Sewing machine moving cutter intelligent sorting device based on machine vision

Abstract

The invention discloses a sewing machine moving cutter intelligent sorting device based on machine vision, and relates to the field of workpiece sorting, the sewing machine moving cutter intelligent sorting device comprises a workbench, and the workbench is provided with a mounting area used for placing an industrial camera and a spider mechanical arm; the conveying mechanism is arranged in the workbench, and the conveying mechanism is used for conveying the sewing machine moving cutter; a base is arranged at the front end of the spider mechanical arm, a servo motor is fixedly connected to the base, and a picking assembly is arranged at the end of a rotating shaft in the servo motor and used for being inserted into a connecting hole in a moving cutter of the sewing machine and clamping the moving cutter. The picking assembly comprises a fixing arm, the fixing arm is fixedly connected with the end of a rotating shaft in the servo motor, insertion pipes are symmetrically arranged on the two sides of the fixing arm, the diameter of each insertion pipe is slightly smaller than that of a connecting hole in a movable cutter of the sewing machine, the bottom of each insertion pipe is slidably connected with an abutting block, a pressing locking mechanism is arranged on each abutting block, and two fixing assemblies are arranged on the inner wall of the fixing arm.

Description

Technical Field

[0001] The present invention relates to the technical field of workpiece sorting, and particularly to an intelligent sorting device for sewing machine moving knives based on machine vision. Background Technique

[0002] In the fields of garment manufacturing, leather processing, and textile industry, as a core component, the manufacturing quality and sorting efficiency of sewing machine moving knives directly affect the overall performance of the production line. With the popularization of industrial automation technology, the traditional manual sorting mode has been gradually replaced by an automated sorting system due to its low efficiency, high cost, and susceptibility to the operator's experience level. Currently, the industry generally adopts a sorting solution that combines a spider robot arm (multi-joint high-speed robot arm) with a vacuum suction cup and an industrial camera. Through visual positioning technology, the pose of the moving knife on the conveyor belt is dynamically identified, and the grasping and classification operations are completed by the negative pressure adsorption of the suction cup.

[0003] However, the structural characteristics of sewing machine moving knives pose significant challenges to automated sorting. Such moving knives are usually designed with multi-curvature irregular-shaped surfaces, and irregular grooves or hollow structures are distributed on the surface to meet functional requirements, resulting in a sharp reduction in the adsorption contact area of the vacuum suction cup and making it difficult to form an effective negative pressure seal. Specifically, the existing technologies have the following limitations:

[0004] Insufficient adsorption stability: The combination of grooves and curved surfaces is extremely likely to damage the airtightness at the edge of the suction cup, resulting in gas leakage during the adsorption process. Especially when sorting at high speed or when the acceleration of the robot arm movement is relatively high, the moving knife is likely to fall off.

[0005] Limited adaptability: The suction cup has a strong dependence on the precise pose of the moving knife. If the industrial camera has pose recognition deviation due to light, reflection, or occlusion, the suction cup may further reduce the grasping success rate due to misaligned adsorption.

[0006] Therefore, we propose an intelligent sorting device for sewing machine moving knives based on machine vision. Summary of the Invention

[0007] The purpose of the present invention is to provide an intelligent sorting device for sewing machine moving knives based on machine vision to solve the problems raised in the above background technique. To achieve the above purpose, the present invention provides the following technical solutions: An intelligent sorting device for sewing machine moving knives based on machine vision, comprising:

[0008] A workbench, on which an installation area for placing an industrial camera and a spider robot arm is provided;

[0009] A conveying mechanism, which is arranged inside the workbench and is used for conveying sewing machine moving knives;

[0010] A base is provided at the front end of the spider robot arm. A servo motor is fixedly connected to the base. A pick-up component is provided at the end of the inner rotating shaft of the servo motor. The pick-up component is used to insert into the connection hole on the sewing machine moving knife and clamp it.

