Material conveying device based on robot vision

Abstract

The invention discloses a material conveying device based on robot vision, and particularly relates to the technical field of material conveying devices.The material conveying device comprises a base, surrounding plates are fixedly connected to the front side edge and the rear side edge of the upper end of the base correspondingly, and discharging assemblies are fixedly mounted at the ends, close to each other, of the two surrounding plates correspondingly; a transmission assembly is fixedly installed on the lower portion of the front end of the coaming located on the rear side, a discharging assembly is jointly and fixedly installed in the middles of the left sides of the ends, close to each other, of the two coamings, and a visual detection assembly is fixedly installed on the left side of the outer surface of the discharging assembly. According to the material conveying device based on robot vision, through the arrangement of the discharging assembly, bars can be sequentially conveyed forwards in the conveying process, then the stability of the bars during conveying is improved, and meanwhile through the arrangement of the transmission assembly, the material conveying efficiency is improved. And the feeding assembly can be matched with the discharging assembly, so that the effect of intermittently conveying the bars is achieved, and the situation of wrong detection and missing detection due to the high conveying speed is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of material conveying devices, and in particular to a material conveying device based on robot vision. Background Art

[0002] In the prior art, there are many kinds of materials that need to be transported, among which rods are one of the materials that need to be transported. However, in the prior art, there is still a method of manually inspecting and transporting rods, which has many disadvantages. For example, manual inspection and transportation require a lot of manual intervention and time investment. Especially in a high-capacity production environment, workers are less efficient in inspecting, positioning and moving each rod one by one, which not only prolongs the production cycle, but also limits the overall operating speed of the production line. Manual inspection is easily affected by factors such as fatigue and distraction, leading to errors. For example, workers may ignore damage, deviation or misalignment of rods during transportation, thereby affecting the quality control of the entire production process. Human errors may also cause the loss or damage of rods, increasing production costs and defective product rates.

[0003] Chinese patent announcement number CN212445202U discloses an intelligent robot handling device based on machine vision, which is composed of an AGV module, a machine vision module, a robot module, a control system, and a pneumatic system. The machine vision module and the robot module are installed on the AGV module. The AGV module is used to move along a specified route. The machine vision module is used to detect the model of the product to be handled. The robot module is used to grab and place the product. The control system is used to control the entire device. The pneumatic system is used to supply air to the entire device and provide pneumatic power. The above patent document is mainly used for the handling process in industrial production, replacing manual material handling, reducing labor intensity, eliminating safety hazards, reducing enterprise production costs, and greatly improving work efficiency.

[0004] Although the equipment in the above patent document does not require manual transportation of materials during use, it is impossible to inspect the bar materials during transportation during actual use, thereby reducing the yield rate of subsequent bar production. Summary of the invention

[0005] The main purpose of the present invention is to provide a material conveying device based on robot vision, which can effectively solve the problem that in actual use, the bar material cannot be inspected during transportation, thereby reducing the yield rate of subsequent bar material production.

[0006] To achieve the above object, the technical solution adopted by the present invention is: A material conveying device based on robot vision comprises a base, wherein the front edge and the rear edge of the upper end of the base are fixedly connected with enclosures, the upper right part of the two enclosures close to each other is commonly fixedly connected with a feed plate, the ends of the two enclosures close to each other are fixedly installed with a discharge assembly, a transmission assembly is fixedly installed at the lower front end of the enclosure at the rear side, a blanking assembly is commonly fixedly installed at the middle left part of the ends of the two enclosures close to each other, a visual detection assembly is fixedly installed on the left side of the outer surface of the blanking assembly, a rectangular table is fixedly connected to the lower middle part of the rear end of the enclosure at the rear side, a motor is fixedly connected to the upper end of the rectangular table, and a material picking door is rotatably connected to the lower left part of the rear end of the enclosure at the rear side.

[0007] Preferably, the two discharge assemblies each comprise a discharge plate fixedly connected at the middle of one end of the two enclosures close to each other, and the upper ends of the two discharge plates are provided with a plurality of V-shaped grooves in a linear array.

