Intelligent sorting device for sewing machine moving knife based on machine vision

Abstract

The application discloses a sewing machine dynamic knife intelligent sorting device based on machine vision and relates to the field of workpiece sorting.The device comprises a workbench, an installation area for placing an industrial camera and a spider mechanical arm is arranged on the workbench, a conveying mechanism arranged in the workbench and used for conveying a sewing machine dynamic knife, a base arranged at the front end of the spider mechanical arm, a servo motor fixedly connected to the base, a pickup assembly arranged at the end of the rotating shaft in the servo motor and used for being inserted into a connecting hole on the sewing machine dynamic knife and clamped, and the pickup assembly comprises a fixed arm fixedly connected to the end of the rotating shaft in the servo motor, two insertion tubes symmetrically arranged on the two sides of the fixed arm, the insertion tubes having a diameter slightly smaller than that of the connecting hole on the sewing machine dynamic knife, an abutting block slidingly connected to the bottom of the insertion tube, a pressing locking mechanism arranged on the abutting block, and two groups of fixing assemblies arranged on the inner wall of the fixed arm.

Description

Technical Field

[0001] The present invention relates to the technical field of workpiece sorting, and in particular to a machine vision-based intelligent sorting device for sewing machine knives. Background Art

[0002] In the garment manufacturing, leather processing, and textile industries, sewing machine knives are core components whose manufacturing quality and sorting efficiency directly impact the overall performance of the production line. With the widespread adoption of industrial automation technology, traditional manual sorting, due to its low efficiency, high cost, and susceptibility to operator experience, has been gradually replaced by automated sorting systems. Currently, the industry generally uses a sorting solution that combines spider robotic arms (multi-jointed high-speed robotic arms) with vacuum suction cups and industrial cameras. These use visual positioning technology to dynamically identify the position of the moving knife on the conveyor belt, and utilize the negative pressure of the suction cups to complete the grasping and sorting operations.

[0003] However, the structural characteristics of sewing machine knives present significant challenges for automated sorting. These knives are typically designed with multi-curvature, irregularly shaped surfaces, with irregular grooves or hollow structures distributed on the surface to meet functional requirements. This results in a sharp decrease in the vacuum cup's contact area, making it difficult to form an effective negative pressure seal. Specifically, existing technologies have the following limitations:

[0004] Insufficient adsorption stability: The combination of grooves and curved surfaces can easily destroy the airtightness of the suction cup edge, causing gas leakage during the adsorption process. Especially during high-speed sorting or when the robot arm moves at high acceleration, the movable blade is prone to falling off.

[0005] Limited adaptability: The suction cup is highly dependent on the precise position of the moving tool. If the industrial camera's position recognition is deviated due to light, reflection, or occlusion, the suction cup may further reduce the success rate of grasping due to misaligned adsorption.

[0006] To this end, we propose an intelligent sorting device for sewing motor knives based on machine vision. Summary of the Invention

[0007] The purpose of the present invention is to provide a machine vision-based intelligent sorting device for sewing machine knives to solve the problems raised in the above background technology. To achieve the above purpose, the present invention provides the following technical solution: The machine vision-based intelligent sorting device for sewing machine knives comprises:

[0008] A workbench, wherein the workbench is provided with an installation area for placing an industrial camera and a spider robotic arm;

[0009] A conveying mechanism, the conveying mechanism is arranged in the workbench and is used to convey the sewing machine knife;

[0010] The front end of the spider robot arm is provided with a base, a servo motor is fixedly connected to the base, and a pickup assembly is provided at the end of the internal rotating shaft of the servo motor, and the pickup assembly is used to insert into the connecting hole on the sewing machine knife and clamp it;

[0011] The pickup assembly comprises:

[0012] The fixed arm is fixedly connected to the end of the internal rotating shaft of the servo motor. The fixed arm is symmetrically provided with an insert tube on both sides. The diameter of the insert tube is slightly smaller than the connection hole on the sewing machine knife. The bottom of the insert tube is slidably connected to an abutment block.

[0013] A press-locking mechanism is provided on the abutment block, two groups of fixing components are provided on the inner wall of the fixing arm, and a driving mechanism is provided in the cannula. The driving mechanism is used to cooperate with the press-locking mechanism to expand or close the fixing component. The fixing component on the lower side is used to fix the sewing machine knife with the concave surface upward, and the fixing component on the upper side is used to fix the sewing machine knife with the concave surface downward.