[0011] The pick-up component includes:

[0012] A fixed arm, which is fixedly connected to the end of the inner rotating shaft of the servo motor. Two insertion tubes are symmetrically arranged on both sides of the fixed arm. The diameter of the insertion tube is slightly smaller than the connection hole on the sewing machine moving knife. A contact block is slidably connected to the bottom of the insertion tube.

[0013] A pressing and locking mechanism is arranged on the contact block. Two fixing components are arranged on the inner wall of the fixed arm. A driving mechanism is arranged in the insertion tube. The driving mechanism is used to cooperate with the pressing and locking mechanism to expand or close the fixing components. The lower fixing component is used to fixedly clamp the sewing machine moving knife with the concave surface facing up, and the upper fixing component is used to fixedly clamp the sewing machine moving knife with the concave surface facing down.

[0014] Preferably, the pressing and locking mechanism includes:

[0015] A partition plate, which is fixedly connected to the inner wall of the insertion tube. A spring is arranged between the partition plate and the contact block. One end of the spring is fixedly connected to the partition plate, and the other end is fixedly connected to the contact block. A heart-shaped chute is formed on the contact block. An abutting rod is rotatably connected to the partition plate. The end of the abutting rod away from the partition plate is inserted into the heart-shaped chute.

[0016] Preferably, the fixing component includes:

[0017] A transverse moving plate, which is slidably connected to the insertion tube. A groove is formed in the middle of the transverse moving plate. A gear one is rotatably connected in the insertion tube. A sleeve is fixedly connected to the outer wall of the gear one. A sleeve rod is slidably connected in the sleeve. One end of the sleeve rod away from the sleeve is rotatably connected to the transverse moving plate. A compression spring is arranged in the sleeve rod. One end of the compression spring is fixedly connected to the end of the sleeve rod, and the other end is fixedly connected to the sleeve.

[0018] Preferably, the fixing component further includes:

[0019] A driving tooth, which is rotatably connected to the inner wall of the insertion tube and meshes with the gear one;

[0020] A clamping plate, which is fixedly connected to the outer wall of the driving tooth.

[0021] Preferably, the front end of the transverse moving plate is provided with a rounded corner, and its surface is designed to be similar to the surface of the sewing machine moving knife. The surface of the clamping plate is provided with an anti-slip layer.

[0022] Preferably, the driving mechanism includes:

[0023] The rack, there are two sets of the racks, the racks are slidably connected to the insertion tube, the racks are provided with a first set of teeth arrayed thereon, the first set of teeth are meshed with the driving teeth, and the lower rack is fixedly connected to the abutting block.

[0024] Preferably, the driving mechanism further includes:

[0025] The second gear, the second gear is arranged between the racks, the second gear is rotatably connected to the insertion tube, the racks are provided with a second set of teeth arrayed thereon, and the second set of teeth are meshed with the second gear.

[0026] Preferably, it is characterized in that: a ball is rotatably connected to the bottom of the abutting block.

[0027] The present invention has at least the following beneficial effects:

[0028] 1. The design fully considers the structural differences on the front and back sides of the moving knife of the sewing machine. Compared with the traditional clamping method of the vacuum suction nozzle form, it not only improves the clamping stability, but also significantly enhances the adaptability and reliability of grasping, ensuring efficient and accurate picking and placing regardless of the orientation of the front and back sides of the moving knife of the sewing machine.

[0029] 2. Considering that the orientation of the moving knife of the sewing machine on the conveying mechanism may be different, the fixing component is also adapted. When the concave surface of the moving knife of the sewing machine faces upward, the transverse moving plate in the fixing component arranged under the picking component slides the two sides of the driven knife inward, and cooperates with the clamping plate to clamp the moving knife from the left and right sides respectively to achieve effective fixing; when the concave surface of the moving knife of the sewing machine faces downward, the fixing component on the upper side of the picking component participates in the clamping. At this time, the transverse moving plate presses horizontally from the upper surface of the driven knife, and the clamping plate abuts upward from the bottom to the bottom surface of the moving knife to complete its stable clamping.

