Automatic casting sprue grinding machine vision equipment

Abstract

The automatic casting sprue grinding machine vision equipment comprises a material disc conveying frame, a lifting channel is arranged at the front end of the material disc conveying frame, a positioning frame is arranged on one side of the front end of the material disc conveying frame, and a positioning clamping mechanism is arranged on the side face of the positioning frame. The top of the positioning frame is provided with a four-axis mechanical arm used for clamping products in the material disc to the positioning clamping mechanism and a visual recognition assembly used for recognizing the products, and the other side of the front end of the material disc conveying frame is provided with a six-axis mechanical arm used for clamping the products of the positioning clamping mechanism to the belt sander. The four-axis mechanical arm is matched with the visual recognition assembly, products are taken out of a material tray and placed in the positioning and clamping mechanism, the product position precision is improved, the six-axis mechanical arm can stably clamp the products in the follow-up process, and the alarm rate is reduced; a plurality of material trays containing products can be pre-stored in advance, the material trays containing the products can be automatically supplemented, the material supplementing frequency is reduced, and meanwhile the movement path of the mechanical arm is shortened.

Description

Technical Field

[0001] This invention relates to the field of industrial automation and intelligent manufacturing technology, specifically to a machine vision device for automatically grinding gates on castings. Background Technology

[0002] Castings are metal shaped objects obtained by various casting methods. They are objects with a certain shape, size and properties obtained by pouring, injecting, sucking or other casting methods into a pre-prepared mold after smelting liquid metal, cooling and then grinding.

[0003] In existing technologies, based on actual investigations at the gate grinding site, it was found that when a new product is put into production, a customized tooling positioning base is required to facilitate manual tray placement and robotic arm loading and positioning. This results in high labor intensity for production personnel, and when multiple machines are processing, materials cannot be replenished in a timely manner, affecting actual production. Furthermore, when the six-axis robot is picking up and placing products, alarms frequently occur due to unsuccessful product handling, requiring the robot to restart. Moreover, to ensure personnel safety, the material table is too far from the six-axis robot, making it impossible to improve product processing efficiency by increasing the production cycle time or adjusting the six-axis robot's operating speed. Summary of the Invention

[0004] The purpose of this invention is to solve the problems in the prior art by proposing an automatic casting gate grinding machine vision device.

[0005] The above-mentioned technical objective of the present invention is achieved through the following technical solution: A machine vision device for automatically grinding gates in castings includes: An automatic material tray conveying mechanism includes a material tray transport frame divided into an upper layer and a lower layer. The front end of the material tray transport frame is provided with a lifting channel connecting the upper and lower layers. A first lifting component is provided in the lifting channel. A first limiting component is provided between the transport channel of the lower material tray transport frame and the lifting channel. A reversing conveying component is provided between the transport channel of the upper material tray transport frame and the lifting channel. The positioning bracket is located on one side of the front end of the material tray transport frame, and the top of the positioning bracket is provided with an inverted L-shaped support plate that extends horizontally to the lifting channel of the material tray transport frame. A positioning and clamping mechanism includes a fixed plate disposed on the side of a positioning bracket. A workpiece fixing jaw is rotatably connected to the fixed plate via a rotating assembly. The fixed plate is connected to the bottom of the jaw fingers of the workpiece fixing jaw via a second lifting assembly. A second limiting assembly for limiting the clamping of the product is provided between the second lifting assembly and the jaw fingers. The four-axis robot arm is mounted on the top of the positioning bracket, and its hand moves back and forth between the material tray at the highest lifting level of the lifting channel and the positioning clamping mechanism. A visual recognition component is installed at the bottom of the horizontal plane of the inverted L-shaped frame. The visual recognition component is used to identify whether there is a material tray in the lifting channel, and at the same time, to identify whether there is a product to be processed in the material tray at the highest point of the lifting channel. The belt sander is located on the front side of the positioning bracket, away from the material tray transport frame. A six-axis robot, wherein the six-axis manipulator of the six-axis robot is configured to move back and forth between the workpiece fixing gripper and the feed port of the belt sander; The material chute is located on the front side of the belt sander, and the higher end of the material chute is located below the discharge port of the belt sander. The control component has its input terminal electrically connected to the output terminal of the vision recognition component, and its output terminal electrically connected to the first lifting component, the limiting component, the reciprocating conveying component, the rotating component, the second lifting component, the second limiting component, the workpiece fixing gripper, the four-axis robot, the belt sander, the six-axis robot, and the vision recognition component.

