Automatic positioning and pin penetrating device and method based on machine vision

Abstract

The invention belongs to the technical field of pin penetrating devices, and particularly relates to an automatic positioning and pin penetrating device and method based on machine vision. The device comprises a base frame, an oil cylinder bracket and a supporting shaft support used for supporting a pin shaft, an adjusting mechanism used for adjusting the transverse position and the height position is installed on the upper portion of the base frame, the output end of the adjusting mechanism is connected with a leveling mechanism, the adjusting mechanism comprises a pull rod and an electric push rod, and the pull rod and the electric push rod are longitudinally arranged; the lower end of the pull rod and the lower end of the electric push rod are connected with the oil cylinder bracket. A top shaft oil cylinder is arranged in the oil cylinder bracket, a pin shaft is arranged on a piston rod of the top shaft oil cylinder, and a supporting shaft bracket is fixed on the oil cylinder bracket; a linear sliding table module is installed in the oil cylinder bracket, and a visual camera is installed at the output end of the linear sliding table module. According to the automatic positioning and pin penetrating device and method based on machine vision, automatic positioning and adjusting of a shaft and a hole can be achieved, and automatic reassembling of a pin shaft is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of pin threading devices, and in particular relates to an automatic positioning self-pin threading device and method based on machine vision. Background Art

[0002] In situations where there are many pins, they are large in size, and they fit tightly together, it will be time-consuming and laborious to reinstall the pins. The pins need to be manually positioned and aligned with the shaft holes, and the installation of the pins often requires repeated hammering with a sledgehammer. When it is difficult to reinstall the pins, it is often only possible to use a jack to assist, and the efficiency of reinstalling the pins is extremely low. Summary of the invention

[0003] In order to solve the above-mentioned problems existing in the prior art, the purpose of the present invention is to provide an automatic positioning self-threading pin device and method based on machine vision, which adopts a visual positioning system and an adjustment platform to realize automatic positioning and adjustment of the shaft and the hole. The device is equipped with an automatic telescopic hydraulic device to pressurize the pin shaft to realize automatic reinstallation of the pin shaft, which greatly improves the speed of reinstallation of the pin shaft and significantly reduces the labor intensity of the staff.

[0004] The technical solution adopted by the present invention is:

[0005] An automatic positioning self-threading pin device based on machine vision comprises a base frame, a cylinder bracket and a support shaft bracket for supporting a pin shaft, an adjusting mechanism for adjusting the lateral position and the height position is installed on the upper part of the base frame, and the output end of the adjusting mechanism is connected to a leveling mechanism, the adjusting mechanism comprises a pull rod and an electric push rod, the pull rod and the electric push rod are arranged longitudinally, and the lower end of the pull rod and the electric push rod are respectively connected to the cylinder bracket; a top shaft cylinder is installed in the cylinder bracket, the pin shaft is installed on the piston rod of the top shaft cylinder, and the support shaft bracket is fixed on the cylinder bracket; a linear slide module is installed in the cylinder bracket, and a visual camera is installed on the output end of the linear slide module.

[0006] The present invention detects the offset position of the center of the shaft hole by using a visual camera, and the adjustment mechanism adjusts the oil cylinder bracket up, down, left and right according to the offset position detection result, so as to realize automatic alignment of the pin shaft and the center of the shaft hole.

[0007] The oil cylinder bracket of the present invention is suspended below the adjustment mechanism through a pull rod and an electric telescopic rod, and the pull rod and the electric push rod are arranged longitudinally, and the longitudinal level of the oil cylinder bracket can be adjusted by the electric push rod. The pull rod and the electric push rod are arranged longitudinally, and the projections of the rotation axes of the two coincide in the horizontal direction, so that the oil cylinder bracket can maintain the horizontal level under the action of gravity. The oil cylinder bracket can maintain the level in both the horizontal and vertical directions, ensuring the accurate position of the pin shaft.

