Automatic feeding device for half shaft production line

Abstract

The invention provides an automatic feeding device for a half shaft production line. The automatic feeding device comprises a supporting frame; the bearing table is obliquely arranged on the supporting frame and used for placing a half shaft workpiece to be fed; the pre-feeding table is horizontally arranged on the supporting frame and is close to the bottom end of the bearing table; the station is arranged on the pre-feeding table; the at least one limiting plate is arranged on the pre-feeding table; the driving assembly is arranged on the supporting frame and used for pushing the half shaft workpiece on the bearing table to the station; and the mechanical arm is used for grabbing the half-shaft workpieces on the stations to the half-shaft production line. Through cooperative operation of the driving assembly (the telescopic air cylinder and the top push rod) and the mechanical arm, full automation from workpiece pushing, positioning to grabbing is achieved, and compared with manual carrying, the feeding efficiency is remarkably improved, and it is guaranteed that the feeding position is accurate every time. By means of the improvement, machining errors caused by positioning deviation are directly reduced, and the geometric accuracy and the assembling performance of a finished half shaft product are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic feeding, and particularly relates to an automatic feeding device for a half - shaft production line. Background Art

[0002] In the field of half - shaft production, the traditional feeding method has long relied on manual operation, that is, workers manually carry half - shaft workpieces from the storage area to the processing station on the production line. However, with the continuous improvement of the requirements for production efficiency, processing accuracy and production safety in the automotive manufacturing industry, this manual feeding mode has gradually exposed many insurmountable defects. Manual handling of half - shaft workpieces depends on the physical strength and operation proficiency of workers. The feeding cycle for a single batch is relatively long and is easily affected by the degree of fatigue. According to statistics, the manual feeding efficiency is only 30% - 40% of that of automated equipment, which severely restricts the overall production capacity improvement of the half - shaft production line.

[0003] Half - shaft workpieces are usually made of metal, with a large mass and irregular shape. During manual handling, it is easy for the workpieces to fall off due to unstable center of gravity, resulting in work - related accidents such as bruising and scratching. According to industry safety reports, the accident incidence rate in the manual handling link of the half - shaft production line is 2.3 times that of other links. Manual placement of workpieces relies on visual judgment, and it is difficult to ensure that the position, angle of each feeding exactly match the processing requirements of the production line. This positioning deviation will cause benchmark deviation in subsequent processing operations (such as turning and grinding), directly affecting the geometric accuracy and assembly performance of the half - shaft finished products. Summary of the Invention

[0004] The present invention aims to at least solve the technical problem of low feeding efficiency in the existing technology, and particularly innovatively proposes an automatic feeding device for a half - shaft production line.

[0005] To achieve the above object of the present invention, the present invention provides an automatic feeding device for a half - shaft production line, and the device includes:

[0006] A support frame;

[0007] A carrying platform, which is inclinedly arranged on the support frame and is used for placing half - shaft workpieces to be fed;

[0008] A pre - feeding platform, which is horizontally arranged on the support frame and is close to the bottom end of the carrying platform;

[0009] A working station, which is arranged on the pre - feeding platform;

[0010] At least one limiting plate, which is arranged on the pre - feeding platform;

[0011] A driving assembly, which is arranged on the support frame and is used for pushing the half - shaft workpieces on the carrying platform to the working station; and

[0012] The robotic arm is used to grab the half - shaft workpiece on the said work - station onto the half - shaft production line.

[0013] As an alternative embodiment of the present invention, optionally, the driving assembly includes:

[0014] A telescopic cylinder, arranged on the support frame;

[0015] A top push rod, arranged on the output shaft of the telescopic cylinder, for pushing the half - shaft workpiece near the limit plate into the work - station.

[0016] As an alternative embodiment of the present invention, optionally, the work - station includes at least two concave rollers movably arranged on the pre - loading table, and all the concave rollers are linearly arranged on the pre - loading table.

[0017] As an alternative embodiment of the present invention, optionally, the device further includes a positioning assembly, and the positioning assembly is used to position the half - shaft workpiece on the work - station.

