Automatic nut marking method and marking device with visual inspection function

Abstract

The invention discloses an automatic nut marking method and device with a visual inspection function. The automatic nut marking method comprises the following steps that S1, a feeding unit is started; s2, a feeding mechanical arm clamps the product to a label manufacturing station of a discharging device in a label printing unit; s3, a marking unit is started, and a marking machine in the marking unit is used for conducting automatic marking on the product located at the marking station of the discharging device; s4, after marking is completed, a visual detection unit is started, and whether product marking is qualified or not is detected through a CCD visual sensor; and S5, after detection is completed, a discharging unit is started, and a discharging mechanical arm in the discharging unit is used for clamping the product and moving the product into a discharging box. According to the marking method and the marking device, manual production is replaced by automatic equipment, the consistency and the stability of the marking quality of products are improved, the production efficiency of the products is improved, and the requirement of high-quality delivery of the products is met.

Description

Technical Field

[0001] The present invention relates to the field of intelligent manufacturing technology, and particularly relates to a nut automatic marking method and a marking device with visual detection. Background Art

[0002] A nut, also known as a screw nut, is a fixing tool with a hole in the center and internal threads on the inner side of the hole. It is often used in combination with screws of appropriate sizes to fix relevant joint parts. A nut is a part that is screwed together with a bolt or screw rod to play a fastening role. In the aerospace field, since nut products are widely used fasteners, for processed nut products, it is necessary to mark them according to the model and specifications of the nuts. The marking information mainly includes the following five categories: one is the name, the second is the standard number, the third is the specification parameters, the fourth is the material and treatment, and the fifth is the performance grade. By clearly marking the normative information on the product, it is possible to quickly identify the key parameters and characteristics of the nut, ensuring the identification accuracy and interchangeability of the nut during assembly and maintenance.

[0003] The existing marking methods for nut products mainly rely on operators for marking, and the marking process is completely manual, with great processing limitations. Due to the inherent uncertainty of human factors, the actual processing efficiency is very low. Moreover, due to the different technical levels of personnel, it is difficult to guarantee the reliability and consistency of product quality. With the development of automation technology, there is an urgent need for a marking device with visual detection for automatic marking, which can not only improve the marking quality and efficiency, reduce the marking cost, but also reduce the drawbacks brought by manual marking, thereby greatly reducing the labor intensity of workers, improving the consistency and stability of product marking quality, increasing the production efficiency of products, and meeting the requirements of high-quality product delivery. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a marking device with automatic loading and unloading in view of the problems in the background art. By using automation technology and visual detection technology, it focuses on the development direction of intelligent manufacturing technology, realizes the automation of nut product marking and the automation of detection and selection, and replaces manual production with automated equipment to achieve stable repetitive actions, avoiding the problem of inconsistent processing quality in each process due to differences in operator skills, processing processes, feeding methods, etc., thereby improving the consistency and stability of products, increasing the production efficiency of products, and meeting the requirements of high-quality product delivery. Specifically, it is a nut automatic marking method and a marking device with visual detection.

[0005] To solve the above technical problem, the technical solution adopted by the present invention is: a nut automatic marking method with visual detection, and the automatic marking method includes the following steps: S1. Start the feeding unit. Manually pour the nut products to be marked into the feeding hopper of the vibrating bowl in the feeding unit. Use the vibrating bowl to arrange the products in sequence and vibrate them to the processing position with the correct orientation, and transfer the products vibrated to the processing position to the material distribution device, waiting for the feeding manipulator in the feeding unit to pick up and feed them. S2. The feeding manipulator picks up the product to the marking station of the feeding device in the marking unit and keeps the product in a clamped state, waiting for marking. S3. Start the marking unit. Use the marking machine in the marking unit to automatically mark the products located at the marking station of the feeding device. S4. After marking is completed, start the vision inspection unit. Use the X-axis module in the vision inspection unit to drive the CCD vision sensor to move to the marking station, and detect whether the product marking is qualified through the CCD vision sensor. When the CCD vision sensor detects that the product marking is unqualified three times in a row, control the feeding unit and the marking unit through the PLC programming control system, turn off the feeding unit and the marking unit, and send an alarm message for prompt. S5. After inspection is completed, start the discharging unit. Use the discharging manipulator in the discharging unit to pick up the product and move it into the discharging box. Among them, the discharging box includes a qualified discharging box and an unqualified discharging box. The qualified products are placed in the qualified discharging box, and the unqualified products are placed in the unqualified discharging box. After the products fill the corresponding discharging boxes, the products can be taken away manually.