[0030] 3. By being connected to the abutting block in a rotating manner, it can achieve flexible rolling when the abutting block contacts the conveyor belt on the conveying mechanism. No matter at what angle or direction the abutting block contacts the surface of the conveyor belt, the ball can rotate adaptively with the change of the contact direction, thus effectively avoiding direct frictional contact between the abutting block body and the surface of the conveyor belt. Description of the Drawings

[0031] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0032] Figure 2 It is a schematic diagram of the spider arm structure of the present invention;

[0033] Figure 3 It is a schematic diagram of picking up the moving knife of the sewing machine with the concave surface facing upward of the present invention;

[0034] Figure 4 It is a schematic diagram of the internal structure of the present invention;

[0035] Figure 5 Schematic structural diagram of the pressing and locking mechanism component of the present invention;

[0036] Figure 6 Schematic structural diagram of the fixing component of the present invention;

[0037] Figure 7 Schematic structural diagram of the driving mechanism of the present invention;

[0038] Figure 8 Schematic structural diagram of the sewing machine moving knife with the concave surface facing down for picking up of the present invention;

[0039] Figure 9 Schematic structural diagram of the storage box of the present invention.

[0040] In the figure: 10, workbench; 20, conveying mechanism; 30, base; 31, servo motor; 40, picking component; 41, fixing arm; 42, insertion tube; 43, abutting block; 44, pressing and locking mechanism; 441, partition board; 442, spring; 443, abutting rod; 444, heart-shaped chute; 45, fixing component; 451, transverse moving plate; 452, gear one; 453, sleeve; 454, sleeve rod; 456, compression spring; 457, driving tooth; 458, clamping plate; 50, driving mechanism; 51, rack; 61, gear two; 71, ball; 81, storage box; 82, round rod. Detailed implementation manners

[0041] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0042] In order to better understand the sewing machine moving knife intelligent sorting device based on machine vision provided in the embodiments of the present application, the existing sorting devices will be briefly introduced below. The sorting method of the sewing machine moving knife in the prior art usually relies on manual recognition or uses a vacuum suction nozzle for grasping and transporting, but there are problems such as low recognition accuracy, low operation efficiency, insecure grasping, and difficulty in recognizing the front and back directions of the moving knife. In addition, when the traditional adsorption structure faces the sewing machine moving knife with a porous structure or a concave design, phenomena such as adsorption failure, grasping deviation, or dropping are likely to occur, affecting the stability and reliability of the entire sorting system. Especially on a high-speed automated production line, the above defects are more obvious, restricting the improvement of the overall sorting efficiency and product yield;

[0043] The following is a brief overview of the solution of this application. By setting an industrial camera on the workbench, the position and attitude of the moving knife of the sewing machine can be accurately identified, and combined with the spider robot arm, efficient and accurate three-dimensional positioning and picking operations can be achieved. The picking component is inserted into the connection hole of the moving knife through an insertion tube, and the matching locking and driving structure is used to achieve automatic clamping, adapting to the moving knives of the sewing machine in two states with the concave surface facing up or down, ensuring firm grasping in different postures. At the same time, through the innovative pressing and unlocking mechanism, gear drive structure and anti-slip design, intelligent sorting operations with high stability, high compatibility and high efficiency are realized.

[0044] Embodiment 1: Please refer to Figures 1-9 , the present invention provides a technical solution: an intelligent sorting device for the moving knife of a sewing machine based on machine vision, including:

[0045] A workbench 10, on which there is an installation area for placing an industrial camera and a spider robot arm;

[0046] A conveying mechanism 20, which is arranged inside the workbench 10 and is used for conveying the moving knife of the sewing machine;

[0047] At the front end of the spider robot arm, there is a base 30, on which a servo motor 31 is fixedly connected. At the end of the inner rotating shaft of the servo motor 31, there is a picking component 40, which is used to insert into the connection hole on the moving knife of the sewing machine and clamp it;

[0048] The picking component 40 includes:

[0049] A fixed arm 41, which is fixedly connected to the end of the inner rotating shaft of the servo motor 31. On both sides of the fixed arm 41, there are symmetrically arranged insertion tubes 42. The diameter of the insertion tubes 42 is slightly smaller than the connection hole on the moving knife of the sewing machine. At the bottom of the insertion tubes 42, there is a sliding connection with an abutting block 43. On the abutting block 43, there is a pressing and locking mechanism 44. On the inner wall of the fixed arm 41, there are two groups of fixing components 45. Inside the insertion tubes 42, there is a driving mechanism 50, which is used to cooperate with the pressing and locking mechanism 44 to expand or close the fixing components 45. The lower fixing component 45 is used to fixedly clamp the moving knife of the sewing machine with the concave surface facing up, and the upper fixing component 45 is used to fixedly clamp the moving knife with the concave surface facing down;

[0050] A storage box 81, inside which there are two fixed round rods 82, and the ends of the round rods 82 are used to cooperate with the abutting block 43 to expand the fixing components 45;

[0051] It should be noted that the device accurately positions and identifies the sewing machine moving knife conveyed by the conveying mechanism 20 through the identification device provided on the workbench 10 to determine its specific position and placement orientation on the workbench 10. Subsequently, the spider robotic arm drives the picking component 40 to perform spatial positioning and movement according to the identification information, and under the drive of the servo motor 31, flexibly adjusts the angle and direction of the picking component 40 to accurately align it with the connection hole on the sewing machine moving knife. After the alignment is completed, the picking component 40 quickly inserts into the connection hole, and the abutting block 43 at the bottom of the insertion tube 42 synchronously retracts into the insertion tube 42, and cooperates with the driving mechanism 50 to drive the fixing component 45 to close inward, thereby firmly clamping the sewing machine moving knife.

[0052] After the clamping is completed, the spider robotic arm lifts the clamped sewing machine moving knife and moves it to the corresponding storage position. At this time, the abutting block 43 at the bottom of the insertion tube 42 is aligned with the top of the round rod 82 provided in the storage box 81 and pressed downward. During the pressing process, the abutting block 43 cooperates with the pressing locking mechanism 44 to automatically unlock, and then the driving mechanism 50 drives the fixing component 45 to open, realizing the release of the sewing machine moving knife. Subsequently, the sewing machine moving knife slides into the round rod 82 along the insertion tube 42 and finally stably falls into the preset storage box 81, completing a complete sorting and storage process.

[0053] In particular, it is worth noting that to solve the problem of inconsistent placement orientations of the sewing machine moving knife during the conveying process, the device is designed with a double-group fixing component 45. Among them, when the concave surface of the sewing machine moving knife faces upward, it is clamped by the lower fixing component 45; when the concave surface faces downward, the upper fixing component 45 completes the clamping operation. This design fully considers the structural differences between the front and back sides of the sewing machine moving knife. Compared with the traditional clamping method using a vacuum suction nozzle, it not only improves the clamping stability but also significantly enhances the adaptability and reliability of grasping, ensuring efficient and accurate picking and placing regardless of the front or back orientation of the sewing machine moving knife.

[0054] Furthermore, as shown in Figure 4 and Figure 5 , it is worth specifically explaining that the pressing locking mechanism 44 includes:

[0055] A partition plate 441, the partition plate 441 is fixedly connected to the inner wall of the insertion tube 42. A spring 442 is arranged between the partition plate 441 and the abutting block 43. One end of the spring 442 is fixedly connected to the partition plate 441, and the other end is fixedly connected to the abutting block 43. A heart-shaped chute 444 is formed on the abutting block 43. An abutting rod 443 is rotatably connected to the partition plate 441, and the abutting rod 443 is inserted into the heart-shaped chute 444 away from the partition plate 441;

[0056] It should be noted that when the picking component 40 contacts the moving knife of the sewing machine, the abutting block 43 at the bottom of the insertion tube 42 first abuts against the surface of the conveying mechanism 20. Under the continuous downward pressing force, the abutting block 43 will be compressed and retracted into the interior of the insertion tube 42. During this process, the heart-shaped chute 444 provided on the abutting block 43 plays a key control role: as the abutting block 43 retracts, the abutting rod 443 fixedly connected to the partition plate 441 on the inner wall of the insertion tube 42 will slide down from the top end of the heart-shaped chute 444 and finally fall into the bottom groove of the heart-shaped chute 444. At this time, due to the structural characteristics of the heart-shaped chute 444, the abutting rod 443 will be locked in the bottom groove position, forming a stable clamping state, so as to achieve the locking purpose of the abutting block 43 in the pressed state.

