Precise needle bar and needle tip size automatic detection and sorting equipment

Abstract

The invention relates to the technical field of precision manufacturing, in particular to automatic detection and separation equipment for the size of a needle point of a precision needle bar. A marble table board and a metal table board are separately arranged, and the marble table board is independently provided with a visual detection mechanism to isolate motion vibration interference; the metal table top is sequentially provided with a feeding mechanism, a positioning mechanism and a sorting mechanism in the material conveying direction, and full-process automatic operation is formed. The feeding mechanism is matched with a tooth row type feeding slope through a coaxial assembly feeding wheel, it is guaranteed that materials accurately enter a groove, and the directions of needle points are uniform. The positioning mechanism adopts combination of rigid and elastic air cylinders and is matched with a nylon clamping jaw, so that accurate positioning and material protection are realized; the visual detection mechanism can finely adjust and focus to guarantee the detection precision; the sorting mechanism is matched with a special nylon clamping jaw through a linear module, and multi-size grading sorting and convenient collection are achieved. The equipment solves the problems that in the prior art, precision needle type electrode material detection and sorting efficiency is low, precision is poor, and materials are prone to being damaged, and the engineering mass production requirement is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of precision manufacturing, in particular to a precision needle rod needle tip size automatic detection and sorting equipment. BACKGROUND

[0002] In the field of processing precision needle type electrode materials, the needle tip size needs to be accurately detected during the processing, and sorting is performed according to the detection results.

[0003] However, the detection and sorting scheme for such precision needle type electrode materials in the prior art still has obvious deficiencies, which is difficult to meet the actual production requirements. Specifically, the current mainstream detection and sorting method is mainly manual operation: the operator needs to use a microscope, a video microscope and other tools to complete the needle tip size detection. This method is greatly affected by the subjective judgment of the personnel, and is prone to detection precision fluctuations. At the same time, manual detection is time-consuming, and the operator cannot work continuously for a long time, which seriously limits the overall detection and sorting efficiency.

[0004] In addition to manual detection and sorting, there are also some general automatic detection equipment in the prior art. On the one hand, the general automatic detection equipment can only realize the function of size detection, lacks the necessary sorting mechanism, and there is no positioning and fixing structure for material placement before detection, which makes it difficult to accurately align the needle tip position for detection. On the other hand, conventional sorting equipment often uses a vibrating disc to feed, but the vibrating disc cannot effectively distinguish between the needle tip and the needle tail, resulting in a chaotic material posture after feeding. Some equipment attempts to use a transparent material to make a turntable to drive the workpiece through the lens for detection, but it also does not set a material positioning and fixing structure, which cannot meet the precision requirements of needle tip size detection.

[0005] It can be seen that neither the manual detection and sorting method nor the existing automatic detection equipment and conventional sorting equipment can independently or cooperatively complete the high-precision and high-efficiency detection and sorting of precision needle type electrode materials. SUMMARY

[0006] In order to realize mechanical automatic needle tip size detection and sorting and improve detection efficiency and detection precision, the present application provides a precision needle rod needle tip size automatic detection and sorting equipment, which comprises a marble table and a metal table arranged separately, a visual detection mechanism is arranged on the marble table, and a feeding mechanism, a positioning mechanism and a sorting mechanism are sequentially arranged on the metal table along the material conveying direction. The feeding mechanism comprises a feeding slope and a feeding wheel; the feeding wheel surface is provided with a plurality of grooves parallel to the axis direction; the feeding slope is inclinedly arranged at the material taking end of the feeding wheel, and the material output end of the feeding slope corresponds to the grooves; The positioning mechanism is arranged at the discharging end of the feeding mechanism, and comprises a V-shaped support, a front positioning cylinder, a rear positioning cylinder and a positioning clamping assembly; the material receiving part of the V-shaped support corresponds to the material groove; the front positioning cylinder is a rigid structure, which can fix the position of the needle tip of the material, and the rear positioning cylinder is provided with an elastic structure, which can adapt to the material with slight length deviation; The sorting mechanism is arranged at the discharging end of the material receiving platform, and comprises a clamping device and a sorted material groove, which can realize multi-size grading and packaging according to the visual detection result.