[0014] Preferably, the push-lock mechanism includes:

[0015] A partition is fixedly connected to the inner wall of the tube, a spring is provided between the partition and the abutment block, one end of the spring is fixedly connected to the partition, and the other end is fixedly connected to the abutment block, a heart-shaped slide groove is provided on the abutment block, an abutment rod is rotatably connected to the partition, and the abutment rod is inserted into the heart-shaped slide groove away from the partition.

[0016] Preferably, the fixing assembly includes:

[0017] A transverse plate is slidably connected to the cannula, a groove is provided in the middle of the transverse plate, a gear 1 is rotatably connected inside the cannula, a sleeve is fixedly connected to the outer wall of the gear 1, a sleeve rod is slidably connected inside the sleeve, one end of the sleeve rod away from the sleeve is rotatably connected to the transverse plate, a compression spring is provided 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 assembly further comprises:

[0019] a driving tooth rotatably connected to the inner wall of the cannula and meshing with gear one;

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

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

[0022] Preferably, the driving mechanism includes:

[0023] The tooth rod is provided with two groups, is in sliding connection with the cannula, is provided with tooth one on the array, is in mesh with the driving tooth, and the lower tooth rod is in fixed connection with the abutting block.

[0024] Preferably, the driving mechanism further comprises:

[0025] The gear two is arranged between the tooth rods, is in rotary connection with the cannula, is provided with tooth two on the array, and is in mesh with the gear two.

[0026] Preferably, the abutting block is rotatably connected with a ball at the bottom.

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

[0028] 1. The design fully considers the structural difference between the front and back of the sewing machine cutter, compared with the traditional vacuum nozzle type clamping mode, not only improves the clamping stability, but also significantly enhances the adaptability and reliability of grabbing, ensuring that the sewing machine cutter can be efficiently and accurately picked up and placed regardless of the orientation of the front and back of the sewing machine cutter.

[0029] 2. Considering that the orientation of the sewing machine cutter on the conveying mechanism may be different, the fixed component is also adapted. When the concave surface of the sewing machine cutter faces up, the horizontal moving plate in the fixed component on the lower side of the picking component will slide inward from both sides of the cutter, cooperates with the clamping plate to clamp the cutter from both sides, and realizes effective fixation. When the concave surface of the sewing machine cutter faces down, the fixed component on the upper side of the picking component participates in clamping, at this time the horizontal moving plate horizontally presses the upper surface of the cutter, and the clamping plate abuts from below to the bottom surface of the cutter, completing the stable clamping.

[0030] 3. By rotating connection with the abutting block, flexible rolling can be realized when the abutting block contacts with the conveying belt on the conveying mechanism. Regardless of the angle or direction of the abutting block contacting with the conveying belt surface, the ball can adaptively rotate with the change of the contact direction, thereby effectively avoiding direct friction contact between the abutting block body and the conveying belt surface. BRIEF DESCRIPTION OF DRAWINGS

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

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

[0033] Figure 3 It is a schematic diagram of the picking concave surface up sewing machine cutter structure of the application;

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

[0035] Figure 5 This is a schematic structural diagram of the push-lock mechanism assembly of the present invention;

[0036] Figure 6 This is a schematic diagram of the structure of the fixing assembly of the present invention;

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

[0038] Figure 8 This is a schematic diagram of the structure of the sewing machine knife with the concave surface facing downwards picked up by the present invention;

[0039] Figure 9 This is a structural schematic 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 assembly; 41, fixed arm; 42, insert tube; 43, abutment block; 44, press-lock mechanism; 441, partition; 442, spring; 443, abutment rod; 444, heart-shaped slide; 45, fixing assembly; 451, transverse plate; 452, gear 1; 453, sleeve; 454, sleeve rod; 456, compression spring; 457, driving tooth; 458, splint; 50, driving mechanism; 51, gear rod; 61, gear 2; 71, ball bearing; 81, storage box; 82, round rod. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0042] In order to better understand the intelligent sorting device for sewing motor knives based on machine vision provided by the embodiment of the present application, the following first briefly introduces the existing sorting device. The sorting method of sewing motor knives in the prior art usually relies on manual identification or the use of vacuum nozzles for grasping and carrying, but there are problems such as low recognition accuracy, low operating efficiency, loose grasping, and difficulty in identifying the front and back directions of the moving knife. In addition, when facing sewing motor knives with a perforated structure or a concave design, the traditional adsorption structure is prone to adsorption failure, grasping offset or falling, etc., affecting the stability and reliability of the entire sorting system. Especially on high-speed automated production lines, the above defects are more obvious, which restricts the improvement of the overall sorting efficiency and product yield;