[0018] As an alternative embodiment of the present invention, optionally, the positioning assembly includes:

[0019] A positioning plate, arranged at one end of the pre - loading table;

[0020] A locator, arranged on the positioning plate, for positioning the half - shaft workpiece;

[0021] A baffle, vertically arranged at the other end of the pre - loading table, for assisting the locator to position the half - shaft workpiece;

[0022] A signal detector, arranged on the top of the baffle, for detecting whether there is a half - shaft workpiece on the work - station;

[0023] When the signal detector detects that there is a half - shaft workpiece on the work - station, the signal detector sends an action signal to the locator, and the locator positions the half - shaft workpiece.

[0024] As an alternative embodiment of the present invention, optionally, the device further includes a positioning detection module and an alarm module;

[0025] The positioning detection module is electrically connected to the locator, the alarm module and the robotic arm, and is used to receive the positioning - completed signal of the locator;

[0026] After receiving the positioning completion signal, the positioning detection module detects the half shaft workpiece after being positioned by the positioner, and determines whether the half shaft workpiece is in the set positioning position; if the half shaft workpiece is in the set positioning position, the positioning detection module sends a grasping signal to the robotic arm, and after receiving the grasping signal, the robotic arm grasps the half shaft workpiece on the workbench to the half shaft production line;

[0027] When the positioning detection module detects that the half shaft workpiece is not in the set positioning position, the positioning detection module sends a repositioning signal to the positioner. After the positioner repositions the half shaft workpiece, the positioning detection module detects the position of the repositioned half shaft workpiece again. If the half shaft workpiece is still not in the set positioning position, the positioning detection module sends an alarm command to the alarm module, and the alarm module starts to alarm.

[0028] As an optional embodiment of the present invention, optionally, the positioning detection module uses an image recognition algorithm to detect the position of the half shaft workpiece;

[0029] The expression of the image recognition algorithm is:

[0030] S = ω 1 ·Φ shape + ω 2 ·Ψ texture + ω 3 ·Ω orientation ,

[0031]

[0032]

[0033] Ω orientation = γ·cosθ orientation ·δ position ,

[0034]

[0035] S ≥ τ threshold ;

[0036] Among them, S represents the matching degree function, ω 1 represents the weight of the shape constraint term, Φ shape represents the shape constraint term, ω 2 represents the weight of the texture feature term, Ψ texture represents the texture feature term, ω 3 represents the weight of the position constraint term, Ω orientation represents the position constraint term, N represents the total order, F k (M) represents the k-th order Fourier coefficient of the model M, Fk (I) represents the k-th order Fourier coefficient of image I, α represents the shape sensitivity coefficient, d Hausdorff represents the Hausdorff distance, exp() represents the exponential function, β represents the texture weight coefficient, ||v M -v I ‖ represents the Euclidean distance between model M and the image texture feature vector v I of, σ texture represents the standard deviation of texture features, γ represents the direction sensitivity coefficient, cosθ orientation represents the cosine value of the angle between the actual main axis and the theoretical main axis, δ position represents the entropy weight coefficient of the position deviation, p real represents the actual position vector, p model represents the theoretical position vector, Area(D) represents the area of the detection region, D represents the detection region, τ threshold represents the dynamic threshold.

[0037] As an alternative embodiment of the present invention, optionally, the device further includes at least one backing plate for restricting the movement of the half-axis workpiece on the work station.

[0038] As an alternative embodiment of the present invention, optionally, the device further includes a cover;

[0039] The cover is disposed on the carrier table and close to the limiting plate, and the distance between the cover and the limiting plate is greater than the diameter of the half-axis workpiece.

[0040] As an alternative embodiment of the present invention, optionally, the cover has a cuboid structure, and the height of the cover is greater than the diameter of the half-axis workpiece but less than twice the diameter of the half-axis workpiece.

[0041] Advantages of the present invention: By using the collaborative operation of the driving component (telescopic cylinder + push rod) and the robotic arm, the present invention realizes full automation from workpiece pushing, positioning to grasping. Compared with manual handling, it not only significantly improves the feeding efficiency, but also ensures the accuracy of each feeding position. This improvement directly reduces the processing error caused by positioning deviation, and improves the geometric accuracy and assembly performance of the half-axis finished product. In addition, the designed backing plate in the device effectively restricts the movement of the half-axis workpiece on the work station, further enhancing the stability of positioning. The setting of the cover, on the other hand, cleverly prevents the accidental detachment of the workpiece during the pushing process, improving the safety of the operation.

