grabbing claws, one end of the two connecting rods is connected to the driving unit, and the other ends of the two connecting rods are respectively rotatably connected to the corresponding grabbing claws, and the two grabbing claws are arranged on the base.

2. The visual positioning grasping device according to claim 1, characterized in that: The base includes an upper shell and two fixed plates. The upper shell is fixedly connected to the output end of the lifting cylinder. The two fixed plates are fixedly connected to the upper shell and are symmetrically distributed on both sides of the upper shell. The fixed plate has a groove. The connecting rod is located inside the groove. The other end of the connecting rod passes through the groove and is rotatably connected to the grabbing claw. A plurality of industrial cameras are sequentially arranged below the upper shell.

3. The visual positioning grasping device according to claim 2, characterized in that: The driving unit includes a motor, two threaded rods, a connecting shaft, two threaded blocks, two upper racks, two lower racks and two gears. The motor is arranged inside the upper shell body, and the two threaded rods are symmetrically arranged at both ends of the connecting shaft and are located inside the upper shell body. The output end of the motor is fixedly connected to the corresponding threaded rod, and the two threaded blocks are respectively adapted to the corresponding threaded rods. The two upper racks are respectively fixedly connected to the corresponding threaded blocks, and the two lower racks are both slidably connected to the upper shell body. The two gears are respectively meshed with the corresponding upper racks and the lower racks. The gear is located between the upper rack and the lower rack, and one end of the connecting rod is rotatably connected to the bottom of the lower rack.

4. The visual positioning grasping device according to claim 3, characterized in that: The grabbing claw includes a support plate, a plurality of arc-shaped rods, a grabbing rubber pad and a plurality of rollers. The other end of the connecting rod passes through the groove and is fixedly connected to the support plate. The fixing plate has a slot. One end of each of the arc-shaped rods is fixedly connected to the support plate. The other end of each of the arc-shaped rods passes through the slot and is fixedly connected to the grabbing rubber pad. Each of the rollers is rotatably connected to the grabbing rubber pad.

5. The visual positioning grasping device according to claim 4, characterized in that: The grabbing assembly also includes an auxiliary unit, which includes two supporting shafts, two supporting slides and two rubber protective sleeves, one end of the two supporting shafts are respectively rotatably connected to the corresponding gears, the other ends of the two supporting shafts are rotatably connected to the inner side wall of the upper shell, one end of the two slides are respectively fixedly connected to the corresponding lower racks, the upper shell has two sliding grooves, the other ends of the two slides are respectively slidably connected to the corresponding sliding grooves, and the two rubber protective sleeves are respectively arranged inside the corresponding slots.

6. The visual positioning grasping device according to claim 5, characterized in that: The grabbing assembly further includes two pushing units, and the two pushing units are respectively arranged on the corresponding fixing plates; The pushing unit comprises a pushing cylinder and a pushing plate. The pushing cylinder is arranged on the corresponding fixing plate, and the output end of the pushing cylinder is fixedly connected to the pushing plate.

7. A visual positioning grasping method, using the visual positioning grasping device as claimed in claim 6, characterized in that: The steps include: The electric slide rail is started to drive the slide block to move so that the base moves to the top of the paper box; The industrial camera takes a picture of the carton, transmits the picture to the background for analysis, and completes visual positioning; The driving unit is started to drive the connecting rod to move, and the connecting rod drives the grabbing claw to extend; The gripping rubber pad is inserted under the paper box, and the roller contacts the paper box, so that the entire arc rod moves under the paper box to lift the paper box and provide support for the paper box; The lifting cylinder starts to move the carton upwards, completing the grabbing action.

8. A visual positioning grasping system, comprising the visual positioning grasping device according to claim 6, characterized in that: It also includes a material feeding device, a label labeling device, a visual processing device, a background control device and a material discharging device, the material feeding device is connected to one end of the label labeling device, the other end of the label labeling device is connected to one end of the visual processing device, the other end of the visual processing device is connected to the visual positioning and grasping device, the other end of the visual positioning and grasping device is connected to the material discharging device, and the material feeding device, the label labeling device, the visual processing device, the visual positioning and grasping device and the material discharging device are all connected to the background control device.

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