[0043] The following is a brief overview of this application scheme. An industrial camera installed on the workbench is used to accurately identify the position and posture of the sewing machine knife. Combined with a spider robot arm, efficient and accurate three-dimensional positioning and picking operations are achieved. The picking component is inserted into the moving knife connection hole through a cannula, and the matching locking and driving structure is used to achieve automatic clamping. It is suitable for sewing machine knives with the concave surface facing up or down, ensuring that they can be firmly grasped in different postures. At the same time, through the innovative press-to-unlock mechanism, gear drive structure and anti-slip design, high stability, high compatibility and high efficiency of intelligent sorting operations are achieved.

[0044] Example 1: Please refer to Figures 1-9 The present invention provides a technical solution: a machine vision-based intelligent sorting device for sewing machine knives, comprising:

[0045] A workbench 10 is provided with an installation area for placing an industrial camera and a spider robotic arm;

[0046] A conveying mechanism 20 is provided in the workbench 10 and is used to convey the sewing machine knife;

[0047] The front end of the spider robot arm is provided with a base 30, and a servo motor 31 is fixedly connected to the base 30. The end of the internal rotating shaft of the servo motor 31 is provided with a pickup assembly 40, and the pickup assembly 40 is used to insert into the connection hole on the sewing machine knife and clamp it;

[0048] The pickup assembly 40 includes:

[0049] A fixed arm 41 is fixedly connected to the end of the internal rotating shaft of the servo motor 31. Insertions 42 are symmetrically provided on both sides of the fixed arm 41. The diameter of the insertion 42 is slightly smaller than the connection hole on the sewing machine knife. An abutment block 43 is slidably connected to the bottom of the insertion 42. A press-locking mechanism 44 is provided on the abutment block 43. Two groups of fixing components 45 are provided on the inner wall of the fixed arm 41. A driving mechanism 50 is provided in the insertion 42. The driving mechanism 50 is used to cooperate with the press-locking mechanism 44 to expand or close the fixing component 45. The fixing component 45 on the lower side is used to fix and clamp the sewing machine knife with the concave surface upward, and the fixing component 45 on the upper side is used to fix and clamp the sewing machine knife with the concave surface downward;

[0050] A storage box 81, wherein two round rods 82 are fixedly connected to the storage box 81, and the ends of the round rods 82 are used to cooperate with the abutment blocks 43 to expand the fixing assembly 45;

[0051] It should be noted that this device accurately locates and identifies the sewing machine knife transported by the conveying mechanism 20 through the identification device provided on the workbench 10, and determines its specific position and placement orientation on the workbench 10. Subsequently, the spider robot arm drives the picking assembly 40 to move in space according to the identification information, and flexibly adjusts the angle and direction of the picking assembly 40 under the drive of the servo motor 31 so that it is accurately aligned with the connection hole on the sewing machine knife. After the alignment is completed, the picking assembly 40 is quickly inserted into the connection hole, and the abutment block 43 at the bottom of the insert 42 is synchronously retracted into the inside of the insert 42, and cooperates with the drive mechanism 50 to drive the fixing assembly 45 to close inward, thereby firmly clamping the sewing machine knife.

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

[0053] Particularly noteworthy is the fact that, to address the issue of inconsistent orientation of the sewing blade during transport, the device incorporates a dual set of fixing assemblies 45. When the concave surface of the sewing blade faces upward, the lower fixing assembly 45 provides clamping; when the concave surface faces downward, the upper fixing assembly 45 completes the clamping operation. This design fully accounts for the structural differences between the front and back sides of the sewing blade. Compared to traditional vacuum nozzle-based clamping methods, it not only improves clamping stability but also significantly enhances the adaptability and reliability of the grip, ensuring efficient and accurate pickup and placement regardless of the orientation of the sewing blade.