[0042] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. Description of the Drawings

[0043] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the following description of embodiments in conjunction with the accompanying drawings, in which:

[0044] Figure 1 is a side view of an automatic feeding device for a half shaft production line according to the present invention;

[0045] Figure 2 is a top view of an automatic feeding device for a half shaft production line according to the present invention;

[0046] Figure 3 is a usage state diagram of an automatic feeding device for a half shaft production line according to the present invention;

[0047] Figure 4 is a structural diagram of an automatic feeding device for a half shaft production line according to the present invention;

[0048] Figure 5 is a schematic structural diagram of a driving assembly of an automatic feeding device for a half shaft production line according to the present invention;

[0049] Figure 6 is a side view of a top push rod of an automatic feeding device for a half shaft production line according to the present invention.

[0050] In the figure: 1, support frame; 2, bearing table; 3, pre-feeding table; 4, half shaft workpiece; 5, cover; 6, limiting plate; 7, concave roller; 8, abutting plate; 9, telescopic cylinder; 10, top push rod; 11, positioning plate; 12, locator; 13, baffle plate; 14, signal detector. Detailed Description of the Embodiment

[0051] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0052] As Figure 1 shown, an automatic feeding device for a half shaft production line, the device includes:

[0053] Support frame 1; The support frame is made of metal material and is used to support the whole device;

[0054] Bearing table 2, which is inclined and arranged on the support frame 1 and is used to place the half shaft workpiece 4 to be fed;

[0055] As Figure 1 and 2As shown, in this embodiment, the carrier 2 is a grid-shaped support platform for placing the half shaft workpiece 4 for loading; the inclination angle of the carrier 2 is less than 45 degrees, facilitating the half shaft workpiece 4 to slide downward along the carrier 2 under its own gravity to the pre-loading table 3.

[0056] The pre-loading table 3 is horizontally arranged on the support frame 1 and is close to the bottom end of the carrier 2;

[0057] As Figure 1 、 2 and Figure 3 show that the pre-loading table 3 is horizontally arranged on the support frame 1 and is close to the bottom end of the carrier 2, and is used to receive the half shaft workpiece 4 sliding down from the carrier 2.

[0058] The working station is arranged on the pre-loading table 3;

[0059] As Figure 3 shown, a working station is arranged on the pre-loading table 3, and the working station is used for temporarily placing the half shaft workpiece 4 for subsequent grasping operations.

[0060] At least one limiting plate 6 is arranged on the pre-loading table 3;

[0061] As Figure 1 and 2 shown, in this embodiment, three limiting plates 6 are welded on the pre-loading table 3. The limiting plates 6 are specifically installed between the working station and the carrier 2. The limiting plates 6 are used for limiting the half shaft workpiece 4 to prevent the half shaft workpiece 4 from sliding or deviating from the predetermined track due to gravity. The height of the limiting plates 6 can be adjusted according to the specifications of the half shaft workpiece 4 to meet the loading requirements of different sizes of half shaft workpieces 4.

[0062] The driving assembly is arranged on the support frame 1 and is used for pushing the half shaft workpiece 4 on the carrier 2 to the working station;

[0063] As Figure 1 、 3 、Figure 4 and Figure 5 show that the driving assembly includes a telescopic cylinder 9 and a top push rod 10. The telescopic cylinder 9 is vertically installed on the support frame 1 by screws, and the top push rod 10 is vertically installed on the output shaft of the telescopic cylinder 9. When the telescopic cylinder 9 is started, its output shaft extends, driving the top push rod 10 to move upward, thereby pushing the first half shaft workpiece 4 close to the limiting plate 6 into the working station. As Figure 6 shown, the top of the top push rod 10 is an arc-shaped structure. The use of the arc-shaped structure enables, when the top push rod 10 pushes the half shaft workpiece 4 at its top to a height greater than the height of the limiting plate 6, the half shaft workpiece 4 to roll through the top of the limiting plate 6 under the action of its own gravity, so that the half shaft workpiece 4 can smoothly reach the working station. The top of the limiting plate 6 is a slope structure.

[0064] The robotic arm is used to grab the half - shaft workpiece 4 on the said station to the half - shaft production line.