[0008] Preferably, the transmission assembly includes a mounting plate fixedly connected to the lower front end of the rear enclosure, a fixing plate fixedly connected to the front end of the mounting plate, a guide assembly fixedly installed on the front end of the fixing plate, a limiting assembly fixedly installed on the right side of the outer surface of the guide assembly, three hollow plates fixedly connected in a linear array at the lower end of the mounting plate, and a guide groove is provided at the upper front end of the fixing plate.

[0009] Preferably, the guide assembly includes a rectangular plate 1 fixedly connected to the middle part of the front end of the fixed plate, a mounting groove is opened in the middle part of the front end of the rectangular plate 1, a rectangular plate 2 is fixedly connected to the middle part of the front side wall of the inner surface of the mounting groove, the middle part of the front end of the rectangular plate 2 is rotatably connected to the driving plate 1, an elliptical hole is opened on the right side of the front end of the driving plate 1, the inner surface of the slide groove formed by the mounting groove and the rectangular plate 2 is slidably connected to the driving column, the middle part of the front end of the rectangular plate 2 is rotatably connected to the connecting rod, the front end of the connecting rod is fixedly connected to the driving plate 1, the rear end of the connecting rod passes through the rectangular plate 2, the rectangular plate 1, the fixed plate and the enclosure plate located on the rear side and is fixedly connected to the output end of the motor through a coupling, the front end of the driving column is slidably connected to the inner surface of the elliptical hole, and the rear end of the outer surface of the connecting rod is rotatably connected to the inner surfaces of the three hollow plates.

[0010] Preferably, the limiting assembly includes a driving plate 2 rotatably connected to the front end of the driving column, a slide rail is fixedly connected to the lower right end of the driving plate 2, a slider is slidably connected to the inner surface of the slide rail, an L-shaped plate is fixedly connected to the right end of the slider, a guide block is fixedly connected to the upper rear end of the L-shaped plate, and the guide block is slidably connected to the inner surface of the guide groove.

[0011] Preferably, a lifting plate 1 is fixedly connected to the upper front end of the driving plate 2, and connecting plates are fixedly connected to the left and right rear ends of the lifting plate 1, and the rear ends of the two connecting plates are commonly fixedly connected to the lifting plate 2, and the upper ends of the lifting plate 1 and the lifting plate 2 are both provided with a plurality of V-shaped grooves 2 in a linear array.

[0012] Preferably, the first material lifting plate and the second V-shaped groove are both located at the lower right side of one end of the two material placing plates that are close to each other.

[0013] Preferably, the blanking assembly includes a rolling plate 1 that is fixedly connected to the middle part of the left side of one end of the two enclosures that are close to each other, the left end of the rolling plate 1 is rotatably connected to the blanking plate, and the left end of the two enclosures that are close to each other is fixedly connected to a rolling plate 2, the rolling plate 2 is located at the lower left part of the blanking plate, and a discharge plate is fixedly connected to the left edge of the lower end of the second rolling plate, a concave block is fixedly connected to the middle part of the lower end of the blanking plate, an electric telescopic rod is rotatably connected to the inner surface of the concave block, the electric telescopic rod is fixedly connected to a controller at the right end, and the upper end of the controller is fixedly connected to a lower end of the rolling plate.

[0014] Preferably, the visual inspection component includes a connecting plate fixedly connected together at the lower right part of one end of two enclosures close to each other, a projection hole is opened at the right end of the connecting plate, an L-shaped supporting plate is fixedly connected to the lower rear end of the connecting plate, and a number of visual inspection robots are fixedly connected to the upper end of the L-shaped supporting plate.