[0008] The present invention pushes the pin shaft to pass through the pin by means of a top shaft oil cylinder, and the support shaft bracket accurately guides the pin shaft to realize automatic reinstallation of the pin shaft, thereby greatly improving the speed of reinstallation of the pin shaft and greatly reducing the labor intensity of the staff.

[0009] As a preferred embodiment of the present invention, the adjustment mechanism includes a horizontal ball screw slide assembly, which is installed on the upper part of the base frame. The output end of the horizontal ball screw slide assembly is connected to the transverse frame, and the vertical ball screw slide assembly is installed on the transverse frame. The output end of the vertical ball screw slide assembly is installed with a lifting plate, and the pull rod and the electric push rod are respectively connected to the lifting plate.

[0010] The horizontal ball screw slide assembly can adjust the lateral position of the traverse frame, and the cylinder bracket moves laterally with the traverse frame. The vertical ball screw slide assembly can drive the lifting plate to rise and fall, thereby achieving the rise and fall of the cylinder bracket connected by the pull rod and the electric push rod. The adjustment mechanism can adjust the lateral position and vertical height of the cylinder bracket, so that the installation position of the pin shaft can be adjusted to align with the shaft hole.

[0011] As a preferred solution of the present invention, proximity switches are installed on the upper and lower parts of the transverse moving frame and the left and right sides of the base frame. The upper, lower, left and right extreme position limits of the adjustment mechanism are achieved through four proximity switches.

[0012] As a preferred solution of the present invention, a linear slide is installed on the oil cylinder bracket, an oil cylinder mounting plate is installed on the linear slide, and the top shaft oil cylinder is fixed on the oil cylinder mounting plate. The top shaft oil cylinder can move backward freely according to the force conditions.

[0013] As a preferred solution of the present invention, a cylinder reset spring is connected between the cylinder mounting plate and the cylinder bracket to facilitate automatic reset of the top shaft cylinder.

[0014] As a preferred solution of the present invention, a laser displacement sensor is also installed on the output end of the linear slide module; a ring camera light source is also installed in the oil cylinder bracket, and the ring camera light source is located in front of the lens of the visual camera. The visual camera and the laser displacement sensor are installed on the linear slide module, and the laser displacement sensor is used to detect the distance of the target object. By comparing it with the required field of view distance, the linear slide module is controlled to move forward and backward, thereby achieving a constant field of view distance of the visual camera.

[0015] As a preferred solution of the present invention, an angle sensor is installed on the top of the oil cylinder bracket. The angle sensor is used to detect the horizontality of the oil cylinder bracket. After the detection, the longitudinal horizontality of the oil cylinder bracket is adjusted by the electric push rod.

[0016] As a preferred solution of the present invention, the shaft support bracket includes a V-shaped bracket, sprocket chain transmission devices are installed on both sides of the V-shaped bracket, and the pin shaft is arranged between the two sprocket chain transmission devices.

[0017] As a preferred solution of the present invention, it also includes a hydraulic pump station, which is connected to the top shaft cylinder through a pipeline; a cantilever control box and a control cabinet are also installed on the base frame.

[0018] A method for automatically positioning a self-threading pin based on machine vision comprises the following steps:

[0019] S1: Detect the angle of the top shaft cylinder, and adjust the cylinder bracket horizontally through the electric push rod according to the measured angle of the top shaft cylinder;

[0020] S2: Detect and adjust the visual camera field of view distance;

[0021] S3: Use a visual camera to detect the center offset position of the shaft hole, and use an adjustment mechanism to adjust the cylinder bracket up, down, left, and right;

[0022] S4: Place a pin on the piston rod of the top shaft cylinder;

[0023] S5: Start the top shaft cylinder to thread the pin.

[0024] The beneficial effects of the present invention are:

[0025] 1. The present invention detects the offset position of the center of the shaft hole through a visual camera, and the adjustment mechanism adjusts the cylinder bracket up, down, left, and right according to the offset position detection result, so as to realize automatic alignment of the pin shaft and the center of the shaft hole.