[0006] The present invention also discloses a marking device applied to the above-mentioned automatic nut marking method with vision inspection. The marking device includes a mounting seat with support feet, a feeding unit, a marking unit, a vision inspection unit, a discharging unit and a PLC programming control system. The feeding unit, the marking unit, the vision inspection unit and the discharging unit are all arranged on the mounting seat. Among them, the feeding unit and the discharging unit are located outside the marking unit, the vision inspection unit is located in the marking unit, and the PLC programming control system is arranged in the mounting seat and is electrically connected to the feeding unit, the marking unit, the vision inspection unit and the discharging unit respectively, for intelligently controlling the operating states of the feeding unit, the marking unit, the vision inspection unit and the discharging unit, and realizing automatic loading and unloading and automatic marking of the nut products to be marked.

[0007] Further, adopting the marking device of the present invention, the feeding unit includes a vibrating bowl and a feeding manipulator. The vibrating bowl and the feeding manipulator are both arranged in the mounting seat. The feeding manipulator is located above the vibrating bowl and is used to pick up the products put into the vibrating bowl. The marking unit includes a marking machine, an X-axis module and a feeding device. The X-axis module is arranged in the mounting seat. The marking machine and the feeding device are both arranged in the X-axis module. The feeding device is used to receive the products to be marked. The visual inspection unit includes a CCD visual sensor and an auxiliary bracket. The CCD visual sensor is arranged in the X-axis module through the auxiliary bracket, and the CCD visual sensor is used to detect the marked products. The blanking unit includes a blanking manipulator and a blanking box. The blanking manipulator and the blanking box are both arranged in the mounting seat. The blanking box is located inside the blanking manipulator. Among them, the blanking box includes a qualified blanking box and an unqualified blanking box. The qualified blanking box is used to store the products with qualified markings, and the unqualified blanking box is used to store the products with unqualified markings. The PLC programming control system includes a touch screen and a controller with industrial control software. The touch screen and the controller are both arranged on the side of the mounting seat. The PLC programming control system is electrically connected to the vibrating disk and the loading manipulator in the loading unit, the marking machine and the X-axis module in the marking unit, the CCD visual sensor in the visual inspection unit, and the blanking manipulator in the blanking unit through the controller respectively. Through the cooperation of the loading unit, the marking unit, the visual inspection unit and the blanking unit, the automatic loading and unloading and automatic marking of the nuts to be marked are realized.

[0008] Furthermore, by using the marking device of the present invention, the vibrating disk in the loading unit is used for manual loading, and the products are vibrated to the processing position with the correct orientation through the vibrating disk; and the loading manipulator is used to clamp the products to the marking position of the feeding device in the marking unit and keep the products in a clamped state to prevent jumping; the marking machine in the marking unit is used to automatically mark the products located at the marking position of the feeding device. After the marking is completed, the X-axis module in the visual inspection unit drives the CCD visual sensor to move to the marking position, and the CCD visual sensor is used to detect whether the product marking is qualified; the blanking manipulator in the blanking unit clamps the products and moves them into the blanking box. Among them, the blanking box includes a qualified blanking box and an unqualified blanking box. The qualified blanking box is used to store the products with qualified markings, and the unqualified blanking box is used to store the products with unqualified markings; after the products fill the corresponding blanking boxes, the products can be taken away manually, so as to realize the automatic loading and unloading and automatic marking processing of the nut products; when the CCD visual sensor continuously detects that the product marking is unqualified three times, the loading unit and the marking unit are controlled through the PLC programming control system to turn off the loading unit and the marking unit, and an alarm message is sent for prompt.