[0057] When it is necessary to release the locked state during subsequent operations, the picking component 40 drives the insertion tube 42 to be lifted to a preset position. At this time, the abutting block 43 is pressed again, and the abutting block 43 slides upward again under the action of an external force. At the same time, the abutting rod 443 will move upward along the track on the other side of the heart-shaped chute 444 and finally move to the top groove position of the heart-shaped chute 444. During this process, the spring 442 provided between the partition plate 441 and the abutting block 43 provides a reverse elastic force, so that the abutting rod 443 quickly snaps in after moving to the top groove position, thereby realizing the unlocking operation of the abutting block 43.

[0058] Through the cooperation of the above structure and actions, not only the mechanical locking and unlocking control during the clamping and releasing process of the picking component 40 is realized, but also the stability and repeatability of the entire sorting action are improved, avoiding the influence of misoperation or positioning deviation on the clamping effect.

[0059] Furthermore, as Figure 6 shown, it is worth specifically explaining that the fixing component 45 includes:

[0060] A transverse moving plate 451, the transverse moving plate 451 is slidably connected to the insertion tube 42, a groove is formed in the middle of the transverse moving plate 451, a first gear 452 is rotatably connected in the insertion tube 42, a sleeve 453 is fixedly connected to the outer wall of the first gear 452, a sleeve rod 454 is slidably connected in the sleeve 453, one end of the sleeve rod 454 away from the sleeve 453 is rotatably connected to the transverse moving plate 451, a compression spring 456 is arranged in the sleeve rod 454, one end of the compression spring 456 is fixedly connected to the end of the sleeve rod 454, and the other end is fixedly connected to the sleeve 453;

[0061] It should be noted that in this device, the clamping and releasing actions of the fixing component 45 are realized by the rotation of the first gear 452. When the driving mechanism 50 drives the first gear 452 to rotate clockwise or counterclockwise, the sleeve 453 fixedly connected to the outer wall of the first gear 452 rotates synchronously. Since the sleeve rod 454 is slidably connected inside the sleeve 453, and one end of the sleeve rod 454 is rotationally connected to the transverse movement plate 451, when the sleeve 453 rotates driven by the gear, the rotational movement will be converted into a transverse sliding movement through the sleeve rod 454, thereby driving the transverse movement plate 451 to move horizontally in the insertion tube 42.

[0062] Specifically, when the first gear 452 rotates in a predetermined direction, the transverse movement plate 451 gradually moves out from the inside of the insertion tube 42 under the push of the sleeve rod 454, and its end part will extend outwards until the outer side surface of the transverse movement plate 451 makes reliable contact and abutment with the surface of the sewing machine moving knife, completing the clamping action. During this process, the groove structure provided in the middle of the transverse movement plate 451 also helps to better fit with the arc edge of the sewing machine moving knife, further improving the clamping stability.

[0063] On the contrary, when it is necessary to release the sewing machine moving knife, the first gear 452 can rotate in the reverse direction, and the sleeve 453 also drives the sleeve rod 454 to move in the reverse direction, so that the transverse movement plate 451 retracts in the insertion tube 42 until it completely retracts into the insertion tube 42, releasing the clamping state. The entire process is provided with a pre-tightening force by the compression spring 456.

[0064] This mechanism realizes automatic transverse clamping and releasing actions through mechanical transmission, with a compact structure, precise actions, and is suitable for the grasping requirements of sewing machine moving knives in different orientations, providing a stable and reliable clamping guarantee for subsequent intelligent sorting.