[0006] Furthermore, the lower material tray transport rack is equipped with a first roller conveyor line, which is inclined from front to back and extends to the bottom of the lifting channel; the upper material tray transport rack is equipped with a second roller conveyor line, which is inclined from back to front.

[0007] Furthermore, the first lifting assembly includes two lifting support plates symmetrically arranged in the lifting channel. The two lifting support plates are respectively arranged on both sides of the first roller conveyor line, and a first power cylinder installed on the ground is provided below the two lifting support plates. The piston rod end of the first power cylinder is connected to the bottom of the lifting support plate. Throttling valves are provided at the inlet and outlet of the two first power cylinders. The input end of the two first power cylinders is electrically connected to the output end of the control assembly.

[0008] Furthermore, the lifting channel is connected to the material tray transport rack transport channel located on the lower layer through the inlet, and the lifting channel is connected to the material tray transport rack transport channel located on the upper layer through the outlet.

[0009] Furthermore, the limiting component includes a first three-axis cylinder, which is mounted on the material tray transport frame located on the lower layer and on the feed inlet of the lifting channel. The piston rod end of the first three-axis cylinder is connected to the first L-shaped limiting plate, and the input end of the first three-axis cylinder is electrically connected to the output end of the control component.

[0010] Furthermore, the reciprocating conveying assembly includes a second power cylinder, which is mounted on the material tray conveying frame located above and at the discharge port of the lifting channel. The piston rod end of the second power cylinder is connected to a connecting plate, and a second three-axis cylinder is mounted on the connecting plate. The piston rod end of the second three-axis cylinder is connected to a horizontal plate, and a third L-shaped limiting plate is provided at both ends of the surface of the horizontal plate. The input ends of the second power cylinder and the second three-axis cylinder are electrically connected to the output end of the control assembly.

[0011] Furthermore, an installation opening is provided on the horizontal surface of the inverted L-shaped support plate. The installation opening is located above the lifting channel of the material tray transport rack. The visual recognition component includes a camera, which is installed in the installation opening. An optical lens is installed at the bottom of the camera. Two parallel light tubes are provided at the bottom of the horizontal surface of the inverted L-shaped support plate. The two light tubes are symmetrically arranged about the camera. The output end of the camera is electrically connected to the input end of the control component.

[0012] Furthermore, a chassis is provided on the rear side of the positioning bracket, and an industrial LCD screen is provided on the side of the chassis away from the positioning bracket. The input terminal of the industrial LCD screen is electrically connected to the output terminal of the camera.

[0013] Furthermore, the rotating assembly includes a first support plate and a second support plate disposed on both sides of the fixed plate. The first support plate is connected to one side of the first mounting plate via a rotary cylinder. The workpiece fixing gripper is mounted on the first mounting plate. The other side of the first mounting plate is connected to the second support plate via a rotary bearing. The second lifting assembly includes a first dual-axis cylinder vertically mounted at the front end of the fixed plate. The piston rod end of the first dual-axis cylinder is connected to the second mounting plate. A second limiting assembly is provided at the bottom of the gripper fingers of the workpiece fixing gripper. The second limiting assembly includes a movable plate disposed at the bottom of the gripper fingers. A second dual-axis cylinder is horizontally disposed between the bottom groove of the movable plate and the top of the second mounting plate. The piston rod end of the second dual-axis cylinder is connected to the movable block. A second L-shaped limiting plate is provided at the top of the movable block. The second L-shaped limiting plate has an elongated hole and is connected to the elongated hole by screws so that the position of the second L-shaped limiting plate is adjustable in the movable block. The input ends of the rotary cylinder, the first dual-axis cylinder, and the second dual-axis cylinder are electrically connected to the output end of the control assembly.

[0014] Furthermore, the material chute is installed at the bottom of the material tray transport frame via a bracket, and the lower end of the material chute is positioned directly above the opening of the material aluminum frame.