[0009] Further, by using the marking device of the present invention, the vibrating bowl includes a circular vibrating hopper, a material separating device, and a feeding guide rail. The feeding guide rail is configured with four guide rails of different specifications. The circular vibrating hopper and the material separating device are connected by four sequentially arranged guide rails. The circular vibrating hopper vibrates up and down and in the circumferential direction to vibrate out the products. The products vibrated out move along the four sequentially arranged guide rails to the material separating device according to different specifications. The material separating device moves upward to the product picking position and waits for the loading manipulator to pick and load the materials.

[0010] Further, by using the marking device of the present invention, the loading manipulator includes a support, a left and right sliding table cylinder, a Y-axis module, a lifting cylinder, and a loading gripper. The support is arranged on the mounting seat. The left and right sliding table cylinder and the Y-axis module are both arranged in the support. The loading gripper is arranged in the Y-axis module through the lifting cylinder. The left and right sliding table cylinder is used to drive the Y-axis module to move, realizing the left, right, front, and back movement of the loading manipulator, and the up and down movement of the loading manipulator is realized through the lifting cylinder. The loading gripper is used to realize the clamping and releasing operations of the products.

[0011] Further, by using the marking device of the present invention, the marking machine includes a machine frame, a servo motor, a pneumatic marking head, and a synchronous conveyor belt. The servo motor is arranged in the X-axis module through the machine frame. The synchronous conveyor belt is driven by the servo motor to drive the pneumatic marking head to perform marking processing on the products located at the marking station of the feeding device. The marking position can be adjusted through the synchronous conveyor belt.

[0012] Further, by using the marking device of the present invention, one end of the auxiliary support in the vision detection unit is used to fixedly connect the CCD vision sensor, and the other end is fixed on the X-axis module. The CCD vision sensor is driven by the X-axis module to move left and right to perform vision detection on the products.

[0013] Further, by using the marking device of the present invention, the PLC programming control system further includes a database, an indicator light, and an operation button electrically connected to the controller. The PLC programming control system is used to control the intelligent functions of nut product marking through the controller, and under the action of the operation button and the touch screen, realize the automatic loading and unloading and automatic marking of the nuts to be marked; wherein, the nut product is any one of hexagonal nuts, decagonal nuts, dodecagonal nuts, or round-corner nuts.

[0014] Adopting the nut automatic marking method and marking device with visual detection according to the present invention, compared with the prior art, the beneficial effects are as follows: through the configured feeding unit, marking unit, visual detection unit, discharging unit and PLC programming control system, the vibrating disk in the feeding unit is adopted. Since the vibrating disk includes a circular vibrating hopper, a feeding device and a feeding guide rail, and the feeding guide rail is configured with four guide rails of different specifications, through the four guide rails of different specifications, vibrating feeding of products of different specifications can be realized. When changing the product type, only the vibrating disk needs to be replaced to change the type, and the equipment has high compatibility; the CCD visual detection sensor is adopted to realize automatic detection and screening of the nut product marking, effectively solving the problem that it is difficult to guarantee the reliability and consistency of product quality caused by manual selection; the feeding manipulator in the feeding unit, the discharging manipulator in the discharging unit and the marking machine in the marking unit are adopted to realize automatic loading and unloading and automatic marking processing of products. By replacing manual operation with machinery and equipment, the purposes of automatic, unmanned and de-manualized product marking are achieved, the working conditions are improved, the labor intensity of workers is reduced, the labor cost is effectively reduced, and the production efficiency of products is improved.

[0015] Thus, adopting the nut automatic marking method and marking device according to the present invention, using the automatic design technology, PLC automatic control technology and visual detection technology, the automatic loading and unloading, automatic marking, automatic detection, selection and rejection and other processes of nut products are realized. Using automatic equipment instead of manual production effectively improves the production capacity utilization rate of existing equipment, realizes stable repetitive actions, improves the consistency and stability of product marking quality, improves the production efficiency of products, and meets the requirements of high-quality product delivery. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described in detail below with reference to the accompanying drawings.