[0015] Preferably, the projection hole, the first rolling plate, the blanking plate and the second rolling plate are all arranged in an inclined shape, and the right edge of the upper end of the first rolling plate is aligned with the upper edges of the left ends of the two discharge plates.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a discharge assembly, which can enable the bars to be transmitted forward in sequence during transportation, thereby improving the stability of the bar transmission. At the same time, the transmission assembly can cooperate with the discharge assembly to achieve the effect of intermittent transmission of the bars, avoiding the situation of false detection and missed detection due to the fast transmission speed.

[0017] The blanking assembly provided in the present invention can cooperate with the visual inspection assembly during the transportation of the bar materials to screen out qualified bar materials and unqualified bar materials, eliminating the need for subsequent manual screening of the bar materials, thereby improving subsequent work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is another perspective overall structural schematic diagram of the present invention; Figure 3 It is a half-section schematic diagram of the overall structure of the present invention; Figure 4 A half-section schematic diagram of the overall structure of the present invention from another viewing angle; Figure 5 It is a schematic diagram of the transmission assembly structure of the present invention; Figure 6 It is a schematic diagram of the structure of the guide assembly of the present invention; Figure 7 It is a schematic diagram of the structure of the limit assembly of the present invention; Figure 8 It is a schematic diagram of the structure of the blanking assembly of the present invention; Fig. 9 It is a schematic diagram of the structure of the visual detection component of the present invention; Fig.10 For the present invention Figure 3 A schematic diagram of the enlarged structure in the middle.

[0019] In the figure: 1, base; 2, enclosure; 3, feed plate; 4, discharge assembly; 41, discharge plate; 42, V-shaped groove 1; 5, transmission assembly; 51, mounting plate; 52, fixing plate; 50, guide groove; 53, guide assembly; 531, rectangular plate 1; 532, mounting groove; 533, rectangular plate 2; 534, drive plate 1; 535, elliptical hole; 536, drive column; 537, connecting rod; 54, limit assembly; 541, drive plate 2; 542, slide rail; 543, slider; 544, L-shaped Plate; 545, guide block; 546, lifting plate one; 547, connecting plate; 548, lifting plate two; 549, V-shaped groove two; 55, hollow plate; 6, blanking assembly; 61, rolling plate one; 62, blanking plate; 63, rolling plate two; 64, discharge plate; 65, concave block; 66, electric telescopic rod; 67, controller; 7, visual inspection assembly; 71, connecting plate; 72, projection hole; 73, L-shaped load-bearing plate; 74, visual inspection robot; 8, rectangular table; 9, motor; 10, material-retrieving door. DETAILED DESCRIPTION

[0020] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0021] Embodiment 1, as Figure 1 and Figure 2As shown, a material conveying device based on robot vision includes a base 1, a panel 2 is fixedly connected at the front edge and the rear edge of the upper end of the base 1, a feed plate 3 is fixedly connected to the upper right part of the two panels 2 close to each other, and a discharge assembly 4 is fixedly installed at the end of the two panels 2 close to each other. By setting the discharge assembly 4, the bar materials can be transferred forward in sequence during the transportation process, thereby improving the stability of the bar materials during the transmission; A transmission assembly 5 is fixedly installed at the lower front end of the rear side panel 2. The transmission assembly 5 can cooperate with the material discharge assembly 4 to achieve the effect of intermittent transmission of bar materials, thereby avoiding the situation of misdetection and missed detection due to the fast transmission speed; A blanking assembly 6 is fixedly installed on the middle part of the left side of the end of the two enclosures 2 close to each other, and a visual inspection assembly 7 is fixedly installed on the left side of the outer surface of the blanking assembly 6. Through the blanking assembly 6, during the transportation of the bar materials, it can cooperate with the visual inspection assembly 7 to screen out qualified bar materials and unqualified bar materials, without the need for subsequent manual screening of the bar materials, thereby improving the subsequent work efficiency; A rectangular platform 8 is fixedly connected to the lower middle part of the rear end of the rear side panel 2, a motor 9 is fixedly connected to the upper end of the rectangular platform 8, and a material removal door 10 is rotatably connected to the lower left part of the rear end of the rear side panel 2. The material removal door 10 facilitates the subsequent removal of unqualified rods.