[0015] Compared with the prior art, the beneficial effects of the present invention are: (1) The present invention sets up a positioning clamping mechanism, a four-axis robot, a vision recognition component and a control component on the positioning bracket. Specifically, the vision recognition component identifies whether there is a material tray on the upper material tray transport rack at the top of the lifting channel. Once the material tray is identified, the identification signal is sent to the control component. The control component controls the four-axis robot to clamp the product in the material tray to the positioning clamping mechanism. The clamping position is adjusted by the rotation component and the second lifting component of the positioning clamping mechanism. At the same time, the clamping force is increased by the second limiting component of the positioning clamping mechanism to achieve stable secondary positioning. In this way, the four-axis robot and the vision recognition component complete the process of taking the product from the material tray and placing it in the positioning clamping mechanism, which improves the product position accuracy and facilitates the stable clamping of the product by the subsequent six-axis robot, reducing the alarm rate.

[0016] (2) This invention adds an automatic material tray conveying mechanism and integrates it with a vision recognition component. Specifically, the vision recognition component identifies whether there is a material tray in the lifting channel. Once it is identified that there is no material tray, it sends a recognition signal to the control component. The control component controls the first three-axis cylinder to retract its piston rod, causing the first L-shaped limit plate to move downward. Since the first roller conveyor line is inclined from front to back, the material tray on the lower material tray transport rack enters the lifting channel from the feed port and falls onto the two lifting support plates. After entering, the first three-axis cylinder is controlled to extend its piston rod, so that the first L-shaped limit plate returns to its original position, preventing other material trays from entering the lifting channel. Subsequently, the two first power cylinders are controlled to extend their piston rods, so that the two lifting support plates rise simultaneously, raising the material tray along the lifting channel to the upper material tray transport rack, until the vision recognition component identifies that there is no product on the material tray and sends a recognition signal. The control component extends the piston rod of the second power cylinder while keeping the piston rod of the second three-axis cylinder shortened. This causes the third L-shaped limiting plate to move from one side of the empty material tray along its bottom to the other side. Then, the control component extends the piston rod of the second three-axis cylinder, raising the third L-shaped limiting plate until it is higher than the side of the material tray. Finally, the control component retracts the piston rod of the second power cylinder, causing the third L-shaped limiting plate to carry the empty material tray to the upper material tray transport rack. Since the second roller conveyor line is inclined from back to front, the empty material tray will be removed from the upper material tray transport rack. By integrating the vision recognition component into the automatic material tray conveying mechanism, multiple material trays containing products to be processed can be pre-stored to the material tray transport rack. The mechanism can also automatically remove empty material trays from the material tray transport rack and automatically replenish material trays containing products to be processed, reducing the frequency of material replenishment and shortening the movement path of the robot arm.

[0017] (3) The present invention sets the higher end of the material chute below the discharge port of the belt sander and the lower end of the material aluminum frame directly above the frame opening, so that the product can be collected by the material aluminum frame after passing through the sander's gate. This method of collecting the processed product by the material chute not only reduces the placement time of the processed product, but also reduces the fault alarm rate during placement and improves production efficiency. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is one of the perspective views of this embodiment.

[0020] Figure 2 This is the second perspective view of this embodiment.

[0021] Figure 3 This is a top view of this embodiment.

[0022] Figure 4 This is a schematic diagram of the automatic material tray conveying mechanism in this embodiment.

[0023] Figure 5 This is a schematic diagram of the material positioning bracket structure in this embodiment.

[0024] Figure 6 This is a schematic diagram of the positioning and clamping mechanism in this embodiment.

[0025] Figure 7 This is a schematic diagram of the material chute structure in this embodiment.

[0026] Figure 8 This describes the control principle of the control component in this embodiment.

[0027] In the diagram: 1. Material tray conveyor frame; 101. Lifting channel; 102. First roller conveyor line; 103. Second roller conveyor line; 2. First lifting assembly; 201. Lifting support plate; 202. First power cylinder; 3. Limiting assembly; 301. First three-axis cylinder; 302. First L-shaped limiting plate; 4. Reverse conveying assembly; 401. Second power cylinder; 402. Connecting plate; 403. Second three-axis cylinder; 404. Horizontal plate; 405. Third L-shaped limiting plate; 5. Positioning bracket; 6. Rotating assembly; 601. Rotating cylinder; 602. Second support plate; 603. First mounting plate; 7. Vision recognition assembly; 7. Camera. 01. Optical lens 702. Light tube 703. Second lifting assembly 8. First dual-axis cylinder 801. Second mounting plate 802. Second limiting assembly 9. Moving plate 901. Second dual-axis cylinder 902. Moving block 903. Second L-shaped limiting plate 904. Control assembly 10. Workpiece fixing gripper 11. Gripper finger 1101. Belt sander 12. Six-axis robot 13. Six-axis manipulator 1301. Material chute 14. Bracket 1401. Four-axis manipulator 15. Inverted L-shaped support plate 16. Mounting port 17. Chassis 18. Industrial LCD screen 19. Fixing plate 20. Detailed Implementation

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention, but this does not constitute a limitation on the scope of protection of the present invention.