[0054] Further as Figure 4 and Figure 5 As shown, it is worth noting that the pressing and locking mechanism 44 includes:

[0055] A partition 441 is fixedly connected to the inner wall of the cannula 42. A spring 442 is provided 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 slot 444 is provided on the abutment block 43. An abutment rod 443 is rotatably connected to the partition 441. The abutment rod 443 is inserted into the heart-shaped slot 444 away from the partition 441;

[0056] It should be noted that when the picking assembly 40 contacts the sewing machine knife, the abutment block 43 at the bottom of the insert tube 42 first abuts against the surface of the conveying mechanism 20. Under the action of the continuous downward pressing force, the abutment block 43 will be compressed and retracted into the inside of the insert tube 42. In this process, the heart-shaped chute 444 provided on the abutment block 43 plays a key control role: as the abutment block 43 retracts, the abutment rod 443 fixedly connected to the inner wall partition 441 of the insert tube 42 will slide from the top of the heart-shaped chute 444 and eventually fall into the bottom end groove of the heart-shaped chute 444. At this time, due to the structural characteristics of the heart-shaped chute 444, the abutment rod 443 will be stuck in the bottom end slot, forming a stable clamping state, thereby achieving the purpose of locking the abutment block 43 in the pressed-in state.

[0057] When the locked state needs to be released in subsequent operations, the pickup assembly 40 drives the cannula 42 to a preset position. At this time, the abutment block 43 is pressed again, and the abutment block 43 slides upward again under the action of external force. At the same time, the abutment rod 443 moves upward along the trajectory on the other side of the heart-shaped chute 444, eventually moving to the top slot of the heart-shaped chute 444. During this process, the spring 442 located between the partition 441 and the abutment block 43 provides a reverse elastic force, causing the abutment rod 443 to quickly snap into place after moving to the top slot, thereby unlocking the abutment block 43.

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

[0059] Further as Figure 6 As shown, it is worth noting that the fixing assembly 45 includes:

[0060] A transverse plate 451 is slidably connected to the cannula 42. A groove is provided in the middle of the transverse plate 451. A gear 1 452 is rotatably connected to the cannula 42. A sleeve 453 is fixedly connected to the outer wall of the gear 1 452. A sleeve rod 454 is slidably connected to 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 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 assembly 45 are achieved through the rotation of gear 1 452. When the drive mechanism 50 drives gear 1 452 to rotate clockwise or counterclockwise, the sleeve 453 fixedly connected to the outer wall of gear 1 452 rotates synchronously. Because a sleeve rod 454 is slidably connected to the interior of the sleeve 453, and one end of the sleeve rod 454 is rotationally connected to the transverse plate 451, when the sleeve 453 rotates under the drive of the gear, the rotational motion is converted into lateral sliding motion through the sleeve rod 454, thereby driving the transverse plate 451 to move laterally within the insertion tube 42.

[0062] Specifically, when gear 1 452 rotates in a predetermined direction, the traverse plate 451, propelled by the sleeve rod 454, gradually moves out of the cannula 42, its distal end extending outward until the outer surface of the traverse plate 451 securely contacts and abuts the surface of the sewing machine blade, completing the clamping action. During this process, the groove structure in the middle of the traverse plate 451 also helps to better fit the curved edge of the sewing machine blade, further enhancing clamping stability.

[0063] Conversely, when the sewing machine knife needs to be released, gear 1 452 can rotate in the opposite direction, and the sleeve 453 also drives the sleeve rod 454 in the opposite direction, thereby retracting the transverse plate 451 in the insertion tube 42 until it is completely retracted into the insertion tube 42, releasing the clamping state. The entire process is preloaded by the compression spring 456.

[0064] The mechanism realizes automatic lateral clamping and releasing actions through mechanical transmission. It has a compact structure, precise movements, and is suitable for the grasping needs of sewing motor knives in different directions, providing stable and reliable clamping guarantee for subsequent intelligent sorting.