[0022] Embodiment 2: This embodiment is based on embodiment 1 and is for achieving the purpose of intermittent feeding.

[0023] For details, see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Fig.10 The two unloading assemblies 4 each include an unloading plate 41 fixedly connected at the middle of one end of two enclosure plates 2 close to each other, and a plurality of V-shaped grooves 42 are formed in a linear array on the upper ends of the two unloading plates 41.

[0024] Furthermore, the transmission assembly 5 includes a mounting plate 51 fixedly connected to the lower front end of the rear side panel 2, a fixing plate 52 is fixedly connected to the front end of the mounting plate 51, a guide assembly 53 is fixedly installed at the front end of the fixing plate 52, a limiting assembly 54 is fixedly installed on the right side of the outer surface of the guide assembly 53, three hollow plates 55 are fixedly connected to the lower end of the mounting plate 51 in a linear array, and a guide groove 50 is opened at the upper front end of the fixing plate 52.

[0025] Further, the guide assembly 53 includes a rectangular plate 1 531 fixedly connected to the middle of the front end of the fixing plate 52, a mounting groove 532 is opened in the middle of the front end of the rectangular plate 1 531, a rectangular plate 2 533 is fixedly connected to the middle of the front side wall of the inner surface of the mounting groove 532, a driving plate 1 534 is rotatably connected to the middle of the front end of the rectangular plate 2 533, an elliptical hole 535 is opened on the right side of the front end of the driving plate 1 534, and a driving column 53 is slidably connected to the inner surface of the slide groove formed by the mounting groove 532 and the rectangular plate 2 533 6. A connecting rod 537 is rotatably connected to the middle of the front end of the rectangular plate 2 533. The front outer surface of the connecting rod 537 is fixedly connected to the driving plate 1 534. The rear end of the connecting rod 537 passes through the rectangular plate 2 533, the rectangular plate 1 531, the fixed plate 52 and the enclosure 2 located at the rear side and is fixedly connected to the output end of the motor 9 through a coupling. The front outer surface of the driving column 536 is slidably connected to the inner surface of the elliptical hole 535. The rear outer surface of the connecting rod 537 is rotatably connected to the inner surfaces of the three hollow plates 55.

[0026] Furthermore, the limiting assembly 54 includes a driving plate 541 rotatably connected to the front end of the driving column 536, a slide rail 542 is fixedly connected to the lower right end of the driving plate 541, a slider 543 is slidably connected to the inner surface of the slide rail 542, an L-shaped plate 544 is fixedly connected to the right end of the slider 543, a guide block 545 is fixedly connected to the upper rear end of the L-shaped plate 544, the guide block 545 is slidably connected to the inner surface of the guide groove 50, a lifting plate 546 is fixedly connected to the upper front end of the driving plate 541, a connecting plate 547 is fixedly connected to the left side and the right side of the rear end of the lifting plate 546, a lifting plate 548 is fixedly connected to the rear ends of the two connecting plates 547, and a plurality of V-shaped grooves 549 are provided in a linear array on the upper ends of the lifting plates 546 and 548.

[0027] Furthermore, the material lifting plate 1 546 and the V-shaped groove 2 549 are both located at the lower right side of one end of the two material discharging plates 41 that are close to each other.