[0029] In this invention, for clarity, the following description is provided: The observer faces the attached... Figure 1 In this observation, the left side of the observer is designated as front, the right side as rear, the front of the observer as right, the rear of the observer as left, the top of the observer as up, and the bottom of the observer as down. It should be noted that the terms "front end," "rear end," "left side," "right side," "middle," "above," and "below" used in this document indicate orientations or positional relationships based on the accompanying drawings. These are merely for the purpose of clearly describing the invention and do not indicate or imply that the structures or components referred to must have a specific orientation or be constructed in a specific orientation; therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," "third," and "fourth" are used only for the purpose of clarity or simplification of description and should not be construed as indicating or implying relative importance or quantity.

[0030] like Figures 1-8As shown, this embodiment provides an automatic casting gate grinding machine vision device, including an automatic material tray conveying mechanism, a positioning bracket 5, a positioning clamping mechanism, a four-axis manipulator 15, a vision recognition component 7, a belt sander 12, a six-axis robot 13, a material chute 14, and a control component 10. The automatic material tray conveying mechanism includes a material tray transport frame 1 divided into an upper layer and a lower layer. The front end of the material tray transport frame 1 is provided with a lifting channel 101 connecting the upper and lower layers. A first lifting component 2 is provided in the lifting channel 101. A limiting component 3 is provided between the transport channel of the lower material tray transport frame 1 and the lifting channel 101. The upper material tray transport frame 1 is provided with a limiting component 3 between the transport channel of the upper material tray transport frame 1 and the lifting channel 101. A reciprocating conveying component 4 is provided between the lifting channels 101 and a limiting component 3 is provided to prevent multiple material trays from falling into the lifting channel 101. The first lifting component 2 sends the material trays on the lower material tray transport rack 1 to the height of the upper material tray transport rack 1. The reciprocating conveying component 4 sends the material trays in the lifting channel 101 that are at the height of the upper material tray transport rack 1 to the upper material tray transport rack 1. The positioning bracket 5 is located on one side of the front end of the material tray transport rack 1. The top of the positioning bracket 5 is provided with an inverted L-shaped support plate 16 that extends horizontally to the top of the lifting channel 101 of the material tray transport rack 1. The positioning clamping mechanism includes a fixing plate 20 located on the side of the positioning bracket 5. The fixing plate 20 is rotated by a rotating component 6. A workpiece fixing gripper 11 is connected to a fixing plate 20. A second lifting assembly 8 connects to the bottom of the gripper fingers 1101 of the workpiece fixing gripper 11. A second limiting assembly 9 for limiting the gripped product is provided between the second lifting assembly 8 and the gripper fingers 1101. A four-axis robot 15 is mounted on top of the positioning bracket 5, and its hand moves back and forth between the material tray at the highest lifting level of the lifting channel 101 and the positioning clamping mechanism. The four-axis robot 15 can lift and transport the product to be processed from the material tray at the highest point of the lifting channel 101 to the positioning clamping mechanism. A vision recognition component 7 is located at the bottom of the horizontal plane of the inverted L-shaped frame. The vision recognition component 7 is used to identify... The system identifies whether there is a material tray in the lifting channel 101 and whether there are products to be processed in the material tray at the highest point of the lifting channel 101. The belt sander 12 is set on the front side of the positioning bracket 5 away from the material tray transport frame 1. The six-axis manipulator 1301 of the six-axis robot 13 moves back and forth between the workpiece fixing gripper 11 and the feed port of the belt sander 12, and can transport the products to be processed on the workpiece fixing gripper 11 to the belt sander 12. The material chute 14 is set on the front side of the belt sander 12, and the higher end of the material chute 14 is set below the discharge port of the belt sander 12. The processed products fall from the belt sander 12 to the material chute 14 and are transported and collected along the material chute 14.The input terminal of the control component 10 is electrically connected to the output terminal of the vision recognition component 7. The output terminal of the control component 10 is electrically connected to the input terminals of the first lifting component 2, the limiting component 3, the reciprocating conveying component 4, the rotating component 6, the second lifting component 8, the second limiting component 9, the workpiece fixing gripper 11, the four-axis robot 15, the belt sander 12, and the six-axis robot 1301.