[0065] Further as Figure 6 As shown, it is worth noting that the fixing assembly 45 further includes:

[0066] A driving tooth 457 rotatably connected to the inner wall of the cannula 42 and meshing with the gear 1 452 ; a clamping plate 458 , fixedly connected to the outer wall of the driving tooth 457 ;

[0067] It should be noted that in the structure of the fixing assembly 45 described in the present invention, the driving tooth 457 is installed on the inner wall of the cannula 42 by a rotational connection, and forms a gear meshing structure with the gear 1 452, thereby realizing effective transmission of force. When the driving mechanism 50 is started, the driving tooth 457 rotates under the action of an external force, and this rotational action then drives the gear 1 452 meshing with it to rotate synchronously, causing the sleeve 453 connected to the outside of the gear 1 452 to rotate and drive the transverse plate 451 to move laterally through the sleeve rod 454. At the same time, the splint 458 fixedly connected to the outer wall of the driving tooth 457 will also rotate or expand synchronously, and its movement trajectory cooperates with the transverse plate 451, thereby realizing bilateral clamping of the sewing machine knife;

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

[0069] It is worth noting that, considering that the orientation of the sewing motor knife on the conveyor mechanism 20 may vary, the fixing assembly 45 is also adapted. When the concave surface of the sewing motor knife is facing upward, the transverse plate 451 of the fixing assembly 45 provided on the lower side of the pickup assembly 40 will slide inward from both sides of the movable knife, and cooperate with the clamping plate 458 to clamp the movable knife from the left and right sides respectively, thereby achieving effective fixation; when the concave surface of the sewing motor knife is facing downward, the fixing assembly 45 on the upper side of the pickup assembly 40 will participate in the clamping, at which time the transverse plate 451 will press laterally from the upper surface of the movable knife, and the clamping plate 458 will abut against the bottom surface of the movable knife from the bottom upward to complete its stable clamping.

[0070] The above structural design not only solves the problem of traditional vacuum suction nozzles having weak grasping when grasping irregular or non-directional parts, 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 of the moving knife changes during the intelligent sorting process.

[0071] Further as Figure 4 As shown, it is worth noting that the front end of the transverse plate 451 is provided with a rounded corner, and its surface is designed to imitate the surface of the sewing machine 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 plate 451 has a rounded corner structure and is contoured to the outer contour of the sewing machine knife. This allows for a closer fit when in contact with the sewing machine knife surface, effectively preventing unstable clamping or surface damage caused by uneven contact surfaces. This contouring structure not only improves stability during the clamping process but also reduces the risk of indentations or scratches on the sewing machine knife surface. It is particularly suitable for precision assembly or sorting scenarios where high product surface quality is required.

[0073] Furthermore, to further enhance the gripping effect, the contact surface of clamping plate 458 is provided with an anti-slip layer. Made of a high-friction material, this layer provides greater friction when clamping plate 458 contacts the sewing machine blade, preventing the blade from shifting or slipping during the pickup, handling, or release process. The synergistic effect of the anti-slip layer and the contoured rounded corner structure ensures that the entire pickup assembly 40 is safer and more reliable even in complex working conditions.

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

[0075] 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 teeth 1, which mesh with the driving teeth 457. The lower side of the gear rod 51 is fixedly connected to the abutment block 43.

[0076] It should be noted that the gear rods 51 in the drive mechanism 50 are arranged in two groups and are slidably connected to the cannula 42 to ensure balance and synchronization during the driving process. Each group of gear rods 51 is arranged with an array of teeth 1, which mesh with the drive teeth 457, so that when the gear rods 51 move up and down, they can drive the drive teeth 457 to achieve synchronous rotation. The rotation of the drive teeth 457 further drives the rotation of gear 1 452, and finally links the clamping plate 458 and the transverse plate 451 in the fixed assembly 45 to open and close, completing the clamping or release of the sewing machine knife;

[0077] It is worth noting that the gear rod 51 on the lower side is tightly fixed to the abutment block 43 through a structural connection. When the abutment block 43 is pressed by an external force and slides upward into the inside of the tube 42, the gear rod 51 also moves upward, thereby driving the entire drive mechanism to start and complete the clamping action of the fixing component 45; when the abutment block 43 is pressed again to unlock it, the gear rod 51 moves downward, the drive component is reset, and the fixing component 45 opens, thereby completing the release operation of the sewing machine knife.

[0078] This design not only makes the picking and releasing process smooth and coherent, but also can achieve stable clamping of the sewing machine knife through precise mechanical coordination, thus improving the reliability and automation level of the equipment during operation, while also making the structure simple and the response quick.