[0028] First, the bars to be transported are intermittently placed on the upper side of the feed plate 3 and slid into the discharge assembly 4 through the previous processing step, and then the two ends of the bars fall into the V-shaped groove 42 opened at the upper ends of the discharge plates 41 on both sides; As can be seen from the above, the rear end of the connecting rod 537 passes through the rectangular plate 2 533, the rectangular plate 1 531, the fixed plate 52 and the enclosure 2 located at the rear side, and is fixedly connected to the output end of the motor 9 through a coupling, and the rear part of the outer surface of the connecting rod 537 is rotatably connected to the inner surfaces of the three hollow plates 55, so the three hollow plates 55 play a role in limiting and fixing the connecting rod 537, and then by starting the motor 9, the output end of the motor 9 drives the connecting rod 537 fixedly connected thereto to rotate, and then the connecting rod 537 drives the connecting rod 537 to rotate. The driving plate 1 534 fixedly connected thereto rotates with the center point of the rectangular plate 2 533 as the center of the circle. Then, when the driving plate 1 534 rotates, since the inner surface of the slide groove formed by the mounting groove 532 and the rectangular plate 2 533 is slidably connected with the driving column 536, and the front surface of the outer surface of the driving column 536 is slidably connected to the inner surface of the elliptical hole 535, when the driving column 536 slides in the slide groove formed by the mounting groove 532 and the rectangular plate 2 533, it can simultaneously drive the driving plate 2 541 rotatably connected thereto to move; The slide rail 542 fixedly connected to the right end of the second driving plate 541 is slidably connected to the slider 543, the slider 543 is fixedly connected to the left end of the L-shaped plate 544, and the guide block 545 fixedly connected to the rear end of the L-shaped plate 544 is slidably connected to the guide groove 50 opened at the upper front end of the fixed plate 52. Therefore, the second driving plate 541 does not rotate with the rotation of the driving column 536, but can only move in a vertical state by following the motion track of the driving column 536 in the slide groove formed by the installation groove 532 and the second rectangular plate 533; When the driving plate 541 moves upward along with the driving column 536, the driving plate 541 can simultaneously drive the slide rail 542 fixedly connected thereto to slide upward on the surface of the slider 543, and at the same time drive the lifting plate 1 546 fixedly connected thereto to move upward, and the lifting plate 1 546 is fixedly connected to the lifting plate 2 548 through two connecting plates 547, so the movement trajectory of the lifting plate 2 548 and the lifting plate 1 546 is the same, and when the lifting plates 1 546 and the lifting plates 2 548 move upward, it can be known from the above that the lifting plate 1 546 and the V-shaped groove 2 549 are both located on the lower right side of the end of the two material discharge plates 41 that are close to each other, and the upper ends of the lifting plates 1 546 and the lifting plates 2 548 are both provided with a plurality of V-shaped grooves 2 549 in a linear array, so the V-shaped groove 2 549 can lift the rod placed in the inner cavity of the V-shaped groove 42 upward, and then When the driving plate 541 moves to the left, it will drive the lifting plate 1 546 and the lifting plate 2 548 to move to the left at the same time, and the slide rail 542 drives the slider 543 to move to the left. The slider 543 is fixedly connected to the L-shaped plate 544. The guide block 545 fixedly connected to the rear end of the L-shaped plate 544 moves to the left in the guide groove 50, thereby driving the bar to move to the left at the same time. When the driving plate 2 541 moves downward, the bar placed on the upper side of the V-shaped groove 2 549 will be placed in the next V-shaped groove 1 42. At the same time, the driving plate 2 541 drives the slide rail 542 to move downward on the surface of the slider 543. Then, when the driving plate 2 541 moves to the right, the guide block 545 moves to the right in the guide groove 50 at the same time, and reciprocates in sequence, thereby realizing the effect of intermittently transmitting the bar from right to left, and utilizing the effect of the intermittent transmission to improve the stability of the bar during transmission.

[0029] The previous step mentioned above is the bar processing step in the prior art. In this solution, it is only necessary to intermittently transport the processed bar to the upper side of the feed plate 3. The specific installation method, circuit connection method and control method are all conventional designs, so this solution will not be elaborated in detail.

[0030] Embodiment 3: Based on Embodiment 2, this embodiment is to achieve the purpose of using a visual inspection machine to inspect whether there are defects on the surface of the bar material being transported, and then screening and transporting it in different areas.