[0065] The robotic arm (not shown in the figure) is installed on one side of the station and is used to grab the half - shaft workpiece 4 on the station to the half - shaft production line. The robotic arm has a flexible grasping mechanism and an accurate motion control system, which can accurately grab the half - shaft workpiece 4 on the station and place it at the designated position on the half - shaft production line. The use of the robotic arm not only improves the feeding efficiency but also ensures the accuracy of the feeding position.

[0066] When the automatic feeding device for the half - shaft production line in this embodiment is in use, first, the half - shaft workpiece 4 is manually placed on the bearing table 2. Due to its own gravity, the half - shaft workpiece 4 rolls to the limiting plate 6. At this time, the telescopic cylinder 9 is activated, driving the top push rod 10 to push the first half - shaft workpiece 4 into the station. The concave rollers 7 on the station are designed such that the half - shaft workpiece 4 can easily roll to the designated position, facilitating the grasping by the robotic arm. At the same time, the limiting plate 6 and the abutting plate 8 work together to effectively prevent the half - shaft workpiece 4 from shifting on the station, ensuring the stability and accuracy of each feeding. When the half - shaft workpiece 4 on the station is taken away by the robotic arm, the telescopic cylinder 9 is activated again to push the next half - shaft workpiece 4 into the station, and so on, realizing the continuous automatic feeding of the half - shaft workpiece 4. The whole process does not require manual intervention, greatly improving the production efficiency.

[0067] As an alternative embodiment of the present invention, optionally, the driving assembly includes:

[0068] The telescopic cylinder 9 is arranged on the support frame 1;

[0069] The top push rod 10 is arranged on the output shaft of the telescopic cylinder 9 and is used to push the half - shaft workpiece 4 near the limiting plate 6 into the station, so that when the top push rod 10 pushes the half - shaft workpiece 4 upward, with the assistance of the limiting plate 6, the half - shaft workpiece 4 can be pushed upward.

[0070] As Figure 1 、 5 As shown in and 6, the top push rod 10 of this embodiment is of a concave structure. The middle of the bottom of the top push rod 10 is fixed to the output shaft of the telescopic cylinder 9 by welding. When in use, the telescopic cylinder 9 is activated, and the output shaft of the telescopic cylinder 9 extends, driving the top push rod 10 to move upward. Since the top push rod 10 is of a concave structure, the half - shaft workpiece 4 is pushed upward through two points, improving the stability of the half - shaft workpiece 4 during the upward pushing process.

[0071] As an alternative embodiment of the present invention, optionally, the station includes at least two concave rollers 7 movably arranged on the pre - feeding table 3, and all the concave rollers 7 are linearly arranged on the pre - feeding table 3.

[0072] As shown Figure 2 and 3 in the figure, in this embodiment, three concave rollers 7 are installed on the pre-loading table 3 through bearings. They are all installed in the vertical direction and linearly arranged along the length direction of the pre-loading table 3. This enables the half shaft workpiece 4 to stably fall on the concave points (work positions) of the three concave rollers 7 when being pushed by the ejector rod 10, facilitating subsequent rolling and grasping operations. The design of the concave rollers 7 not only improves the stability of the half shaft workpiece 4 at the work position, but also enables the half shaft workpiece 4 to easily roll to the designated position, reducing the difficulty and time of the manipulator during the grasping process. In addition, the surface of the concave rollers 7 is made of wear-resistant material, improving its service life, durability and friction force.

[0073] As an optional embodiment of the present invention, optionally, the device further includes a positioning component for positioning the half shaft workpiece 4 at the work position.

[0074] The positioning component includes:

[0075] A positioning plate 11 is arranged at one end of the pre-loading table 3; the positioning plate 11 is a cuboid structure and is horizontally installed on one side of the pre-loading table 3 by welding.