[0031] In this embodiment, as Figure 4 As shown, the lower material tray transport rack 1 is provided with a first roller conveyor line 102, which is inclined from front to back and the front end of the first roller conveyor line 102 extends to the bottom of the lifting channel 101; the upper material tray transport rack 1 is provided with a second roller conveyor line 103, which is inclined from back to front.

[0032] Specifically, the inclined setting of the roller conveyor line allows the material trays on the lower material tray transport rack 1 to be transported from the outside to the lifting channel 101 under their own weight, while the material trays on the upper material tray transport rack 1 are transported from the lifting channel 101 to the outside.

[0033] In this embodiment, as Figure 4 As shown, the first lifting assembly 2 includes two lifting support plates 201 symmetrically arranged in the lifting channel 101. The two lifting support plates 201 are respectively arranged on both sides of the first roller conveyor line 102, and a first power cylinder 202 installed on the ground is provided below the two lifting support plates 201. The piston rod end of the first power cylinder 202 is connected to the bottom of the lifting support plate 201. Throttling valves are provided at the inlet and outlet of the two first power cylinders 202. The input end of the two first power cylinders 202 is electrically connected to the output end of the control assembly 10, so that the control assembly 10 can control the two first power cylinders 202 to operate synchronously, so that the piston rods of the two first power cylinders 202 extend and retract synchronously, so that the lifting support plates 201 rise and fall synchronously, and so that the material tray supported by the lifting support plates 201 can also rise and fall.

[0034] In this embodiment, as Figure 4 As shown, the lifting channel 101 is connected to the material tray transport rack 1 transport channel located on the lower layer through the inlet, and the lifting channel 101 is connected to the material tray transport rack 1 transport channel located on the upper layer through the outlet, so that the material tray enters from the lower layer of the material tray transport rack 1, is transported internally, and exits from the upper layer.

[0035] In this embodiment, as Figure 4As shown, the limiting component 3 includes a first three-axis cylinder 301, which is mounted on the material tray transport frame 1 located on the lower layer and on the feed inlet of the lifting channel 101. The piston rod end of the first three-axis cylinder 301 is connected to the first L-shaped limiting plate 302, and the input end of the first three-axis cylinder 301 is electrically connected to the output end of the control component 10.

[0036] Specifically, by extending and retracting the piston rod of the first three-axis cylinder 301, the first L-shaped limiting plate 302 is raised and lowered, so that the material trays on the lower material tray transport rack 1 can enter the lifting channel 101 one by one in sequence.

[0037] In this embodiment, as Figure 4 As shown, the reciprocating conveying assembly 4 includes a second power cylinder 401, which is mounted on the material tray conveying frame 1 located above and on the discharge port of the lifting channel 101. The piston rod end of the second power cylinder 401 is connected to the connecting plate 402. A second three-axis cylinder 403 is mounted on the connecting plate 402. The piston rod end of the second three-axis cylinder 403 is connected to the horizontal plate 404. Both ends of the surface of the horizontal plate 404 are provided with third L-shaped limiting plates 405. The input ends of the second power cylinder 401 and the second three-axis cylinder 403 are electrically connected to the output end of the control assembly 10.

[0038] Specifically, when the visual recognition component 7 detects that there is no product in the material tray, it sends a recognition signal to the control component 10. The control component 10 controls the second power cylinder 401 to extend its piston rod, while the piston rod of the second three-axis cylinder 403 remains in a shortened state, so that the third L-shaped limiting plate 405 moves from one side of the empty material tray along its bottom to the other side. Then, the control component 10 controls the second three-axis cylinder 403 to extend its piston rod, so that the third L-shaped limiting plate 405 rises until it is higher than the side of the material tray. Then, the control component 10 controls the second power cylinder 401 to retract its piston rod, so that the third L-shaped limiting plate 405 carries the empty material tray to the upper material tray transport rack 1.