[0031] For details, see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 8 and Fig. 9The blanking assembly 6 includes a rolling plate 61 fixedly connected to each other at the middle left side of one end of the two enclosures 2 that are close to each other, a blanking plate 62 is rotatably connected to the left end of the rolling plate 61, and a rolling plate 2 63 is fixedly connected to the left side of one end of the two enclosures 2 that are close to each other, the rolling plate 2 63 is located at the lower left part of the blanking plate 62, a discharge plate 64 is fixedly connected to the left edge of the lower end of the rolling plate 2 63, a concave block 65 is fixedly connected to the middle part of the lower end of the blanking plate 62, an electric telescopic rod 66 is rotatably connected to the inner surface of the concave block 65, a controller 67 is fixedly connected to the right end of the electric telescopic rod 66, and the upper end of the controller 67 is fixedly connected to the lower end of the rolling plate 61.

[0032] Furthermore, the visual inspection component 7 includes a connecting plate 71 which is fixedly connected to the lower right part of one end of two enclosures 2 close to each other, a projection hole 72 is opened at the right end of the connecting plate 71, an L-shaped supporting plate 73 is fixedly connected to the lower rear end of the connecting plate 71, and a plurality of visual inspection robots 74 are fixedly connected to the upper end of the L-shaped supporting plate 73.

[0033] Furthermore, the projection hole 72 , the first rolling plate 61 , the blanking plate 62 and the second rolling plate 63 are all arranged in an inclined shape, and the right edge of the upper end of the first rolling plate 61 is aligned with the upper edges of the left ends of the two discharge plates 41 .

[0034] It can be seen from the above that the projection hole 72, the rolling plate 1 61, the blanking plate 62 and the rolling plate 2 63 are all arranged in an inclined shape, and the right edge of the upper end of the rolling plate 1 61 is aligned with the upper edge of the left ends of the two discharge plates 41. Therefore, when the bar is transmitted to the leftmost side, the bar will roll downward along the rolling plate 1 61. During the rolling process of the bar, a number of visual inspection robots 74 will scan the surface of the bar through the projection hole 72. Since the bar is transmitted in the above, the scanning time is sufficient. When a bar with a defective surface is scanned, a number of visual inspection robots 74 will transmit a signal to the controller 67, and then the electric stretcher will be started. The electric telescopic rod 66 is retracted, and one end of the electric telescopic rod 66 is rotatably connected to the concave block 65, and the concave block 65 is fixedly connected to the blanking plate 62, and the blanking plate 62 is rotatably connected to the rolling plate 61, so the blanking plate 62 can be pulled open, and then the unqualified rods will fall from the opening and be stored in the cavity formed between the two enclosures 2 and the base 1. Then, the electric telescopic rod 66 is controlled to drive the blanking plate 62 to return to its initial state. When the unqualified rods need to be taken out later, it is only necessary to open the material taking door 10 to take out the rods stored in the cavity formed between the two enclosures 2 and the base 1; The qualified ones will directly roll from the rolling plate 1 61 to the surface of the rolling plate 2 63, and then roll out of the device along the surface of the discharge plate 64, thus completing the purpose of surface inspection of the bars during transportation.

[0035] The controller 67, the electric telescopic rod 66 and the visual inspection robot 74 mentioned above are all conventional settings in the prior art, wherein the electric telescopic rod 66 and the controller 67 are used in conjunction with each other, and the specific working principle thereof is as follows: Input signal: The controller 67 sends a voltage or current signal to the drive system of the electric telescopic rod 66; Processing instructions: The controller 67 usually has a processing unit inside, such as a PLC, which converts the command from the visual inspection robot 74 into a control signal after receiving it, and controls the telescopic movement of the visual inspection robot 74 through circuit output.

[0036] The working principle of the visual inspection robot 74 is: 1. Image Acquisition Camera and sensor: The visual inspection robot 74 acquires images by carrying a high-resolution camera or camera. Depending on the application requirements, monocular, binocular or multi-camera, or even 3D cameras may be used; Light source control: In order to obtain clear images, visual systems are usually equipped with controlled light sources, such as LED lights, which eliminate interference such as shadows and reflections through lighting at different angles and intensities to ensure clear and uniform images; Real-time acquisition: The camera continuously captures images of the work area, and the image data is transmitted to the computing system for further processing.