[0017] Figure 1 It is a schematic structural diagram of the marking device according to the present invention; Figure 2 It is a schematic structural diagram of the feeding unit according to the present invention; Figure 3 It is a schematic structural diagram of the marking unit according to the present invention; Figure 4 It is a schematic structural diagram of the visual detection unit according to the present invention; Figure 5 It is a schematic structural diagram of the discharging unit according to the present invention; Figure 6 It is a schematic structural diagram of the PLC programming control system according to the present invention; Figure 7 It is a schematic structural diagram of the vibrating disk in the present invention; Figure 8 It is a schematic structural diagram of the feeding manipulator in the present invention; Figure 9 It is a schematic structural diagram of the marking machine described in the present invention; Figure 10 It is a layout diagram of the marking device described in the present invention.

[0018] As shown in the figure: 1 - feeding unit, 2 - marking unit, 3 - vision detection unit, 4 - discharging unit, 5 - PLC programming control system, 6 - vibrating bowl, 7 - feeding manipulator, 8 - marking machine, 9 - X-axis module, 10 - material discharging device, 11 - CCD vision sensor, 12 - auxiliary bracket, 13 - discharging manipulator, 14 - discharging box, 15 - touch screen, 16 - operation button, 17 - circular vibrating hopper, 18 - material distributing device, 19 - left and right sliding table cylinders, 20 - Y-axis module, 21 - lifting cylinder, 22 - feeding gripper, 23 - pneumatic marking head, 24 - synchronous conveyor belt. Specific embodiments

[0019] The following specific embodiments illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0020] It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in the art to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they do not have technical substantial significance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention. At the same time, the terms such as "upper", "lower", "left", "right", etc. cited in this specification are only for the convenience of narration and are not used to limit the scope of implementation of the present invention. The change or adjustment of their relative relationships, without substantial change in the technical content, should also be regarded as the scope within which the present invention can be implemented.

[0021] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "connected" and "provided with" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0022] It should be noted that the term "comprising" or any other variant is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Embodiment 1

[0023] As Figures 1 to 9 shown, this embodiment provides a marking device for an automated nut marking method with visual detection. The marking device includes a mounting base with support feet, a feeding unit 1, a marking unit 2, a visual detection unit 3, a discharging unit 4, and a PLC programming control system 5. The feeding unit 1, the marking unit 2, the visual detection unit 3, and the discharging unit 4 are all arranged on the mounting base. Among them, the feeding unit 1 and the discharging unit 4 are located outside the marking unit 2, the visual detection unit 3 is located in the marking unit 2, and the PLC programming control system 5 is arranged in the mounting base and is electrically connected to the feeding unit 1, the marking unit 2, the visual detection unit 3, and the discharging unit 4 respectively, for intelligently controlling the operating states of the feeding unit 1, the marking unit 2, the visual detection unit 3, and the discharging unit 4, and realizing automatic loading and unloading and automatic marking of the nuts to be marked.

[0024] Furthermore, using the marking device described in this embodiment, the feeding unit 1 includes a vibrating bowl 6 and a feeding manipulator 7. The vibrating bowl 6 and the feeding manipulator 7 are both arranged in the mounting base. The feeding manipulator 7 is located above the vibrating bowl 6 and is used to pick up the products put into the vibrating bowl 6; The marking unit 2 includes a marking machine 8, an X-axis module 9, and a feeding device 10. The X-axis module 9 is arranged in the mounting base. The marking machine 8 and the feeding device 10 are both arranged in the X-axis module 9. The feeding device 10 is used to store the products to be marked; The visual detection unit 3 includes a CCD visual sensor 11 and an auxiliary bracket 12. The CCD visual sensor 11 is arranged in the X-axis module 9 through the auxiliary bracket 12. The CCD visual sensor 11 is used to detect the marked products; The discharging unit 4 includes a discharging manipulator 13 and a discharging box 14. The discharging manipulator 13 and the discharging box 14 are both arranged in the mounting base. The discharging box 14 is located inside the discharging manipulator 13. Among them, the discharging box 14 includes a qualified discharging box and an unqualified discharging box. The qualified discharging box is used to store the products with qualified marks, and the unqualified discharging box is used to store the products with unqualified marks; The PLC programming control system 5 includes a touch screen 15 and a controller 16 with industrial control software. The touch screen 15 and the controller 16 are both arranged on the side of the mounting base. The PLC programming control system 5 is electrically connected to the vibrating disk 6 and the loading manipulator 7 in the loading unit 1, the marking machine 8 and the X-axis module 9 in the marking unit 2, the CCD vision sensor 11 in the vision detection unit 3, and the unloading manipulator 13 in the unloading unit 4 through the controller 16. Through the cooperation of the loading unit 1, the marking unit 2, the vision detection unit 3, and the unloading unit 4, the automatic loading and unloading and automatic marking of the nuts to be marked are realized.