[0026] 2. The oil cylinder bracket of the present invention is suspended below the adjustment mechanism through a pull rod and an electric telescopic rod, and the pull rod and the electric push rod are arranged longitudinally, and the longitudinal level of the oil cylinder bracket can be adjusted by the electric push rod. The pull rod and the electric push rod are arranged longitudinally, and the projections of the rotation axes of the two coincide in the horizontal direction. Under the action of gravity, the oil cylinder bracket can maintain the horizontal level. The oil cylinder bracket can maintain the horizontal level in both the horizontal and vertical directions, ensuring the accurate position of the pin shaft.

[0027] 3. The present invention pushes the pin shaft to pass through the pin by means of the top shaft oil cylinder, and the support shaft bracket accurately guides it to realize automatic reinstallation of the pin shaft, which greatly improves the speed of reinstallation of the pin shaft and greatly reduces the labor intensity of the staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the structure of the present invention;

[0029] Figure 2 yes Figure 1 A partial enlarged view of the middle A;

[0030] Figure 3 is a cross-sectional view of the top shaft state of the present invention;

[0031] Figure 4 It is a structural diagram of the base frame;

[0032] Figure 5 It is a structural schematic diagram of the shaft support;

[0033] Figure 6 It is a structural schematic diagram of the oil cylinder bracket;

[0034] Figure 7 It is a partial cutaway view of the oil cylinder bracket;

[0035] Figure 8 It is a structural diagram of the hydraulic pump station;

[0036] Fig. 9 It is a schematic diagram of the structure of the cantilever control box;

[0037] Fig.10 It is a control flow chart of the present invention.

[0038] In the figure: 1-base frame; 2-cylinder bracket; 3-shaft support; 4-adjustment mechanism; 5-leveling mechanism; 6-top shaft cylinder; 7-hydraulic pump station; 8-cantilever control box; 9-control cabinet; 11-base; 12-omnidirectional wheel; 21-linear slide module; 22-visual camera; 23-linear slide rail; 24-cylinder mounting plate; 25-cylinder return spring; 26-laser displacement sensor; 27-ring camera light source; 28-angle sensor; 29-top shaft in place proximity switch; 31-V-shaped bracket; 32-sprocket chain transmission device; 33-support block; 41-horizontal ball screw slide assembly ;42-transverse frame;43-vertical ball screw slide assembly;44-lifting plate;45-proximity switch;51-pull rod;52-electric push rod;71-pump station base;72-roller;73-oil tank;74-oil pump motor;75-valve block;76-distribution box;81-illuminated positioning button;82-illuminated pin button;83-stop button;84-alarm buzzer;85-emergency stop button;411-transverse stepper motor;412-transverse screw;413-transverse slide rail;431-lifting stepper motor;432-lifting screw;433-lifting guide rod;a-pin shaft;b-shaft hole. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0040] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0041] like Figure 1 to Figure 3 As shown, the automatic positioning self-threading pin device based on machine vision of this embodiment includes a base frame 1, a cylinder bracket 2 and a shaft support bracket 3 for supporting a pin shaft a, an upper part of the base frame 1 is installed with an adjusting mechanism 4 for adjusting the lateral position and the height position, the output end of the adjusting mechanism 4 is connected with a leveling mechanism 5, the adjusting mechanism 4 includes a pull rod 51 and an electric push rod 52, the pull rod 51 and the electric push rod 52 are arranged longitudinally, the lower end of the pull rod 51 and the lower end of the electric push rod 52 are respectively connected to the cylinder bracket 2; a top shaft cylinder 6 is installed in the cylinder bracket 2, the pin shaft a is installed on the piston rod of the top shaft cylinder 6, and the shaft support bracket 3 is fixed on the cylinder bracket 2; a linear slide module 21 is installed in the cylinder bracket 2, and a visual camera 22 is installed on the output end of the linear slide module 21.