[0037] 2. Image processing Edge detection: Extract the outline of the object through edge detection algorithm; Pattern recognition: using template matching, machine learning, deep learning and other methods to identify specific objects or patterns; Defect detection: Detect whether there are scratches, cracks, stains and other defects on the surface of the object through image analysis; Image segmentation: Image segmentation is the process of dividing an image into multiple regions or objects for subsequent recognition and analysis. Commonly used segmentation methods include threshold method, region growing method, etc.

[0038] 3. Decision Analysis Decision-making algorithms: Based on the extracted features and processed image data, the visual inspection system runs a series of algorithms to make decisions, such as whether the object meets the specifications, has defects, is in the correct position, etc. Error analysis: If the image data differs from the expected target, such as a standard template, the system will analyze the error and decide whether to make corrections, alarms, or other actions based on the set tolerance range.

[0039] 4. Robot Execution Decision output: After the vision system processes the image and obtains the analysis results, it outputs the decision signal. These signals are usually transmitted to the robot control system to guide the robot to perform the corresponding action.

[0040] Motion control: The visual inspection robot 74 controls the controller 67 and the electric telescopic rod 66 through the actuator to ensure the accuracy and efficiency of the movement.

[0041] Therefore, the controller 67, the electric telescopic rod 66 and the visual inspection robot 74 mentioned above are all conventional designs in the prior art. Their specific installation methods, circuit connection methods and control methods are all conventional designs, and this solution will not be elaborated in detail.

[0042] It should be noted that the specific installation method of the motor 9, the circuit connection method and the control method used in the present invention are all conventional designs and will not be elaborated in detail in the present invention.

[0043] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A material conveying device based on robot vision, comprising a base (1), characterized in that: The front edge and the rear edge of the upper end of the base (1) are both fixedly connected with a panel (2); a feed plate (3) is fixedly connected to the upper right side of the two panels (2) close to each other; a discharge assembly (4) is fixedly installed on the two panels (2) close to each other; a transmission assembly (5) is fixedly installed on the lower front end of the rear panel (2); a blanking assembly (6) is fixedly installed on the middle left side of the two panels (2) close to each other; a visual detection assembly (7) is fixedly installed on the left side of the outer surface of the blanking assembly (6); a rectangular platform (8) is fixedly connected to the lower middle side of the rear end of the panel (2) at the rear side; a motor (9) is fixedly connected to the upper end of the rectangular platform (8); and a material taking door (10) is rotatably connected to the lower left side of the rear end of the panel (2) at the rear side.

2. The material conveying device based on robot vision according to claim 1, characterized in that: The two material discharge assemblies (4) each comprise a material discharge plate (41) fixedly connected at the middle of one end of the two enclosure plates (2) close to each other, and the upper ends of the two material discharge plates (41) are provided with a plurality of V-shaped grooves (42) in a linear array.

3. The material conveying device based on robot vision according to claim 2, characterized in that: The transmission assembly (5) comprises a mounting plate (51) fixedly connected to the lower front end of the rear enclosure (2); a fixing plate (52) is fixedly connected to the front end of the mounting plate (51); a guide assembly (53) is fixedly mounted to the front end of the fixing plate (52); a limit assembly (54) is fixedly mounted on the right side of the outer surface of the guide assembly (53); three hollow plates (55) are fixedly connected in a linear array at the lower end of the mounting plate (51); and a guide groove (50) is provided at the upper front end of the fixing plate (52).