[0025] Further, with the marking device described in this embodiment, the vibrating disk 6 in the loading unit 1 is used for manual feeding, and the products are vibrated by the vibrating disk 6 to the processing position with the correct orientation; and the loading manipulator 7 is used to clamp the products to the marking position of the feeding device 10 in the marking unit 2 and keep the products in a clamped state to prevent jumping; the marking machine 8 in the marking unit 2 is used to automatically mark the products located at the marking position of the feeding device 10. After the marking is completed, the X-axis module 9 in the vision detection unit 3 drives the CCD vision sensor 11 to move to the marking position, and the CCD vision sensor 11 is used to detect whether the product marking is qualified; the unloading manipulator 13 in the unloading unit 4 clamps the products and moves them into the unloading box 14. Among them, the unloading box 14 includes a qualified unloading box and an unqualified unloading box. The qualified unloading box is used to store the products with qualified markings, while the unqualified unloading box is used to store the products with unqualified markings; after the products fill the corresponding unloading box 14, the products can be taken away manually, so as to realize the automatic loading and unloading and automatic marking processing of nut products; when the CCD vision sensor 11 continuously detects that the product marking is unqualified three times, the PLC programming control system 5 controls the loading unit 1 and the marking unit 2 to turn off the loading unit 1 and the marking unit 2 and send an alarm message for prompt.

[0026] Further, with the marking device described in this embodiment, the vibrating disk 6 includes a circular vibrating hopper 17, a material distribution device 18, and a feeding guide rail. The feeding guide rail is configured with four guide rails of different specifications. The circular vibrating hopper 17 and the material distribution device 18 are connected by four sequentially arranged guide rails. The circular vibrating hopper 17 makes the products vibrate out by vibrating in the vertical and circumferential directions. The products that vibrate out move to the material distribution device 18 along the four sequentially arranged guide rails according to different specifications and sizes. The material distribution device 18 moves upward to the product picking position and waits for the loading manipulator 7 to clamp and load.

[0027] Further, using the marking device described in this embodiment, the loading manipulator 7 includes a support, a left-right sliding table cylinder 19, a Y-axis module 20, a lifting cylinder 21, and a loading gripper 22. The support is arranged on the mounting base. The left-right sliding table cylinder 19 and the Y-axis module 20 are both arranged in the support. The loading gripper 22 is arranged in the Y-axis module 20 through the lifting cylinder 21. The left-right sliding table cylinder 19 is used to drive the movement of the Y-axis module 20 to realize the left-right and front-back movement of the loading manipulator 7, and the up-down movement of the loading manipulator 7 is realized through the lifting cylinder 21. The loading gripper 22 is used to realize the clamping and releasing operations of the product.

[0028] Further, using the marking device described in this embodiment, the marking machine 8 includes a machine frame, a servo motor, a pneumatic marking head 23, and a synchronous conveyor belt 24. The servo motor is arranged in the X-axis module 9 through the machine frame. The synchronous conveyor belt 24 is driven by the servo motor to drive the pneumatic marking head 23 to perform marking processing on the product located at the marking station of the feeding device 10, and its marking position can be adjusted through the synchronous conveyor belt 24.