[0007] In some embodiments, the visual detection mechanism comprises a three-axis support, an industrial camera and a high-magnification lens; the industrial camera and the high-magnification lens are fixed on the three-axis support, and the detection position and the focusing position can be adjusted.

[0008] In some embodiments, the feeding wheel comprises a coaxially assembled first feeding wheel and a second feeding wheel, and the material grooves on the first feeding wheel and the second feeding wheel are collinear; the discharging end of the feeding slope adopts a gear row structure, which comprises a plurality of convex parts and concave parts; the concave parts can accommodate the first feeding wheel or the second feeding wheel to extend in, and the convex parts can extend between the first feeding wheel and the second feeding wheel.

[0009] Further, the V-shaped support is provided with a recessed space penetrating through two side surfaces, one side of which is used for the positioning clamping assembly or the clamping device to extend in, and the other side is used for the first feeding wheel or the second feeding wheel to extend in.

[0010] Further, the positioning clamping assembly comprises a positioning clamping jaw, a first positioning cylinder and a second positioning cylinder; the positioning clamping jaw is arranged at the output end of the first positioning cylinder, the first positioning cylinder is arranged at the top end of the piston rod of the second positioning cylinder, and the second positioning cylinder is arranged at the side of the V-shaped support.

[0011] In some embodiments, the positioning mechanism further comprises a sensor arranged at the bottom of the V-shaped support, which is used for detecting whether the material reaches the positioning position.

[0012] In some embodiments, the clamping device comprises a sorting clamping jaw, a first clamping cylinder, a second clamping cylinder, a linear module and a driving motor; the sorting clamping jaw is arranged at the output end of the first clamping cylinder, the first clamping cylinder is arranged at the bottom end of the piston rod of the second clamping cylinder, the second clamping cylinder is vertically arranged on the slider of the linear module, and the linear module is driven by the driving motor.

[0013] Further, the clamping surface of the sorting clamping jaw is provided with an arc-shaped groove adapted to needle-shaped materials.

[0014] In some embodiments, the positioning clamping jaw and the sorting clamping jaw are both made of nylon material; the first positioning cylinder and the first clamping cylinder are both finger cylinders; and the second positioning cylinder and the second clamping cylinder are both double-cylinder cylinders.

[0015] In some embodiments, the elastic structure is a spring or rubber.

[0016] Compared with the prior art, the application has the following beneficial effects: The automatic detection and sorting equipment for the size of the needle tip of the precision needle rod provided by the application adopts a marble table and a metal table arranged separately, and a visual detection mechanism is independently installed on the marble table, which can isolate the vibration interference of the movement mechanism on the metal table, and ensure the detection accuracy of the needle tip; the metal table is sequentially arranged with a feeding mechanism, a positioning mechanism and a sorting mechanism along the material conveying direction, forming a full-process automatic operation, avoiding subjective errors and efficiency limitations of manual detection, and greatly improving the overall operation efficiency.

[0017] In particular, the feeding mechanism cooperates with a feeding slope with a tooth row type discharging structure through coaxial assembly of a feeding wheel, so as to ensure that the materials are accurately fed into the groove and the needle tips are uniformly oriented, solving the problem that the existing vibrating disc feeding cannot distinguish the needle tip and the needle tail and the material posture is chaotic.

[0018] In the positioning mechanism, the front positioning cylinder adopts a rigid structure to ensure the uniformity of the needle tip detection reference, and the rear positioning cylinder is configured with a spring or rubber elastic structure to adapt to materials with slight length deviation to prevent damage.

[0019] In addition, the positioning clamping jaw and the sorting clamping jaw are both made of nylon clamping jaws, and are driven by double-cylinder cylinders and finger cylinders, which not only ensures stable and accurate clamping, but also avoids scratching the surface of the materials, solving the problem of poor adaptability and easy damage of the existing positioning mechanism. The sorting clamping jaw clamping surface is also provided with an arc-shaped groove, which further ensures the stable clamping of the materials.