4. The material conveying device based on robot vision according to claim 3, characterized in that: The guide assembly (53) comprises a rectangular plate 1 (531) fixedly connected to the middle part of the front end of the fixed plate (52); a mounting groove (532) is provided in the middle part of the front end of the rectangular plate 1 (531); a rectangular plate 2 (533) is fixedly connected to the middle part of the front side wall of the inner surface of the mounting groove (532); a driving plate 1 (534) is rotatably connected to the middle part of the front end of the rectangular plate 2 (533); an elliptical hole (535) is provided on the right side of the front end of the driving plate 1 (534); a driving column (536) is slidably connected to the inner surface of the slide groove formed by the mounting groove (532) and the rectangular plate 2 (533); A connecting rod (537) is rotatably connected to the middle part of the front end of the second plate (533); the front outer surface of the connecting rod (537) is fixedly connected to the first driving plate (534); the rear end of the connecting rod (537) passes through the second rectangular plate (533), the first rectangular plate (531), the fixed plate (52) and the enclosure (2) located at the rear side and is fixedly connected to the output end of the motor (9) via a coupling; the front outer surface of the driving column (536) is slidably connected to the inner surface of the elliptical hole (535); and the rear outer surface of the connecting rod (537) is rotatably connected to the inner surfaces of the three hollow plates (55).

5. The material conveying device based on robot vision according to claim 4, characterized in that: The limiting assembly (54) comprises a second driving plate (541) rotatably connected to the front end of the driving column (536); a slide rail (542) is fixedly connected to the lower right end of the second driving plate (541); a slider (543) is slidably connected to the inner surface of the slide rail (542); an L-shaped plate (544) is fixedly connected to the right end of the slider (543); a guide block (545) is fixedly connected to the upper rear end of the L-shaped plate (544); and the guide block (545) is slidably connected to the inner surface of the guide groove (50).

6. The material conveying device based on robot vision according to claim 5, characterized in that: The upper front end of the driving plate 2 (541) is fixedly connected to the material lifting plate 1 (546), the left and right rear ends of the material lifting plate 1 (546) are fixedly connected to connecting plates (547), and the rear ends of the two connecting plates (547) are commonly fixedly connected to the material lifting plate 2 (548), and the upper ends of the material lifting plate 1 (546) and the material lifting plate 2 (548) are both provided with a plurality of V-shaped grooves 2 (549) in a linear array.

7. The material conveying device based on robot vision according to claim 6, characterized in that: The first material lifting plate (546) and the second V-shaped groove (549) are both located at the lower right side of one end of the two material discharging plates (41) that are close to each other.

8. The material conveying device based on robot vision according to claim 7, characterized in that: The blanking assembly (6) comprises a first rolling plate (61) fixedly connected to each other at the middle left side of one end of the two enclosures (2) close to each other, the first rolling plate (61) is rotatably connected to a blanking plate (62) at its left end, a second rolling plate (63) is fixedly connected to each other at the left side of one end of the two enclosures (2) close to each other, the second rolling plate (63) is located at the lower left side of the blanking plate (62), a discharge plate (64) is fixedly connected to the left edge of the lower end of the second rolling plate (63), a concave block (65) is fixedly connected to the middle part of the lower end of the blanking plate (62), an electric telescopic rod (66) is rotatably connected to the inner surface of the concave block (65), a controller (67) is fixedly connected to the right end of the electric telescopic rod (66), and the upper end of the controller (67) is fixedly connected to the lower end of the first rolling plate (61).

9. The material conveying device based on robot vision according to claim 8, characterized in that: The visual inspection assembly (7) comprises a connecting plate (71) fixedly connected to each other at the lower right portions of the ends of the two enclosures (2) close to each other, a projection hole (72) being provided at the right end of the connecting plate (71), an L-shaped supporting plate (73) being fixedly connected to the lower rear end of the connecting plate (71), and a plurality of visual inspection robots (74) being fixedly connected to the upper end of the L-shaped supporting plate (73).

10. The material conveying device based on robot vision according to claim 9, characterized in that: The projection hole (72), the first rolling plate (61), the blanking plate (62) and the second rolling plate (63) are all arranged in an inclined shape, and the right edge of the upper end of the first rolling plate (61) is aligned with the upper edges of the left ends of the two blanking plates (41).

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