[0039] In this embodiment, as Figure 3 and Figure 5 As shown, an installation port 17 is provided on the horizontal surface of the inverted L-shaped support plate 16. The installation port 17 is located above the lifting channel 101 of the material tray transport rack 1. The visual recognition component 7 includes a camera 701, which is installed in the installation port 17. An optical lens 702 is installed at the bottom of the camera 701. Two parallel light tubes 703 are provided at the bottom of the horizontal surface of the inverted L-shaped support plate 16. The two light tubes 703 are symmetrically arranged about the camera 701. The output end of the camera 701 is electrically connected to the input end of the control component 10.

[0040] Specifically, the visual recognition component 7 adjusts the focal length through the optical lens 702 and the light tube 703 provides the light source, so that the camera 701 can clearly capture the situation inside the lifting channel 101 and the situation of the products in the material tray on the lifting channel 101.

[0041] In this embodiment, as Figure 2 As shown, a housing 18 is provided on the rear side of the positioning bracket 5, and an industrial LCD screen 19 is provided on the side of the housing 18 away from the positioning bracket 5. The input terminal of the industrial LCD screen 19 is electrically connected to the output terminal of the camera 701.

[0042] Specifically, the image captured by the camera 701 is displayed on the industrial LCD screen 19, so that the operator can see the situation inside the lifting channel 101 and the situation of the products in the material tray on the lifting channel 101 on the industrial LCD screen 19.

[0043] In this embodiment, as Figure 6 As shown, the rotating assembly 6 includes a first support plate and a second support plate 602 disposed on both sides of the fixed plate 20. The first support plate is connected to one side of the first mounting plate 603 via a rotary cylinder 601. A workpiece fixing gripper 11 is mounted on the first mounting plate 603. The other side of the first mounting plate 603 is connected to the second support plate 602 via a rotary bearing. The second lifting assembly 8 includes a first dual-axis cylinder 801 vertically mounted at the front end of the fixed plate 20. The piston rod end of the first dual-axis cylinder 801 is connected to the second mounting plate 802. The gripper fingers 1101 of the workpiece fixing gripper 11 are provided with a second limiting assembly 9 at their bottom. 9 includes a movable plate 901 disposed at the bottom of the gripper finger 1101. A second dual-axis cylinder 902 is horizontally disposed between the bottom groove of the movable plate 901 and the top of the second mounting plate 802. The piston rod end of the second dual-axis cylinder 902 is connected to the movable block 903. A second L-shaped limiting plate 904 is disposed at the top of the movable block 903. The second L-shaped limiting plate 904 has an elongated hole and is connected to the elongated hole by screws so that the position of the second L-shaped limiting plate 904 in the movable block 903 is adjustable. The input ends of the rotary cylinder 601, the first dual-axis cylinder 801, and the second dual-axis cylinder 902 are electrically connected to the output end of the control component 10.

[0044] Specifically, when the four-axis robot 15 grips the product to be processed and the top of the moving plate 901 is located between the two gripper fingers 1101, the control component 10 controls the first dual-axis cylinder 801 to retract its piston rod according to the vertical length of the product to be processed, adjusting the relative vertical distance between the moving plate 901 and the gripper fingers 1101. Alternatively, the control component 10 can control the rotary cylinder 601 to adjust the angle between the two gripper fingers 1101 and the moving plate 901 to be greater than zero, so that the two gripper fingers 1101 are clamped in the middle of the vertical plane of the product to be processed. According to the horizontal length of the product to be processed, the control component 10 controls the second dual-axis cylinder 902 to first extend its piston rod. When the two gripper fingers 1101 are clamped on both sides of the product to be processed, the control component 10 retracts its piston rod, so that the second L-shaped limiting plate 904 further fixes the product to be processed.

[0045] In this embodiment, as Figure 7 As shown, the material chute 14 is installed at the bottom of the material tray transport frame 1 via the bracket 1401, and the lower end of the material chute 14 is located directly above the opening of the material aluminum frame.

[0046] Specifically, the product processed by the belt sander 12 falls to the higher end of the material chute 14 and is then fed along the material chute 14 into the material aluminum frame for collection.