[0029] Further, using the marking device described in this embodiment, one end of the auxiliary support 12 in the vision detection unit 3 is used to fixedly connect the CCD vision sensor 11, and the other end is fixed on the X-axis module 9. The X-axis module 9 drives the CCD vision sensor 11 to move left and right to perform vision detection on the product.

[0030] Further, using the marking device described in this embodiment, the PLC programming control system 5 further includes a database, an indicator light, and an operation button electrically connected to the controller 16. The PLC programming control system 5 is used for intelligent function control of nut product marking through the controller 16, and under the action of the operation button and the touch screen 15, realizes automatic loading and unloading and automatic marking of the nut product to be marked; wherein, the nut product is any one of hexagonal nuts, decagonal nuts, dodecagonal nuts, or round-corner nuts. Embodiment 2

[0031] As Figure 10 shown, this embodiment provides an automatic nut marking method with vision detection. The automatic marking method includes the following steps: S1. Start the loading unit 1. Manually pour the nut product to be marked into the feeding port of the vibrating disk 6 in the loading unit 1. Use the vibrating disk 6 to vibrate and arrange the products in sequence to the processing position with the correct orientation, and convey the products vibrated to the processing position to the material distribution device 18 to wait for the loading manipulator 7 in the loading unit 1 to clamp and load. S2. The loading manipulator 7 clamps the product to the marking station of the feeding device 10 in the marking unit 2 and keeps the product in a clamped state to wait for marking. S3. Start the marking unit 2, and use the printer 8 in the marking unit 2 to automatically mark the products located at the marking station of the feeding device 10. S4. After the marking is completed, start the vision inspection unit 3. Use the X-axis module 9 in the vision inspection unit 3 to drive the CCD vision sensor 11 to move to the marking station, and detect whether the product marking is qualified through the CCD vision sensor 11. When the CCD vision sensor 11 detects that the product marking is unqualified three times in a row, control the feeding unit 1 and the marking unit 2 through the PLC programming control system 5, turn off the feeding unit 1 and the marking unit 2, and send an alarm message for prompt. S5. After the detection is completed, start the discharging unit 4. Use the discharging manipulator 13 in the discharging unit 4 to clamp the product and move it into the discharging box 14. Among them, the discharging box 14 includes a qualified discharging box and an unqualified discharging box. For OK (qualified) products, place them in the qualified discharging box, and for NG (unqualified) products, place them in the unqualified discharging box. After the products fill the corresponding discharging box 14, the products can be taken away manually.

[0032] By using the automatic nut marking method of the present invention, through the configured feeding unit 1, marking unit 2, vision inspection unit 3, discharging unit 4 and PLC programming control system 5, on the premise of meeting the safe use conditions, according to the marking quality requirements of nut products, replacing the original manual marking with an automatic marking method can realize the automatic marking, detection, screening, etc. of nut products such as hexagon, decagon, dodecagon and round corner, shorten the product processing cycle and improve the product delivery capacity.

[0033] In summary, by using the automatic nut marking method and marking device of the present invention, adopting automatic design technology, PLC automatic control technology, and vision inspection technology, realizing the automatic loading and unloading, automatic marking, automatic detection, selection and rejection of nut products, using automatic equipment to replace manual production, effectively improving the production capacity utilization rate of existing equipment, realizing stable repetitive actions, improving the consistency and stability of product marking quality, improving product production efficiency, and meeting the requirements of high-quality product delivery.

[0034] The protection scope of the present invention is not limited to the technical solutions disclosed in the specific embodiments. The above are only the preferred embodiments of the present invention and do not limit the present invention. Any minor modifications, equivalent replacements and improvements made according to the technical solutions of the present invention shall be included in the protection scope of the technical solutions of the present invention.