[0076] A positioner 12 is arranged on the positioning plate 11 for positioning the half shaft workpiece 4;

[0077] As shown Figure 2 and 3 in the figure, the positioner 12 of this embodiment is a telescopic rod. The output shaft of the telescopic rod pushes the half shaft workpiece 4 at the concave points (work positions) of the three concave rollers 7 forward, so that the tail of the half shaft workpiece 4 reaches the baffle 13, and then the half shaft workpiece 4 reaches the preset manipulator grasping position. The direction of the output shaft of the positioner 12 is aligned with the concave points (work positions) of the three concave rollers 7 and is higher than the concave points (work positions) of the three concave rollers 7, enabling the output shaft of the positioner 12 to accurately position the half shaft workpiece 4. A buffer pad made of soft material is arranged on the output shaft of the positioner 12 to prevent the output shaft of the positioner 12 from scratching or damaging the surface of the half shaft workpiece 4 when pushing the half shaft workpiece 4. The design of the buffer pad not only improves the positioning accuracy, but also protects the surface quality of the half shaft workpiece 4, ensuring the integrity of the half shaft workpiece 4 during subsequent processing.

[0078] A baffle 13 is vertically arranged at the other end of the pre-loading table 3 for assisting the positioner 12 in positioning the half shaft workpiece 4;

[0079] As shown Figure 2 and 3As shown in the figure, the baffle 13 is vertically welded to the other side of the pre-loading table 3. The height of the baffle 13 is greater than the diameter of the half shaft workpiece 4, and it can accurately block the half shaft workpiece 4 pushed by the positioner 12, thereby positioning the half shaft workpiece 4.

[0080] A signal detector 14 is arranged on the top of the baffle 13 and is used to detect whether there is a half shaft workpiece 4 at the station. The signal detector 14 in this embodiment is an infrared sensor. When the half shaft workpiece 4 reaches the baffle 13, the infrared sensor can detect the presence of the half shaft workpiece 4 and transmit the signal to the positioner 12, and the positioner 12 positions the half shaft workpiece 4.

[0081] When the signal detector 14 detects that there is a half shaft workpiece 4 at the station, the signal detector 14 sends an action signal to the positioner 12, and the positioner 12 positions the half shaft workpiece 4.

[0082] As Figure 1 、 2 As shown in Figures 3, 4 and 5, during use, the first half shaft workpiece 4 close to the limit plate 6 is pushed towards the station by the driving assembly through the limit plate 6, and the half shaft workpiece 4 falls at the concave point of the concave roller 7. At this time, the signal detector 14 detects the presence of the half shaft workpiece 4 and immediately sends an action signal to the positioner 12. After receiving the signal, the positioner 12 starts after a delay of about one second to ensure that the half shaft workpiece 4 has fallen at the concave point of the concave roller 7. Then the output shaft of the positioner 12 extends, pushing the half shaft workpiece 4 to slide forward along the concave roller 7 until the tail of the half shaft workpiece 4 is closely attached to the baffle 13, and then the robotic arm starts to grasp the half shaft workpiece 4. This design ensures the precise positioning of the half shaft workpiece 4 at the station, providing great convenience for the subsequent grasping operation of the robotic arm. The entire positioning process is rapid and accurate, further improving the working efficiency and stability of the automatic loading device.

[0083] As an optional embodiment of the present invention, optionally, the device further includes a positioning detection module (the specific position can be set according to needs, and this embodiment does not make a limitation) and an alarm module;

[0084] The positioning detection module is electrically connected to the positioner 12, the alarm module and the robotic arm, and is used to receive the positioning completed signal of the positioner 12;

[0085] After receiving the positioning completed signal, the positioning detection module detects the half shaft workpiece 4 positioned by the positioner 12 to judge whether the half shaft workpiece 4 is in the set positioning position; if the half shaft workpiece 4 is in the set positioning position, the positioning detection module sends a grasping signal to the robotic arm, and after receiving the grasping signal, the robotic arm grasps the half shaft workpiece 4 at the station to the half shaft production line;

[0086] When the positioning detection module detects that the half - shaft workpiece 4 is not in the set positioning position, the positioning detection module sends a re - positioning signal to the positioner 12. After the positioner 12 re - positions the half - shaft workpiece 4, the positioning detection module detects the position of the re - positioned half - shaft workpiece 4 again. If the half - shaft workpiece 4 is still not in the set positioning position, the positioning detection module sends an alarm command to the alarm module, and the alarm module starts to alarm.