[0020] In summary, the automatic detection and sorting equipment for the size of the needle tip of the precision needle rod realizes full-process automation of the precision needle type electrode materials from automatic feeding, accurate positioning, high-precision detection to grading and sorting, improves the efficiency while ensuring the detection accuracy and the integrity of the materials, and meets the engineering mass production demand. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0022] Figure 1The front view structural schematic diagram of the precision needle rod needle tip size automatic detection and sorting equipment provided by the application; Figure 2 The rear three-dimensional view of the precision needle rod needle tip size automatic detection and sorting equipment provided by the application; Figure 3 The front three-dimensional view of the precision needle rod needle tip size automatic detection and sorting equipment provided by the application; Figure 4 The front three-dimensional view of the precision needle rod needle tip size automatic detection and sorting equipment provided by the application; Figure 5 The structural schematic diagram of the feeding mechanism provided by the application; Figure 6 The structural schematic diagram of the feeding mechanism and the positioning mechanism provided by the application; Figure 7 The structural schematic diagram of the sorting mechanism provided by the application.

[0023] Reference signs: 110-marble table top; 120-metal table top; 200-vision detection mechanism; 210-three-axis support; 220-industrial camera; 230-high-power lens; 300-feeding mechanism; 310-feeding slope; 311-convex part; 312-concave part; 320-feeding wheel; 320a-first feeding wheel; 320b-second feeding wheel; 321-material groove; 400-positioning mechanism; 410-V-shaped support; 411-material receiving part; 412-abutting part; 420-front positioning air cylinder; 430-rear positioning air cylinder; 440-positioning clamping assembly; 441-positioning clamping jaw; 442a-first positioning air cylinder; 442b-second positioning air cylinder; 500-sorting mechanism; 510-clamping device; 511-sorting clamping jaw; 512a-first clamping air cylinder; 512b-second clamping air cylinder; 513-linear module; 514-driving motor; 520-sorting material groove; 521-fixed support; 522-material box. DETAILED DESCRIPTION

[0024] To make the purpose, technical solutions and advantages of the embodiments of the application clearer, the technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are some but not all of the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0025] In the description of this invention, it should be noted that the terms "upper," "lower," "front," "rear," "top," "bottom," and "between," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0026] This invention provides an automated detection and sorting device for the dimensions of precision needle bars and tips, used to automate the detection and sorting of coarse-ground products of precision needle-shaped electrode materials. (See reference...) Figures 1-3 As shown, the system includes a marble countertop 110 and a metal countertop 120, which are independently configured to achieve functional zoning. A vision inspection mechanism 200 is fixedly installed on the marble countertop 110. By isolating it from the motion mechanism on the metal countertop 120, vibrations generated during the operation of moving parts can be effectively prevented from being transmitted to the vision inspection mechanism 200, ensuring that the inspection accuracy is not affected. A feeding mechanism 300, a positioning mechanism 400, and a sorting mechanism 500 are sequentially assembled on the metal countertop 120 along the material conveying direction. The mechanisms work together to complete the entire process of material feeding, positioning, inspection, and sorting.

[0027] See Figure 4 As shown, the feeding mechanism 300 includes a feeding ramp 310 and a feeding wheel 320. The feeding wheel 320 is driven to rotate by a power device, and a plurality of material grooves 321 parallel to the axial direction are opened on its surface. The size of the material grooves 321 is adapted to the needle-shaped material to be tested, which can ensure stable material bearing.

[0028] For the better option, please refer to [reference needed]. Figure 5 As shown, the feeding wheel 320 adopts a coaxially assembled first feeding wheel 320a and second feeding wheel 320b structure, and the material troughs 321 of the two are kept on the same axis, jointly bearing one piece of material, which facilitates stable material reception and unloading and improves the continuity of material transmission.

[0029] The feeding slope 310 is obliquely arranged at the material taking end of the feeding wheel 320, and the material output end adopts a gear row structure, including a plurality of alternating convex parts 311 and concave parts 312. The width dimension of the concave part 312 is adapted to the axial height of the first feeding wheel 320a or the second feeding wheel 320b, and the single feeding wheel part can be allowed to extend into; the width dimension of the convex part 311 matches the gap between the first feeding wheel 320a and the second feeding wheel 320b, and can extend between the two feeding wheels. This design can make the feeding slope 310 staggered with the feeding wheel 320, and the material can be accurately entered into the material groove 321 when rolling by gravity, avoiding the inevitable gap caused by mechanical assembly, and at the same time ensuring that the needle tip is uniformly directed to the side wall direction, avoiding the confusion of the material posture, laying a foundation for subsequent positioning detection.