[0047] The working principle of this embodiment is as follows: During use, the visual recognition component 7 identifies that there is no material tray in the lifting channel 101 and sends a recognition signal to the control component 10. The control component 10 controls the piston rod of the first three-axis cylinder 301 to retract, keeping the first L-shaped limiting plate 302 at the feed inlet of the lifting channel 101 in a lowered state. At this time, the operator can place a material tray containing the product to be processed on the lower material tray transport rack 1. Because the first roller conveyor line 102 is inclined from front to back, the material tray slides along the first roller conveyor line 102 through the feed inlet of the lifting channel 101 under the action of gravity to the two lifting support plates 201 at the bottom of the lifting channel 101. The visual recognition component 7 then identifies that there is a material tray in the lifting channel 101 and... The identification signal is sent to the control component 10, which controls the extension of the first three-axis cylinder 301, causing the first L-shaped limiting plate 302 to rise. At this time, with the first L-shaped limiting plate 302 blocking, the operator can orderly place multiple material trays containing products to be processed on the lower material tray transport rack 1. At the same time, the two first power cylinders 202 are controlled to extend, raising the two lifting support plates 201 simultaneously, raising the material trays containing products to be processed to the top of the lifting channel 101, at the same height as the upper material tray transport rack. Subsequently, the four-axis robot 15 is controlled to clamp the products to be processed in the material tray onto the moving plate 901 of the positioning and clamping mechanism. The moving plate 901 is adjusted according to the size of the products to be processed by the first dual-axis cylinder 801. The position and clamping angle of the workpiece fixing jaw 11 are adjusted by the rotary cylinder 601. After the workpiece fixing jaw 11 clamps the product to be processed, the second dual-axis cylinder 902 drives the second L-shaped limit plate 904 to reinforce the clamping of the product to be processed, thereby stably positioning the product to be processed on the positioning bracket 5. Then, the six-axis robot 1301 controls the six-axis robot to clamp the product to be processed on the moving plate. After the workpiece fixing jaw 11 no longer clamps the product to be processed and the second L-shaped limit plate 904 no longer reinforces the product to be processed, the six-axis robot 1301 moves it to the feed port of the belt sander 12. After the belt sander 12 processes the product, it comes out from the discharge port of the belt sander 12 and falls into the material chute 14. The processed product falls along the material chute 14 into the material chute 14. The aluminum frame is collected, and then when the vision recognition component 7 recognizes that all the products to be processed in the material tray have been picked up, i.e., there are no products to be processed in the material tray, it sends a recognition signal to the control component 10. The control component 10 controls the piston rod of the second power cylinder 401 to extend, while the piston rod of the second three-axis cylinder 403 retracts, keeping the third L-shaped limiting plate 405 in a shortened state. This causes the third L-shaped limiting plate 405 to move from one side of the empty material tray along its bottom to the other side. Then, the second three-axis cylinder 403 is controlled to extend its piston rod, causing the third L-shaped limiting plate 405 to rise until it is higher than the side of the material tray. Finally, the second power cylinder 401 is controlled to retract its piston rod, causing the third L-shaped limiting plate 405 to carry the empty material tray to the upper material tray transport rack 1.Because the second roller conveyor line 103 is inclined from back to front, an empty material tray will be taken out from the upper material tray transport rack 1. At this time, there is no material tray in the lifting channel 101 again, and the vision recognition component 7 is recognized, causing the first L-shaped limit plate 302 to descend. The material tray containing the product to be processed on the lower material tray transport rack 1, which is located at the feed inlet, enters the lifting channel 101 and is transported to the highest point where it is gripped by the four-axis robot 15, repositioned, gripped again by the six-axis robot 1301, processed by the belt sander 12, and collected by the material chute 14. This process is repeated until all products are processed and the device stops working.