[0087] It should be noted that the alarm module (not shown in the figure) in this embodiment is an alarm (the specific installation position is not limited and can be set according to needs), which is electrically connected to the positioning detection module. It is used to detect after the positioning detection module positions the half - shaft workpiece 4 after the second positioning by the positioner 12. When it is found that the half - shaft workpiece 4 is still not in the set positioning position, the alarm module is activated to send out an audible and visual alarm signal to remind the operator to pay attention, so as to check and handle the positioning error problem in time. This design further enhances the reliability and safety of the automatic feeding device and ensures the stable operation of the production line.

[0088] The positioning detection module specifically detects the position of the half - shaft workpiece 4 through an image recognition algorithm. When detecting, the positioning detection module first takes photo data of the half - shaft workpiece 4 at the working station through a micro - camera installed on the top of the baffle 13. The positioning detection module pre - processes the photo data, and the pre - processing includes operations such as denoising and enhancing contrast to improve the image quality for subsequent image recognition. Then, the positioning detection module uses the image recognition algorithm to extract features from the pre - processed photo data, and identifies the contour and position information of the half - shaft workpiece 4. Then, the positioning detection module compares the identified position information of the half - shaft workpiece 4 with the preset positioning position to determine whether the half - shaft workpiece 4 is in the set positioning position. The application of this image recognition algorithm not only improves the accuracy and efficiency of positioning detection, but also enhances the intelligent level of the automatic feeding device, making the entire feeding process more automated and precise.

[0089] As an alternative embodiment of the present invention, optionally, the positioning detection module uses an image recognition algorithm to detect the position of the half - shaft workpiece 4;

[0090] The expression of the image recognition algorithm is:

[0091] S = ω 1 ·Φ shape +ω 2 ·Ψ texture +ω 3 ·Ω orientation ,

[0092]

[0093]

[0094] Ω orientation = γ·cosθ orientation ·δ position ,

[0095]

[0096] S ≥ τ threshold ;

[0097] Wherein, S represents the matching degree function;

[0098] ω 1 represents the weight of the shape constraint term;

[0099] Φ shape represents the shape constraint term;

[0100] ω 2 represents the weight of the texture feature term;

[0101] Ψ texture represents the texture feature term;

[0102] ω 3 represents the weight of the position constraint term;

[0103] Ω orientation represents the position constraint term;

[0104] N represents the total order;

[0105] F k (M) represents the k-th order Fourier coefficient of model M;

[0106] F k (I) represents the k-th order Fourier coefficient of image I;

[0107] α represents the shape sensitivity coefficient (adaptively adjusted according to the workpiece diameter);

[0108] d Hausdorff represents the Hausdorff distance, used to measure the maximum deviation of the contour;

[0109] exp() represents the exponential function;

[0110] β represents the texture weight coefficient (dynamically adjusted according to the light intensity);

[0111] ||v M - v I || represents the Euclidean distance between model M and the image texture feature vector v I ; σ texture represents the standard deviation of the texture feature (obtained by statistical analysis through a sliding window); γ represents the direction sensitivity coefficient;

[0112] cosθ orientation Represents the cosine value of the angle between the actual main axis and the theoretical main axis;

[0113] δ position Represents the entropy weight coefficient of the position deviation;

[0114] p real Represents the actual position vector;

[0115] p model Represents the theoretical position vector;

[0116] Area(D) represents the area of the detection region;

[0117] D represents the detection region;

[0118] τ threshold Represents the dynamic threshold (adjusted according to the moving average of the previous N detection results).

[0119] The image recognition algorithm of this embodiment constructs a matching function that couples multiple physical quantities, which significantly improves the robustness against illumination changes and slight workpiece deformations while ensuring the detection accuracy.

[0120] The image recognition algorithm matches the two-dimensional image features with the projection of the three-dimensional CAD model of the workpiece. When matching, it judges whether S≥τ threshold holds. If it holds, it indicates a successful match. The positioning detection module takes the position information of the identified half-shaft workpiece 4 as the final positioning result and sends a grasping signal to the robotic arm. This matching strategy not only improves the positioning accuracy but also effectively reduces the probabilities of false alarms and missed detections, further enhancing the reliability and stability of the automatic loading device. If the matching degree determined by the image recognition algorithm does not meet the preset conditions, it indicates a failed match. The positioning detection module then sends a repositioning signal to the positioner 12. The positioner 12 reorients the half-shaft workpiece 4 according to the repositioning signal, and the positioning detection module uses the image recognition algorithm again to detect the position of the repositioned half-shaft workpiece 4 until the matching conditions are met or the alarm mechanism is triggered. This process of cyclic detection and positioning ensures that each half-shaft workpiece 4 can be accurately positioned, providing strong guarantee for subsequent production and processing.