Claims

1. An automated nut marking method with visual detection, characterized in that: The described automatic marking method includes the following steps: S1. Start the feeding unit (1). Manually pour the nuts to be marked into the feeding opening of the vibrating bowl (6) in the feeding unit (1). Use the vibrating bowl (6) to arrange and vibrate the products in sequence to the processing position with the correct orientation, and transfer the products vibrated to the processing position to the material distribution device (18) to wait for the feeding manipulator (7) in the feeding unit (1) to pick up and feed. S2. The feeding manipulator (7) picks up the product and places it at the marking station of the discharging device (10) in the marking unit (2), and keeps the product in a clamped state to wait for marking. S3. Start the marking unit (2). Use the marking machine (8) in the marking unit (2) to automatically mark the product located at the marking station of the discharging device (10). S4. After marking is completed, start the vision inspection unit (3). Use the X-axis module (9) in the vision inspection unit (3) to drive the CCD vision sensor (11) to move to the marking station, and detect whether the product marking is qualified through the CCD vision sensor (11). When the CCD vision sensor (11) detects that the product marking is unqualified three times in a row, control the feeding unit (1) and the marking unit (2) through the PLC programming control system (5), turn off the feeding unit (1) and the marking unit (2), and send an alarm message for prompt. S5. After the inspection is completed, start the discharging unit (4). Use the discharging manipulator (13) in the discharging unit (4) to pick up the product and move it into the discharging box (14). Among them, the discharging box (14) includes a qualified discharging box and an unqualified discharging box. The qualified products are placed in the qualified discharging box, and the unqualified products are placed in the unqualified discharging box. After the products fill the corresponding discharging box (14), the products can be taken away manually.

2. A marking device for the nut automatic marking method with visual detection described in claim 1, characterized in that: The marking device includes a mounting seat with support feet, a feeding unit (1), a marking unit (2), a vision inspection unit (3), a discharging unit (4) and a PLC programming control system (5). The feeding unit (1), the marking unit (2), the vision inspection unit (3) and the discharging unit (4) are all arranged on the mounting seat. Among them, the feeding unit (1) and the discharging unit (4) are located outside the marking unit (2), the vision inspection unit (3) is located in the marking unit (2), and the PLC programming control system (5) is arranged in the mounting seat and is electrically connected to the feeding unit (1), the marking unit (2), the vision inspection unit (3) and the discharging unit (4) respectively, and is used to intelligently control the operating states of the feeding unit (1), the marking unit (2), the vision inspection unit (3) and the discharging unit (4) to realize automatic loading and unloading and automatic marking of the nuts to be marked.

3. The marking device according to claim 2, characterized in that: The feeding unit (1) includes a vibrating bowl (6) and a feeding manipulator (7). The vibrating bowl (6) and the feeding manipulator (7) are both arranged in the mounting seat. The feeding manipulator (7) is located above the vibrating bowl (6) and is used to pick up the products put into the vibrating bowl (6). The marking unit (2) includes a marking machine (8), an X-axis module (9) and a feeding device (10). The X-axis module (9) is arranged in the mounting base, and both the marking machine (8) and the feeding device (10) are arranged in the X-axis module (9). The feeding device (10) is used to store the products to be marked. The vision detection unit (3) includes a CCD vision sensor (11) and an auxiliary bracket (12). The CCD vision sensor (11) is arranged in the X-axis module (9) through the auxiliary bracket (12), and the CCD vision sensor (11) is used to detect the marked products. The blanking unit (4) includes a blanking manipulator (13) and a blanking box (14). Both the blanking manipulator (13) and the blanking box (14) are arranged in the mounting base. The blanking box (14) is located inside the blanking manipulator (13). Among them, the blanking box (14) includes a qualified blanking box and an unqualified blanking box. The qualified blanking box is used to store the qualified marked products, and the unqualified blanking box is used to store the unqualified marked products. The PLC programming control system (5) includes a touch screen (15) and a controller (16) with industrial control software. Both the touch screen (15) and the controller (16) are arranged on the side of the mounting base. The PLC programming control system (5) is electrically connected to the vibrating disk (6) and the loading manipulator (7) in the loading unit (1), the marking machine (8) and the X-axis module (9) in the marking unit (2), the CCD vision sensor (11) in the vision detection unit (3), and the blanking manipulator (13) in the blanking unit (4) through the controller (16). Through the cooperation of the loading unit (1), the marking unit (2), the vision detection unit (3) and the blanking unit (4), the automatic loading and unloading and automatic marking of the nuts to be marked are realized.