[0079] Further as Figure 7 As shown, it is worth noting that the driving mechanism 50 further includes:

[0080] Gear 2 61, which is disposed between the gear rods 51 and is rotatably connected to the cannula 42. A second tooth array is provided on the gear rods 51, and the second tooth meshes with the gear 2 61;

[0081] It should be noted that Gear 2 61 in the drive mechanism 50 is positioned between the two sets of gear rods 51 and is rotationally connected to the cannula 42. It serves as a transmission hub, enabling coordinated movement between the two sets of gear rods 51. Specifically, the array of teeth 2 on the two side gear rods 51 meshes with the central gear 2 61. When one gear rod 51 slides upward under external force, its teeth 2 drive Gear 2 61 to rotate synchronously, causing the other gear rod 51 to slide in the opposite direction. This meshing structure ensures that the gear rods 51 on both sides maintain synchronized and symmetrical movement.

[0082] Further as Figure 5 As shown, it is worth noting that the bottom of the abutment block 43 is rotatably connected to a ball 71;

[0083] It should be noted that the rotational connection with the abutment block 43 enables the abutment block 43 to roll flexibly when in contact with the conveyor belt on the conveyor mechanism 20. Regardless of the angle or direction at which the abutment block 43 contacts the conveyor belt surface, the ball 71 can adaptively rotate as the contact direction changes, thereby effectively preventing direct frictional contact between the abutment block 43 and the conveyor belt surface.

[0084] This structural arrangement not only significantly reduces frictional wear on the abutment block 43 during operation, extending its service life, but also reduces damage to the conveyor belt surface. Furthermore, the excellent rolling properties of the ball bearings 71 ensure smoother and more stable pressing and releasing of the abutment block 43, enhancing the stability of the entire pickup process and the reliability of the device.

[0085] It should be noted that, in this document, relational terms such as first and second, etc., are used only 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 "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0086] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, all of which 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 a mounting area for placing an industrial camera and a spider robotic arm; A conveying mechanism (20), the conveying mechanism (20) being arranged in the workbench (10), and the conveying mechanism (20) being used for conveying the sewing machine knife; A base (30) is provided at the front end of the spider mechanical arm, a servo motor (31) is fixedly connected to the base (30), a pickup assembly (40) is provided at the end of the internal rotating shaft of the servo motor (31), and the pickup 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), wherein the fixed arm (41) is fixedly connected to the end of the internal rotating shaft of the servo motor (31), and the fixed arm (41) is symmetrically provided with a plug (42) on both sides, wherein the diameter of the plug (42) is slightly smaller than the connection hole on the sewing machine knife, and the bottom of the plug (42) is slidably connected to an abutment block (43), and the abutment block (43) is provided with a press-locking mechanism (44), and two groups of fixed components (45) are provided on the inner wall of the fixed arm (41), and a driving mechanism (50) is provided in the plug (42), and the driving mechanism (50) is used to cooperate with the press-locking mechanism (44) to expand or close the fixed component (45), and the lower side fixed component (45) is used to fix and clamp the sewing machine knife with the concave surface upward, and the upper side fixed component (45) is used to fix and clamp the sewing machine knife with the concave surface downward; The press-lock mechanism (44) comprises: A partition (441), the partition (441) is fixedly connected to the inner wall of the cannula (42), a spring (442) is provided 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); The fixing assembly (45) comprises: A 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 in 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 in 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 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).

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

3. The machine vision-based intelligent sorting device for sewing knives according to claim 2, characterized in that: The front end of the transverse plate (451) is provided with a rounded corner, and its surface is designed to imitate the surface of a sewing machine knife. The surface of the clamping plate (458) is provided with an anti-slip layer.

4. The machine vision-based intelligent sorting device for sewing knives according to claim 2, characterized in that: 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 a tooth one, the tooth one is engaged with the driving tooth (457), and the lower side of the gear rod (51) is fixedly connected to the abutment block (43).

5. The machine vision-based intelligent sorting device for sewing knives according to claim 4, characterized in that: The driving mechanism (50) further includes: 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).

6. The machine vision-based intelligent sorting device for sewing knives according to any one of claims 3 or 5, characterized in that: The bottom of the abutment block (43) is rotatably connected to a ball (71).

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