[0121] As an alternative embodiment of the present invention, optionally, the device further includes at least one backing plate 8, and the backing plate 8 is used to restrict the movement of the half-shaft workpiece 4 on the work station.

[0122] Such as Figure 2 and 3As shown, in this embodiment, it is fixed on the pre-loading table by welding. In this embodiment, three abutment plates 8 are installed linearly. When the half shaft workpiece 4 quickly rolls from the top of the limit plate 6 to the working station, they are used to prevent the half shaft workpiece 4 from rolling out of the working station due to inertia. The setting of the abutment plates 8 effectively restricts the movement of the half shaft workpiece 4 on the working station, further improving the stability of the half shaft workpiece 4 on the working station. The height of the abutment plates 8 is greater than the total length of the height of the concave roller 7 plus the diameter of the half shaft workpiece 4, ensuring that the half shaft workpiece 4 can roll smoothly to the concave point of the concave roller 7, and at the same time effectively blocking the continuous rolling of the half shaft workpiece 4 due to inertia.

[0123] As an alternative embodiment of the present invention, optionally, the device further includes a cover 5;

[0124] The cover 5 is arranged on the carrier table 2 and is close to the limit plate 6. The distance between the cover 5 and the limit plate 6 is greater than the diameter of the half shaft workpiece 4 but less than twice the diameter of the half shaft workpiece 4.

[0125] As Figure 1 and 4 shown, the cover 5 is detachably fixed on the carrier table 2 by bolts and is used to close the top of the carrier table 2 to prevent the half shaft workpiece 4 from slipping off the carrier table 2. The design of the cover 5 not only enhances the safety of the device but also facilitates the management of the half shaft workpiece 4 on the carrier table 2. One side of the cover 5 is adjacent to the limit plate 6, and the distance between the cover 5 and the limit plate 6 is slightly greater than the diameter of the half shaft workpiece 4, ensuring that the half shaft workpiece 4 can be smoothly pushed up by the driving component on the carrier table 2.

[0126] As an alternative embodiment of the present invention, optionally, the cover 5 is of a cuboid structure, and the height of the cover 5 is greater than the diameter of the half shaft workpiece 4 but less than twice the diameter of the half shaft workpiece 4.

[0127] As Figure 1 and 4 shown, the cover 5 is designed to be of a cuboid structure, and the height of the cover 5 is greater than the diameter of the half shaft workpiece 4 but less than twice the diameter of the half shaft workpiece 4, so that the half shaft workpieces 4 placed in the cover 5 can overlap each other, ensuring that only one half shaft workpiece 4 can be pushed into the working station each time, avoiding the stacking and chaos between workpieces, and further improving the accuracy and reliability of the automatic loading device.

[0128] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. An automatic feeding device for a half-axle production line, characterized in that: The device comprises: Support frame (1); A bearing platform (2) is arranged obliquely on the support frame (1) and is used for placing a semi-axle workpiece (4) to be loaded; A pre-loading platform (3) is horizontally arranged on the support frame (1) and close to the bottom end of the bearing platform (2); A work station, arranged on the pre-loading platform (3); At least one limiting plate (6) is arranged on the pre-loading platform (3); A driving assembly, arranged on the support frame (1), and used for pushing the semi-axial workpiece (4) on the bearing platform (2) to the work station; A robotic arm is used to grab the semi-axle workpiece (4) on the workstation and place it on the semi-axle production line.

2. The automatic feeding device for a half-axle production line according to claim 1, characterized in that: The drive assembly comprises: A telescopic cylinder (9) is arranged on the support frame (1); A push rod (10) is arranged on the output shaft of the telescopic cylinder (9) and is used to push the semi-axial workpiece (4) close to the limiting plate (6) into the workstation.

3. The automatic feeding device for a half-axle production line according to claim 2, characterized in that: The workstation comprises at least two concave rollers (7) movably arranged on the pre-loading platform (3), and all the concave rollers (7) are linearly arranged on the pre-loading platform (3).