4. The marking device according to claim 3, characterized in that: The vibrating bowl (6) in the feeding unit (1) is used for manual feeding. The products are vibrated by the vibrating bowl (6) to the processing position with the correct orientation. The feeding manipulator (7) is used to clamp the products to the marking station of the feeding device (10) in the marking unit (2) and keep the products in a clamped state to prevent jitter. The marking machine (8) in the marking unit (2) is used to automatically mark the products located at the marking station of the feeding device (10). After the marking is completed, the X-axis module (9) in the vision detection unit (3) drives the CCD vision sensor (11) to move to the marking station, and the CCD vision sensor (11) is used to detect whether the product marking is qualified. The unloading manipulator (13) in the unloading unit (4) clamps the products and moves them into the unloading box (14). Among them, the unloading box (14) includes a qualified unloading box and an unqualified unloading box. The qualified unloading box is used to store the products with qualified marking, while the unqualified unloading box is used to store the products with unqualified marking. After the corresponding unloading box (14) is filled with products, the products can be taken away manually, so as to realize the automatic loading and unloading and automatic marking processing of nut products. When the CCD vision sensor (11) continuously detects that the product marking is unqualified three times, the feeding unit (1) and the marking unit (2) are controlled by the PLC programming control system (5), the feeding unit (1) and the marking unit (2) are shut down, and an alarm message is sent for prompt.

5. The marking device according to claim 3, characterized in that: The vibrating bowl (6) includes a circular vibrating hopper (17), a material distribution device (18) and a feeding guide rail. The feeding guide rail is configured with four guide rails of different specifications. The circular vibrating hopper (17) and the material distribution device (18) are connected by four sequentially arranged guide rails. The circular vibrating hopper (17) vibrates up and down and in the circumferential direction to vibrate out the products. The vibrated products move to the material distribution device (18) along the four sequentially arranged guide rails according to different specifications and sizes. The material distribution device (18) moves upward to the product picking position and waits for the feeding manipulator (7) to clamp and feed.

6. The marking device according to claim 3, characterized in that: The feeding manipulator (7) includes a support, a left-right sliding table cylinder (19), a Y-axis module (20), a lifting cylinder (21) and a feeding gripper (22). The support is arranged on the mounting seat. The left-right sliding table cylinder (19) and the Y-axis module (20) are both arranged in the support. The feeding gripper (22) is arranged in the Y-axis module (20) through the lifting cylinder (21). The left-right sliding table cylinder (19) is used to drive the Y-axis module (20) to move, realizing the left-right and front-back movement of the feeding manipulator (7), and the lifting cylinder (21) is used to realize the up-down movement of the feeding manipulator (7). The feeding gripper (22) is used to clamp and release the products.

7. The marking device according to claim 3, characterized in that: The marking machine (8) includes a machine frame, a servo motor, a pneumatic marking head (23) and a synchronous conveyor belt (24). The servo motor is arranged in the X-axis module (9) through the machine frame. The synchronous conveyor belt (24) is driven by the servo motor to drive the pneumatic marking head (23) to perform marking processing on the product located at the marking station of the feeding device (10), and its marking position can be adjusted through the synchronous conveyor belt (24).

8. The marking device according to claim 3, characterized in that: One end of the auxiliary bracket (12) in the vision detection unit (3) is used for fixedly connecting the CCD vision sensor (11), and the other end is fixed on the X-axis module (9). The X-axis module (9) drives the CCD vision sensor (11) to move left and right to perform vision detection on the product.

9. The marking device according to claim 3, characterized in that: The PLC programming control system (5) further includes a database, an indicator light and an operation button electrically connected to the controller (16). The PLC programming control system (5) is used for intelligent function control of nut product marking through the controller (16), and realizes automatic loading and unloading and automatic marking of the nuts to be marked under the action of the operation button and the touch screen (15); wherein, the nut product is any one of hexagonal nuts, decagonal nuts, dodecagonal nuts or round-corner nuts.

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