[0030] The positioning mechanism 400 is arranged at the material discharging end of the feeding mechanism 300, and includes a V-shaped support 410, a front positioning cylinder 420, a rear positioning cylinder 430, a positioning clamping assembly 440 and a sensor. The V-shaped support 410 is provided with a concave space penetrating through the two side surfaces, one side of which is used for the positioning clamping assembly 440 or the clamping device 510 to extend into the work, and the other side can accommodate the first feeding wheel 320a or the second feeding wheel 320b to extend into the discharging end, realizing the connection of feeding and positioning.

[0031] The V-shaped support 410 includes a receiving part 411 and an abutting part 412. The top of the receiving part 411 corresponds to the material groove 321 of the feeding wheel 320, so that the material can roll from the material groove 321 to the receiving part 411 and continue to slide to the bottom, and then abut against the abutting part 412 for fixation. The sensor is installed at the bottom of the V-shaped support 410, and is used for real-time detection of whether the material reaches the specified positioning position. When it is detected that the material is in place, a signal is immediately sent to control the power device of the feeding wheel 320 to stop working, avoiding the interference caused by the continuous conveying of the subsequent material.

[0032] The front positioning cylinder 420 and the rear positioning cylinder 430 are respectively and symmetrically arranged at the two sides of the V-shaped support 410. The front positioning cylinder 420 adopts a rigid fixed structure, and can accurately abut against the needle tip end of the material after extending out, so as to ensure that the needle tip is at the fixed detection position after positioning, and to ensure the consistency of the detection reference. The rear positioning cylinder 430 is provided with an elastic structure, which is a spring or rubber. After extending out, the elastic structure abuts against the needle tail end of the material, and can adapt to the needle type material with slight deviation in different lengths, avoiding damage to the material caused by rigid extrusion.

[0033] Referring to Figure 6As shown, the positioning clamping assembly 440 includes a positioning gripper 441, a first positioning cylinder 442a, and a second positioning cylinder 442b. The second positioning cylinder 442b is fixed to the side of the V-shaped bracket 410, and the first positioning cylinder 442a is installed at the top of its piston rod. The first positioning cylinder 442a is a finger cylinder, and the positioning gripper 441 is assembled at its output end.

[0034] In specific operation, after the front and rear positioning cylinders complete the positioning, the second positioning cylinder 442b (double cylinder) drives the first positioning cylinder 442a to extend towards the material. Then, the first positioning cylinder 442a (finger cylinder) drives the positioning gripper 441 to clamp the material needle rod. After clamping is completed, the front and rear positioning cylinders 420 and 430 retract, and the needle tip size is detected by the vision inspection mechanism 200.

[0035] Preferably, the positioning gripper 441 is made of nylon material, which can effectively prevent scratching the surface of the material during the gripping process; at the same time, the design of the double cylinder and the finger cylinder working together can ensure the stability and accuracy of the gripping action.

[0036] The vision inspection mechanism 200 includes a three-axis support 210, an industrial camera 220, and a high-magnification lens 230. The industrial camera 220 and the high-magnification lens 230 are fixedly mounted on the three-axis support 210. By manually adjusting the three-axis support 210, the positions of the industrial camera 220 and the high-magnification lens 230 in the X, Y, and Z axis directions can be finely adjusted, thereby accurately focusing on the needle tip of the material.

[0037] In actual operation, after the positioning mechanism 400 completes the material clamping and sends the detection signal, the industrial camera 220, together with the high-magnification lens 230, takes pictures and samples the needle tip. The needle tip size data is obtained through image analysis. The combination design of the high-magnification lens 230 and the adjustable three-axis support 210 can meet the detection requirements of different precision and improve the accuracy of the detection data.