[0065] Furthermore, as Figure 6 shown, it is specifically worth noting that the fixing component 45 further includes:

[0066] a driving tooth 457, the driving tooth 457 is rotatably connected to the inner wall of the insertion tube 42 and meshes with the first gear 452; a clamping plate 458, the clamping plate 458 is fixedly connected to the outer wall of the driving tooth 457;

[0067] It should be noted that in the structure of the fixing component 45 described in the present invention, the driving gear 457 is installed on the inner wall of the insertion tube 42 by a rotational connection method, and forms a gear meshing structure with the first gear 452, thereby realizing the effective transmission of force. When the driving mechanism 50 is started, the driving gear 457 rotates under the action of an external force, and this rotational movement immediately drives the first gear 452 engaged with it to rotate synchronously, causing the sleeve 453 connected to the outside of the first gear 452 to rotate and drive the transverse movement plate 451 to move horizontally through the sleeve rod 454. At the same time, the clamping plate 458 fixedly connected to the outer wall of the driving gear 457 will also rotate or expand synchronously, and its movement trajectory cooperates with the transverse movement plate 451, thereby realizing the bilateral clamping of the sewing machine moving knife;

[0068] Through this structural design, the transverse movement plate 451 and the clamping plate 458 can form a relatively cooperative clamping mechanism to stably and firmly grasp the sewing machine moving knife. This solution improves the reliability and adaptability of clamping, and is especially suitable for intelligent sorting scenarios with complex working conditions and different knife body directions;

[0069] It should be noted that considering that the orientation of the sewing machine moving knife on the conveying mechanism 20 may vary, the fixing component 45 is also adaptable. When the concave surface of the sewing machine moving knife faces upward, the transverse movement plate 451 in the fixing component 45 arranged under the picking component 40 will slide inward from both sides of the moving knife, and cooperate with the clamping plate 458 to clamp the moving knife from the left and right sides respectively to achieve effective fixation; when the concave surface of the sewing machine moving knife faces downward, the fixing component 45 above the picking component 40 participates in the clamping. At this time, the transverse movement plate 451 presses horizontally from the upper surface of the moving knife, and the clamping plate 458 abuts against the bottom surface of the moving knife from below to complete its stable clamping.

[0070] The above structural design not only solves the problem of poor grasping of irregular or differently oriented parts by traditional vacuum suction nozzles, but also enhances the adaptability and versatility of the present invention, ensuring that accurate and firm grasping and releasing operations can be achieved regardless of how the placement posture of the moving knife changes during the intelligent sorting process.

[0071] Furthermore, as Figure 4 shown, it is specifically noted that the front end of the transverse movement plate 451 is provided with a rounded corner, its surface is designed to be similar to the surface of the sewing machine moving knife, and the surface of the clamping plate 458 is provided with an anti-slip layer;

[0072] It should be noted that the front end of the transverse moving plate 451 is provided with a rounded corner structure, and is designed to be in imitation of the outer contour of the sewing machine's moving knife, so that it can fit more closely when contacting the surface of the sewing machine's moving knife, effectively avoiding problems such as unstable clamping or surface damage caused by uneven contact surfaces. This imitation structure not only improves the stability during the clamping process, but also reduces the risk of causing indentations or scratches on the surface of the sewing machine's moving knife, and is particularly suitable for precision assembly or sorting scenarios with high requirements for product surface quality.

[0073] In addition, in order to further improve the clamping effect, an anti-slip layer is provided on the contact surface of the clamping plate 458. This anti-slip layer is made of a material with a high coefficient of friction, which can provide greater friction when the clamping plate 458 contacts the sewing machine's moving knife, preventing the moving knife from shifting or slipping during the processes of picking up, transporting or releasing. The coordinated cooperation of the anti-slip layer and the imitation rounded corner structure enables the entire picking component 40 to have higher safety and reliability when dealing with complex working conditions.