4. An automatic feeding device for a semi-axle production line as claimed in claim 1 or 3, characterized in that: The device also includes a positioning component, which is used to position the semi-axis workpiece (4) on the workstation.

5. The automatic feeding device for a half-axle production line according to claim 4, characterized in that: The positioning component comprises: A positioning plate (11) is arranged at one end of the pre-loading platform (3); A positioner (12), arranged on the positioning plate (11), and used for positioning the semi-axle workpiece (4); A baffle (13) is vertically arranged at the other end of the pre-loading platform (3) and is used to assist the positioner (12) in positioning the semi-axis workpiece (4); A signal detector (14), arranged on the top of the baffle (13), for detecting whether there is a half-axis workpiece (4) on the workstation; When the signal detector (14) detects that there is a semi-axis workpiece (4) on the workstation, the signal detector (14) sends an action signal to the positioner (12), and the positioner (12) positions the semi-axis workpiece (4).

6. The automatic feeding device for a half-axle production line according to claim 5, characterized in that: The device also includes a positioning detection module and an alarm module; The positioning detection module is electrically connected to the positioner (12), the alarm module and the mechanical arm, and is used to receive a positioning completion signal from the positioner (12); After receiving the positioning completion signal, the positioning detection module detects the semi-axial workpiece (4) positioned by the positioner (12) to determine whether the semi-axial workpiece (4) is in the set positioning position; if the semi-axial workpiece (4) is in the set positioning position, the positioning detection module sends a grasping signal to the robot arm, and after receiving the grasping signal, the robot arm grasps the semi-axial workpiece (4) on the workstation to the semi-axial production line; When the positioning detection module detects that the semi-axis workpiece (4) is not in the set positioning position, the positioning detection module sends a repositioning signal to the positioner (12). After the positioner (12) repositions the semi-axis workpiece (4), the positioning detection module again detects the position of the repositioned semi-axis workpiece (4). If the semi-axis workpiece (4) is still not in the set positioning position, the positioning detection module sends an alarm command to the alarm module, and the alarm module starts to alarm.

7. The automatic feeding device for a semi-axle production line according to claim 6, characterized in that: The positioning detection module uses an image recognition algorithm to detect the position of the semi-axis workpiece (4); The expression of the image recognition algorithm is: S=ω1·Φ shape +ω2·Ψ texture +ω3·Ω orientation , Oh orientation =γ·cosθ orientation ·d position , S≥τ threshold ; Among them, S represents the matching function, ω1 represents the weight of the shape constraint term, Φ shape represents the shape constraint term, ω2 represents the weight of the texture feature term, Ψ texture represents the texture feature term, ω3 represents the weight of the position constraint term, Ω orientation represents the position constraint, N represents the total order, F k (M) represents the k-th order Fourier coefficient of model M, F k (I) represents the k-th order Fourier coefficient of image I, α represents the shape sensitivity coefficient, d Hausdorff represents the Hausdorff distance, exp() represents the exponential function, β represents the texture weight coefficient, ||v M -v I || represents the model M and the image texture feature vector v I The Euclidean distance, σ texture represents the standard deviation of texture features, γ represents the directional sensitivity coefficient, cosθ orientation Indicates the cosine value of the angle between the actual spindle and the theoretical spindle, δ position The entropy weight coefficient representing the position deviation, p real represents the actual position vector, p model represents the theoretical position vector, Area(D) represents the detection area, D represents the detection area, τ threshold Indicates a dynamic threshold.

8. The automatic feeding device for a half-axle production line according to claim 1, characterized in that: The device further comprises at least one abutment plate (8), wherein the abutment plate (8) is used to limit the movement of the semi-axial workpiece (4) on the workstation.

9. The automatic feeding device for a semi-axle production line according to claim 1, characterized in that: The device also includes a cover (5); The sealing cover (5) is arranged on the supporting platform (2) and is close to the limiting plate (6); the distance between the sealing cover (5) and the limiting plate (6) is greater than the diameter of the semi-axial workpiece (4).

10. The automatic feeding device for a half-axle production line according to claim 9, characterized in that: The sealing cover (5) is a rectangular parallelepiped structure, and the height of the sealing cover (5) is greater than the diameter of the semi-axial workpiece (4), but less than twice the diameter of the semi-axial workpiece (4).

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