[0038] The sorting mechanism 500 is located at the discharge end of the positioning mechanism 400, see reference. Figure 7 As shown, the device includes a gripping device 510 and a sorting material trough 520, used to classify and sort materials according to the detection results of the vision inspection mechanism 200. The gripping device 510 includes a sorting gripper 511, a first gripping cylinder 512a, a second gripping cylinder 512b, a linear module 513, and a drive motor 514. The linear module 513 is fixed on the metal table 120 and is driven by the drive motor 514 to realize the linear reciprocating motion of the slider; the second gripping cylinder 512b (double cylinder) is vertically mounted on the slider of the linear module 513, and the bottom end of its piston rod is connected to the first gripping cylinder 512a (finger cylinder), and the sorting gripper 511 is installed at the output end of the first gripping cylinder 512a.

[0039] Preferably, the sorting gripper 511 is made of nylon material, and the clamping surface is provided with an arc-shaped groove matching the needle-shaped material, which can enhance the stability of clamping and avoid damaging the material.

[0040] The sorting material groove 520 comprises a fixed support 521 and a plurality of material boxes 522, which are arranged in sequence along the movement direction of the linear module 513, and the material boxes 522 can be individually removed from the fixed support 521, facilitating subsequent material collection and transportation.

[0041] When the visual detection mechanism 200 outputs the detection result, the driving motor 514 drives the linear module 513 to move the clamping device 510 to the positioning mechanism 400, adjusts the height through the second clamping cylinder 512b, drives the sorting gripper 511 to clamp the material through the first clamping cylinder 512a, and then moves the linear module 513 to release the material and complete the sorting.

[0042] The use method of the precision needle rod needle tip size automatic detection and sorting equipment is as follows: first, the precision needle-shaped material to be detected is stacked on the feeding slope 310 in the direction of the needle tip towards the side wall, the material rolls into the material groove 321 of the feeding wheel 320 by gravity, and is conveyed to the V-shaped support 410 of the positioning mechanism 400 by the feeding wheel 320; after the material triggers the sensor, the front positioning cylinder 420 and the rear positioning cylinder 430 are extended for positioning, the positioning clamping assembly 440 is actuated to clamp the material, and then the visual detection mechanism 200 detects the needle tip by the industrial camera 220 and the high-power lens 230; after the detection is completed, the clamping device 511 of the sorting mechanism 500 clamps the material, and according to the detection result, the material is conveyed into the corresponding material box 522, completing a single detection and sorting operation, and repeating the above process can realize mechanized, continuous and automatic detection and sorting.

[0043] Although the present application is described in more detail with the use of terms such as marble table, metal table, visual detection mechanism, three-axis support, industrial camera, high-power lens, feeding mechanism, feeding slope, feeding wheel, first feeding wheel, second feeding wheel, material groove, positioning mechanism, V-shaped support, material receiving part, abutting part, front positioning cylinder, rear positioning cylinder, positioning clamping assembly, positioning clamping jaw, first positioning cylinder, second positioning cylinder, sensor, sorting mechanism, clamping device, sorting clamping jaw, first clamping cylinder, second clamping cylinder, linear module, driving motor, sorted material groove, fixed support, material box, needle tip size, length, width size, nylon, spring, rubber, finger cylinder, double-cylinder cylinder, power device, coaxial assembly, inclined arrangement, fixed installation, rigid fixation, elastic structural configuration, clamping, photographing sampling, image analysis, linear reciprocating motion, grading and sorting, separate removal, continuous operation, automatic detection and sorting, isolation arrangement, staggered docking, precise focusing, abutting fixation, etc., the use of other terms is not excluded. The use of these terms is only to facilitate the description and explanation of the essence of the present application; any additional limitation is contrary to the spirit of the present application.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An automated detection and sorting device for precision needle bar and needle tip dimensions, characterized in that: It includes a marble countertop (110) and a metal countertop (120) arranged separately. The marble countertop (110) is provided with a visual inspection mechanism (200), and the metal countertop (120) is provided with a feeding mechanism (300), a positioning mechanism (400) and a sorting mechanism (500) in sequence along the material conveying direction. The feeding mechanism (300) includes a feeding ramp (310) and a feeding wheel (320); the surface of the feeding wheel (320) is provided with a plurality of material grooves (321) parallel to the axial direction; the feeding ramp (310) is inclinedly arranged at the material picking end of the feeding wheel (320), and the material output end of the feeding ramp (310) corresponds to the material groove (321); The positioning mechanism (400) is located at the discharge end of the feeding mechanism (300) and includes a V-shaped bracket (410), a front positioning cylinder (420), a rear positioning cylinder (430), and a positioning clamping assembly (440). The receiving part (411) of the V-shaped bracket (410) corresponds to the material trough (321). The front positioning cylinder (420) is a rigid structure that can fix the position of the positioning material needle tip. The rear positioning cylinder (430) is equipped with an elastic structure that can adapt to materials with slight deviations in length. The sorting mechanism (500) is located at the discharge end of the receiving platform (411) and includes a clamping device (510) and a sorting material trough (520), which can realize multi-size grading and packaging according to the visual inspection results.