[0074] Further as Figure 5 、 Figure 6 and Figure 7 shown, it is worth specifically explaining that the driving mechanism 50 includes:

[0075] A toothed rod 51. There are two sets of the toothed rods 51. The toothed rod 51 is slidably connected to the insertion tube 42. Tooth teeth one are arranged in an array on the toothed rod 51. The tooth teeth one are engaged with the driving tooth 457. The lower toothed rod 51 is fixedly connected to the abutting block 43;

[0076] It should be noted that the toothed rods 51 in the driving mechanism 50 are provided in two sets and are slidably connected to the insertion tube 42 to ensure the balance and synchronization during the driving process. Tooth teeth one are arranged in an array on each set of toothed rods 51. These tooth teeth one are engaged with the driving tooth 457. Thus, during the up and down movement of the toothed rod 51, the driving tooth 457 can be driven to rotate synchronously. The rotation of the driving tooth 457 further drives the rotation of the first gear 452, and finally drives the clamping plate 458 and the transverse moving plate 451 in the fixing component 45 to perform opening and closing actions, completing the clamping or releasing of the sewing machine's moving knife;

[0077] It is worth noting that the lower toothed rod 51 is tightly fixed to the abutting block 43 through a structural connection. When the abutting block 43 is pressed by an external force and slides upward into the insertion tube 42, the toothed rod 51 also moves upward accordingly, thereby driving the entire driving mechanism to start and completing the clamping action of the fixing component 45; when the abutting block 43 is pressed again for unlocking, the toothed rod 51 moves downward, the driving component resets, and the fixing component 45 opens, thereby completing the releasing operation of the sewing machine's moving knife.

[0078] This design not only makes the picking and releasing processes coherent and smooth, but also enables stable clamping of the sewing machine's moving knife through precise mechanical cooperation, improving the reliability and automation level during equipment operation. At the same time, it also makes the structure simple and the response rapid.

[0079] Furthermore, as Figure 7 shown, it is specifically noted that the drive mechanism 50 further includes:

[0080] The second gear 61 is disposed between the toothed rods 51. The second gear 61 is rotatably connected to the insertion tube 42. Tooth teeth two are arrayed on the toothed rods 51, and the tooth teeth two are engaged with the second gear 61;

[0081] It should be noted that the second gear 61 in the drive mechanism 50 is disposed between two groups of toothed rods 51 and is rotatably connected to the insertion tube 42. Its function is to serve as a transmission center to achieve the linkage coordination between the two groups of toothed rods 51. Specifically, the tooth teeth two arrayed on the two side toothed rods 51 are engaged with the middle second gear 61. When one side toothed rod 51 slides upward under an external force, its tooth teeth two will drive the second gear 61 to rotate synchronously, so that the other side toothed rod 51 also generates a sliding action in the opposite direction. Through this meshing structure, it can be ensured that the two side toothed rods 51 always move synchronously and symmetrically.

[0082] Furthermore, as Figure 5 shown, it is specifically noted that a ball 71 is rotatably connected to the bottom of the abutting block 43;

[0083] It should be noted that by being connected to the abutting block 43 in a rotatable manner, it can achieve flexible rolling when the abutting block 43 contacts the conveyor belt on the conveyor mechanism 20. No matter at what angle or direction the abutting block 43 contacts the conveyor belt surface, the ball 71 can adaptively rotate with the change of the contact direction, thus effectively avoiding direct frictional contact between the abutting block 43 body and the conveyor belt surface.

[0084] The setting of this structure not only significantly reduces the wear of the abutting block 43 caused by friction during operation, prolongs its service life, but also reduces the damage to the conveyor belt surface material. At the same time, the ball 71 has good rolling performance, making the abutting block 43 more stable and smooth when performing the pressing or releasing action, improving the stability of the entire picking process and the reliability of the device operation.

[0085] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0086] 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 spirit of the present invention, and all of them fall within the scope of protection of the present invention.