[0042] The present invention detects the center offset position of the shaft hole b through a visual camera 22, and the adjustment mechanism 4 adjusts the cylinder bracket 2 up, down, left and right according to the offset position detection result to achieve automatic alignment of the pin a with the center of the shaft hole b on the ear plate.

[0043] The oil cylinder bracket 2 of the present invention is suspended below the adjustment mechanism 4 through the pull rod 51 and the electric telescopic rod, and the pull rod 51 and the electric push rod 52 are arranged longitudinally, and the longitudinal level of the oil cylinder bracket 2 can be adjusted by the electric push rod 52. The pull rod 51 and the electric push rod 52 are arranged longitudinally, and the projections of the rotation axes of the two coincide in the transverse direction, so that under the action of gravity, the oil cylinder bracket 2 can maintain the transverse level. The oil cylinder bracket 2 can maintain the level in both the transverse and longitudinal directions, ensuring the accurate position of the pin a.

[0044] The present invention pushes the pin a through the top shaft cylinder 6, and the support shaft bracket 3 accurately guides the pin a to realize automatic reinstallation of the pin a, which greatly improves the speed of reinstallation of the pin a and greatly reduces the labor intensity of the staff.

[0045] Specifically, Figure 1 to Figure 3 As shown, the adjusting mechanism 4 includes a horizontal ball screw slide assembly 41, which is installed on the upper part of the base frame 1, and the output end of the horizontal ball screw slide assembly 41 is connected to the transverse frame 42, and the transverse frame 42 is installed with a vertical ball screw slide assembly 43, and the output end of the vertical ball screw slide assembly 43 is installed with a lifting plate 44, and the pull rod 51 and the electric push rod 52 are respectively connected to the lifting plate 44.

[0046] The horizontal ball screw slide assembly 41 can adjust the lateral position of the transverse frame 42, and the cylinder bracket 2 moves laterally with the transverse frame 42. The vertical ball screw slide assembly 43 can drive the lifting plate 44 to move up and down, thereby realizing the lifting and lowering of the cylinder bracket 2 connected by the pull rod 51 and the electric push rod 52. The adjustment mechanism 4 can adjust the lateral position and vertical height of the cylinder bracket 2, so that the installation position of the pin a can be adjusted to align with the shaft hole b.

[0047] The horizontal ball screw slide assembly 41 includes a transverse stepper motor 411 installed on the upper part of the base frame 1, the output end of the transverse stepper motor 411 is connected to a transverse screw 412 through a coupling, and a transverse slider is threadedly connected to the transverse screw 412. A transverse slide rail 413 is provided on the upper part of the base frame 1, the transverse slider is sleeved on the transverse slide rail 413, and the transverse frame 42 is fixed on the transverse slider.

[0048] The vertical ball screw slide assembly 43 includes a lifting stepper motor 431 installed on the top of the lateral frame 42. The output end of the lifting stepper motor 431 is connected to a lifting screw 432 through a coupling. A lifting block is threadedly connected to the lifting screw 432. The lifting plate 44 is fixed to the lifting block. A plurality of lifting guide rods 433 are fixed to the lateral frame 42. The lifting guide rods 433 are inserted into the lifting plate 44.

[0049] Furthermore, proximity switches 45 are installed on the upper and lower parts of the transverse moving frame 42 and the left and right sides of the base frame 1. The upper, lower, left and right extreme position limits of the adjustment mechanism 4 are realized by four proximity switches 45.