2. The automated detection and sorting equipment for precision needle bar and needle tip dimensions according to claim 1, characterized in that: The visual inspection mechanism (200) includes a three-axis support (210), an industrial camera (220), and a high-magnification lens (230); the industrial camera (220) and the high-magnification lens (230) are fixed on the three-axis support (210) and the inspection position and focus position can be adjusted.

3. The automated detection and sorting equipment for precision needle bar and needle tip dimensions according to claim 1, characterized in that: The feeding wheel (320) includes a first feeding wheel (320a) and a second feeding wheel (320b) assembled coaxially, and the material grooves (321) on the first feeding wheel (320a) and the second feeding wheel (320b) are collinear; The discharge end of the feeding ramp (310) adopts a toothed structure, including several protrusions (311) and recesses (312); the recesses (312) can accommodate the first feeding wheel (320a) or the second feeding wheel (320b) to extend into, and the protrusions (311) can extend between the first feeding wheel (320a) and the second feeding wheel (320b).

4. The automated detection and sorting equipment for precision needle bar and needle tip dimensions according to claim 3, characterized in that: The V-shaped bracket (410) has a concave space that runs through both sides. One side allows the positioning clamping assembly (440) or clamping device (510) to extend into, and the other side accommodates the first feeding wheel (320a) or the second feeding wheel (320b) to extend into.

5. The automated detection and sorting equipment for precision needle bar and needle tip dimensions according to claim 4, characterized in that: The positioning and clamping assembly (440) includes a positioning gripper (441), a first positioning cylinder (442a), and a second positioning cylinder (442b). The positioning gripper (441) is located at the output end of the first positioning cylinder (442a), the first positioning cylinder (442a) is located at the top of the piston rod of the second positioning cylinder (442b), and the second positioning cylinder (442b) is located on the side of the V-shaped bracket.

6. The automated detection and sorting equipment for precision needle bar and needle tip dimensions according to claim 1, characterized in that: The positioning mechanism (400) also includes a sensor located at the bottom of the V-shaped bracket (410) for detecting whether the material has reached the positioning position.

7. The automated detection and sorting equipment for precision needle bar and needle tip dimensions according to claim 1, characterized in that: The gripping device (510) includes a sorting gripper (511), a first gripping cylinder (512a), a second gripping cylinder (512b), a linear module (513), and a drive motor (514). The sorting gripper (511) is located at the output end of the first gripping cylinder (512a), the first gripping cylinder (512a) is located at the bottom end of the piston rod of the second gripping cylinder (512b), the second gripping cylinder (512b) is vertically located on the slider of the linear module (513), and the linear module (513) is driven by the drive motor (514).

8. The automated detection and sorting equipment for precision needle bar and needle tip dimensions according to claim 7, characterized in that: The sorting gripper (511) has an arc-shaped groove on its gripping surface that is adapted to needle-shaped materials.

9. The automated detection and sorting equipment for precision needle bar and needle tip dimensions according to claim 5 or 7, characterized in that: The positioning gripper (441) and sorting gripper (511) are both made of nylon. Both the first positioning cylinder (442a) and the first gripping cylinder (512a) are finger cylinders; The second positioning cylinder (442b) and the second clamping cylinder (512b) are both double-cylinder cylinders.

10. The automated detection and sorting equipment for precision needle bar and needle tip dimensions according to claim 1, characterized in that: The elastic structure is a spring or rubber.

Images