Claims

1. The intelligent sorting device for sewing machine knives based on machine vision is characterized by: include: A workbench (10), wherein the workbench (10) is provided with an installation area for placing an industrial camera and a spider mechanical arm; A conveying mechanism (20), the conveying mechanism (20) being arranged in the workbench (10), and the conveying mechanism (20) being used for conveying a sewing machine knife; A base (30) is arranged at the front end of the spider mechanical arm, a servo motor (31) is fixedly connected to the base (30), a pick-up assembly (40) is arranged at the end of the internal rotating shaft of the servo motor (31), and the pick-up assembly (40) is used to be inserted into the connection hole on the sewing machine knife and clamped; The pickup assembly (40) comprises: A fixed arm (41) is fixedly connected to the end of the internal rotating shaft of the servo motor (31). Insertions (42) are symmetrically arranged on both sides of the fixed arm (41). The diameter of the insertions (42) is slightly smaller than the connecting hole on the sewing machine knife. The bottom of the insertions (42) is slidably connected to an abutment block (43). A pressing and locking mechanism (44) is arranged on the abutment block (43). Two groups of fixing components (45) are arranged on the inner wall of the fixed arm (41). A driving mechanism (50) is arranged in the insertions (42). The driving mechanism (50) is used to cooperate with the pressing and locking mechanism (44) to expand or close the fixing components (45). The fixing components (45) on the lower side are used to fix and clamp the sewing machine knife with the concave surface upward, and the fixing components (45) on the upper side are used to fix and clamp the sewing machine knife with the concave surface downward.

2. The machine vision-based intelligent sorting device for sewing machine knives according to claim 1 is characterized by: The push-lock mechanism (44) comprises: A partition (441), the partition (441) is fixedly connected to the inner wall of the insert tube (42), a spring (442) is arranged between the partition (441) and the abutment block (43), one end of the spring (442) is fixedly connected to the partition (441), and the other end is fixedly connected to the abutment block (43), a heart-shaped slide groove (444) is provided on the abutment block (43), an abutment rod (443) is rotatably connected to the partition (441), and the abutment rod (443) is inserted into the heart-shaped slide groove (444) away from the partition (441).

3. The machine vision-based intelligent sorting device for sewing machine knives according to claim 2 is characterized in that: The fixing assembly (45) comprises: A transverse plate (451), wherein the transverse plate (451) is slidably connected to the insertion tube (42), a groove is provided in the middle of the transverse plate (451), a gear 1 (452) is rotatably connected inside the insertion tube (42), a sleeve (453) is fixedly connected to the outer wall of the gear 1 (452), a sleeve rod (454) is slidably connected inside the sleeve (453), one end of the sleeve rod (454) away from the sleeve (453) is rotatably connected to the transverse plate (451), a compression spring (456) is provided inside the sleeve rod (454), one end of the compression spring (456) is fixedly connected to the end of the sleeve rod (454), and the other end is fixedly connected to the sleeve (453).

4. The machine vision-based intelligent sorting device for sewing machine knives according to claim 3 is characterized by: The fixing assembly (45) further comprises: A driving tooth (457), wherein the driving tooth (457) is rotatably connected to the inner wall of the cannula (42) and meshes with the gear 1 (452); A clamping plate (458), wherein the clamping plate (458) is fixedly connected to the outer wall of the driving tooth (457).

5. The machine vision-based intelligent sorting device for sewing machine knives according to claim 4 is characterized in that: The front end of the transverse moving plate (451) is provided with a rounded corner, and its surface is designed to imitate the surface of the sewing machine knife. The surface of the clamping plate (458) is provided with an anti-slip layer.

6. The machine vision-based intelligent sorting device for sewing machine knives according to claim 4 is characterized by: The driving mechanism (50) comprises: The gear rod (51) is provided with two groups, the gear rod (51) is slidably connected to the cannula (42), the upper array of the gear rod (51) is provided with tooth teeth one, the tooth teeth one is meshed with the driving teeth (457), and the lower side of the gear rod (51) is fixedly connected to the abutment block (43).

7. The machine vision-based intelligent sorting device for sewing machine knives according to claim 6 is characterized by: The driving mechanism (50) further comprises: Gear 2 (61), the gear 2 (61) is arranged between the gear rods (51), the gear 2 (61) is rotatably connected to the cannula (42), and the gear rods (51) are provided with tooth 2 in an array, and the tooth 2 is meshed with the gear 2 (61).

8. The machine vision-based intelligent sorting device for sewing machine knives according to any one of claims 5 or 7, characterized in that: A ball (71) is rotatably connected to the bottom of the abutment block (43).

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