[0050] like Figure 3 , Figure 6 and Figure 7As shown, the unit composed of the cylinder bracket 2 and the top shaft cylinder 6 serves as the main actuator of the pin-threading device, which undertakes the functions of supporting the pin shaft a, visual positioning and top shaft. The support shaft bracket 3 is installed at the front of the internal mounting plate of the cylinder bracket 2, and the rear of the cylinder bracket 2 is installed with a linear slide rail 23. The cylinder mounting plate 24 is installed on the linear slide rail 23, and the top shaft cylinder 6 is fixed on the cylinder mounting plate 24. The top shaft cylinder 6 can move backward freely according to the force conditions. A cylinder reset spring 25 is connected between the cylinder mounting plate 24 and the cylinder bracket 2 to facilitate the automatic reset of the top shaft cylinder 6.

[0051] Furthermore, a laser displacement sensor 26 is installed on the output end of the linear slide module 21; a ring camera light source 27 is installed in the cylinder bracket 2, and the ring camera light source 27 is located in front of the lens of the visual camera 22. The visual camera 22 and the laser displacement sensor 26 are installed on the linear slide module 21, and the laser displacement sensor 26 is used to detect the distance of the target object, and the linear slide module 21 is controlled to move forward and backward by comparing it with the required field of view distance, so as to achieve a constant field of view distance of the visual camera 22.

[0052] An angle sensor 28 is installed on the top of the oil cylinder bracket 2. The angle sensor 28 is used to detect the horizontality of the oil cylinder bracket 2. After the detection, the longitudinal horizontality of the oil cylinder bracket 2 is adjusted by the electric push rod 52.

[0053] A jacking shaft in place proximity switch 29 is also installed on the oil cylinder bracket 2. The jacking shaft oil cylinder 6 pushes the pin a to move until the jacking shaft in place proximity switch 29 moves.

[0054] like Figure 4 As shown, the base frame 1 is composed of a base 11 and omnidirectional wheels 12. Four omnidirectional wheels 12 are installed at the bottom of the base 11 to achieve omnidirectional movement of the device. Handles are provided on the left and right sides of the base 11 to facilitate the push-pull movement of the device. The upper part of the base 11 is provided with mounting holes for the lateral stepping motor 411 and the horizontal ball screw slide assembly 41 to meet the installation of the adjustment mechanism 4.

[0055] like Figure 5 As shown, the shaft support bracket 3 includes a V-shaped bracket 31, and sprocket chain transmission devices 32 are installed on both sides of the V-shaped bracket 31, and the pin a is arranged between the two sprocket chain transmission devices 32. Support blocks 33 are installed at intervals on the sprocket chain transmission devices 32, which are symmetrically installed on both sides of the V-shaped bracket 31. The support blocks 33 are used to support the pin a, and the boss of the pin a is placed at the interval of the support blocks 33. This structure can realize the horizontal placement of the pin a with the boss.

[0056] like Figure 8As shown, the present invention also includes a hydraulic pump station 7, which is connected to the top shaft cylinder 6 through a pipeline. The hydraulic pump station 7 is mainly composed of a movable trolley, a pump station, and a distribution box 76. A roller 72 is arranged below the pump station base 71, and a pump station, a distribution box 76 and a handle for easy push-pull movement are installed above the pump station base 71. The pump station is mainly composed of an oil cylinder, an oil pump motor 74 and a valve block 75. The hydraulic pump station 7 serves as the main power source for the top shaft of the pin-threading device, and is connected to the pin-threading device through an aviation cable and a quick-connect high-pressure hose.

[0057] like Fig. 9 As shown, a cantilever control box 8 and a control cabinet 9 are also installed on the base frame 1. The cantilever control box 8 is installed on a column of the base frame 1, and a control cabinet 9 is installed on the opposite side. The cantilever control box 8 is provided with a touch screen and a lighted positioning button 81, a lighted pin insertion button 82, a stop button 83, an alarm buzzer 84, and an emergency stop button 85 for operation and display. A handle is provided above the control cabinet 9 to facilitate the push-pull movement of the pin insertion device.

[0058] like Fig.10 As shown, the automatic positioning self-threading pin method based on machine vision of this embodiment includes the following steps:

[0059] S1: Detect the angle of the top shaft oil cylinder 6, and adjust the oil cylinder bracket 2 horizontally through the electric push rod 52 according to the measured angle of the top shaft oil cylinder 6;

[0060] S2: Detect and adjust the field of view distance of the visual camera 22;

[0061] S3: Detect the center offset position of the shaft hole b through the visual camera 22, and adjust the cylinder bracket 2 up, down, left, and right through the adjustment mechanism 4;

[0062] S4: Place a pin a on the piston rod of the top shaft cylinder 6;

[0063] S5: Start the top shaft cylinder 6 to thread the pin a.

[0064] Working principle:

[0065] The device of the present invention is equipped with omnidirectional wheels 12, which can realize the omnidirectional movement of the device. The pump station is connected to the top shaft cylinder 6 through an aviation cable and a quick-connect high-pressure hose. The reference hole position is identified once when it is used for the first time, and the positioning and pinning process of the shaft hole b can be automatically completed later. When pinning, push the pinning device into the working position, press the positioning button on the cantilever control box 8, the positioning indicator light flashes, and at the same time, the adjustment mechanism 4 first performs horizontal adjustment and the visual camera 22 field of view distance adjustment, and then adjusts up, down, left and right while shooting and identifying, until the adjustment and positioning meet the requirements, and the positioning light is always on; then place the pin a to the shaft support bracket 3, press the pinning button, the pinning indicator light flashes, and at the same time the oil pump is started, the pinning solenoid valve is actuated, and the top shaft cylinder 6 starts to top the shaft. After the top shaft is in place, the pinning indicator light is always on, and the top shaft cylinder 6 starts to retract. After the top shaft cylinder 6 is retracted into place, the pump is stopped, and the process ends.

[0066] When setting the benchmark, push the pin-threading device into the working position, operate the electric push rod 52 to manually adjust the level of the cylinder bracket 2, operate the linear slide module 21 to adjust the field of view distance of the visual camera 22, operate the adjustment mechanism 4 to align the center of the shaft support 3 with the center of the shaft hole b, and then the camera benchmark image can be captured and registered, and the camera detection setting can be performed, thus completing the positioning benchmark setting of the shaft hole b of the pin-threading device.

[0067] like Fig. 9 As shown, the automatic pinning control process of the pinning device is: select automatic pinning → detect whether there is a stop command → stop each mechanism if there is → detect whether there is a positioning command if there is → adjust the bracket horizontally according to the angle detected by the angle sensor 28, and adjust the camera field of view distance according to the distance detected by the laser displacement sensor 26 → after the horizontal adjustment and the camera field of view distance adjustment are completed, detect the center offset position of the shaft hole b and adjust the bracket up, down, left and right → no fault, limit, or emergency stop → continue to perform positioning adjustment until positioning is completed → place the pin a → detect whether there is a pinning command → start the pump station if there is → the solenoid valve of the top shaft cylinder 6 extends actuates → detect whether the pin is in place → the proximity switch 45 of the pin in place is actuated → the solenoid valve of the top shaft cylinder 6 extends resets, and the solenoid valve of the top shaft cylinder 6 retracts actuates → detect whether the top shaft cylinder 6 is retracted in place → the proximity switch 45 of the top shaft cylinder 6 retracts in place is actuated → stop each mechanism, and the process ends.

[0068] The pin-penetrating device is equipped with a human-machine interactive touch screen, which can display the status of each mechanism of the pin-penetrating device in real time, and can realize automatic and manual control of the pin-penetrating device, and can also record the fault alarm information of the pin-penetrating device.

[0069] The present invention is not limited to the above-mentioned optional implementation modes. Anyone can derive other various forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, all technical solutions that fall within the scope defined by the claims of the present invention fall within the protection scope of the present invention.

Claims

1. An automatic positioning self-threading pin device based on machine vision, characterized in that: The invention comprises a base frame (1), a cylinder bracket (2) and a shaft support bracket (3) for supporting a pin shaft (a); an adjusting mechanism (4) for adjusting the lateral position and the height position is installed on the upper part of the base frame (1); the output end of the adjusting mechanism (4) is connected to a leveling mechanism (5); the adjusting mechanism (4) comprises a pull rod (51) and an electric push rod (52); the pull rod (51) and the electric push rod (52) are arranged longitudinally; the lower end of the pull rod (51) and the lower end of the electric push rod (52) are respectively connected to the cylinder bracket (2); a top shaft cylinder (6) is installed in the cylinder bracket (2); the pin shaft (a) is installed on the piston rod of the top shaft cylinder (6); the shaft support bracket (3) is fixed on the cylinder bracket (2); a linear slide module (21) is installed in the cylinder bracket (2); a visual camera (22) is installed on the output end of the linear slide module (21).

2. The automatic positioning self-threading pin device based on machine vision according to claim 1, characterized in that: The adjustment mechanism (4) comprises a horizontal ball screw slide assembly (41), the horizontal ball screw slide assembly (41) is installed on the upper part of the base frame (1), the output end of the horizontal ball screw slide assembly (41) is connected to a transverse frame (42), a vertical ball screw slide assembly (43) is installed on the transverse frame (42), a lifting plate (44) is installed at the output end of the vertical ball screw slide assembly (43), and a pull rod (51) and an electric push rod (52) are respectively connected to the lifting plate (44).

3. The automatic positioning self-threading pin device based on machine vision according to claim 2, characterized in that: Proximity switches (45) are installed on the upper and lower parts of the transverse moving frame (42) and on the left and right sides of the base frame (1).

4. The automatic positioning self-threading pin device based on machine vision according to claim 1, characterized in that: A linear slide rail (23) is installed on the oil cylinder bracket (2), an oil cylinder mounting plate (24) is installed on the linear slide rail (23), and the top shaft oil cylinder (6) is fixed on the oil cylinder mounting plate (24).

5. The automatic positioning self-threading pin device based on machine vision according to claim 4, characterized in that: A cylinder return spring (25) is connected between the cylinder mounting plate (24) and the cylinder bracket (2).

6. The automatic positioning self-threading pin device based on machine vision according to claim 1, characterized in that: A laser displacement sensor (26) is also installed on the output end of the linear slide module (21); an annular camera light source (27) is also installed in the cylinder bracket (2), and the annular camera light source (27) is located in front of the lens of the visual camera (22).

7. The automatic positioning self-threading pin device based on machine vision according to claim 1, characterized in that: An angle sensor (28) is installed on the top of the oil cylinder bracket (2).

8. The automatic positioning self-threading pin device based on machine vision according to claim 1, characterized in that: The shaft support bracket (3) comprises a V-shaped bracket (31), sprocket chain transmission devices (32) are installed on both sides of the V-shaped bracket (31), and the pin shaft (a) is arranged between the two sprocket chain transmission devices (32).

9. The automatic positioning self-threading pin device based on machine vision according to claim 1, characterized in that: It also includes a hydraulic pump station (7), which is connected to the top shaft cylinder (6) through a pipeline; and a cantilever control box (8) and a control cabinet (9) are also installed on the base frame (1).

10. A method for automatically positioning a self-threading pin based on machine vision, using the automatic positioning self-threading pin device based on machine vision according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: Detect the angle of the top shaft oil cylinder (6), and adjust the oil cylinder bracket (2) horizontally through the electric push rod (52) according to the measured angle of the top shaft oil cylinder (6); S2: Detect and adjust the field of view distance of the visual camera (22); S3: Detect the center offset position of the shaft hole (b) by using a visual camera (22), and adjust the cylinder bracket (2) up, down, left, or right by using an adjustment mechanism (4); S4: Place a pin (a) on the piston rod of the jacking cylinder (6); S5: Start the jacking cylinder (6) to push the pin (a) through.

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