[0048] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A machine vision device for automatically grinding gates on castings, characterized in that, include: The automatic material tray conveying mechanism includes a material tray transport frame (1) divided into an upper layer and a lower layer. The front end of the material tray transport frame (1) is provided with a lifting channel (101) that connects the upper and lower layers. A first lifting component (2) is provided in the lifting channel (101). A limiting component (3) is provided between the transport channel of the lower material tray transport frame (1) and the lifting channel (101). A reversing conveying component (4) is provided between the transport channel of the upper material tray transport frame (1) and the lifting channel (101). Positioning bracket (5), the positioning bracket (5) is set on one side of the front end of the material tray transport rack (1), and the top of the positioning bracket (5) is provided with an inverted L-shaped support plate (13) extending horizontally to the lifting channel (101) above the material tray transport rack (1). The positioning and clamping mechanism includes a fixed plate (20) disposed on the side of the positioning bracket (5). A workpiece fixing jaw (11) is rotatably connected to the fixed plate (20) via a rotating component (6). The fixed plate (20) is connected to the bottom of the jaw fingers (1101) of the workpiece fixing jaw (11) via a second lifting component (8). A second limiting component (9) for limiting the clamping of the product is provided between the second lifting component (8) and the jaw fingers (1101). The four-axis manipulator (15) is set on the top of the positioning bracket (5), and its hand moves back and forth between the material tray and the workpiece fixing claw (11) at the highest lifting level of the lifting channel (101). The visual recognition component (7) is set at the bottom of the horizontal plane of the inverted L-shaped frame. The visual recognition component (7) is used to identify whether there is a material tray in the lifting channel (101) and at the same time to identify whether there is a product to be processed in the material tray at the highest point of the lifting channel (101). A belt sander (12) is installed on the front side of the positioning bracket (5) away from the material tray transport frame (1); A six-axis robot (13) is provided, wherein the six-axis manipulator (1301) of the six-axis robot (13) moves back and forth between the workpiece fixing gripper (11) and the feed inlet of the belt sander (12); Material chute (14), the material chute (14) is located on the front side of the belt sander (12), and the higher end of the material chute (14) is located below the discharge port of the belt sander (12); The control component (10) is electrically connected to the output of the vision recognition component (7), and the output of the control component (10) is electrically connected to the first lifting component (2), the limiting component (3), the reciprocating conveying component (4), the rotating component (6), the second lifting component (8), the second limiting component (9), the workpiece fixing gripper (11), the four-axis robot (15), the belt sander (12), and the six-axis robot (1301).

2. The automatic casting gate grinding machine vision equipment according to claim 1, characterized in that, The material tray transport rack (1) located on the lower layer is provided with a first roller conveyor line (102), which is inclined from front to back and the front end of the first roller conveyor line (102) extends to the bottom of the lifting channel (101); the material tray transport rack (1) located on the upper layer is provided with a second roller conveyor line (103), which is inclined from back to front.

3. The automatic casting gate grinding machine vision equipment according to claim 1, characterized in that, The first lifting assembly (2) includes two lifting support plates (201) symmetrically arranged in the lifting channel (101). The two lifting support plates (201) are respectively arranged on both sides of the first roller conveyor line (102), and a first power cylinder (202) installed on the ground is provided below the two lifting support plates (201). The piston rod end of the first power cylinder (202) is connected to the bottom of the lifting support plate (201). Throttling valves are provided at the inlet and outlet of the two first power cylinders (202). The input end of the two first power cylinders (202) is electrically connected to the output end of the control assembly (10).

4. The automatic casting gate grinding machine vision equipment according to claim 1, characterized in that, The lifting channel (101) is connected to the material tray transport rack (1) located on the lower layer through the inlet, and the lifting channel (101) is connected to the material tray transport rack (1) located on the upper layer through the outlet.

5. The automatic casting gate grinding machine vision equipment according to claim 1, characterized in that, The limiting component (3) includes a first three-axis cylinder (301), which is mounted on the material tray transport frame (1) located on the lower layer and on the feed inlet of the lifting channel (101). The piston rod end of the first three-axis cylinder (301) is connected to the first L-shaped limiting plate (302), and the input end of the first three-axis cylinder (301) is electrically connected to the output end of the control component (10).

6. The automatic casting gate grinding machine vision equipment according to claim 1, characterized in that, The reciprocating conveying assembly (4) includes a second power cylinder (401), which is mounted on the material tray conveying frame (1) located above and on the discharge port of the lifting channel (101). The piston rod end of the second power cylinder (401) is connected to the connecting plate (402), and a second three-axis cylinder (403) is mounted on the connecting plate (402). The piston rod end of the second three-axis cylinder (403) is connected to the horizontal plate (404), and a third L-shaped limiting plate (405) is provided at both ends of the surface of the horizontal plate (404). The input ends of the second power cylinder (401) and the second three-axis cylinder (403) are electrically connected to the output end of the control assembly (10).

7. The automatic casting gate grinding machine vision equipment according to claim 1, characterized in that, The inverted L-shaped support plate (13) has an installation port (14) on its horizontal surface. The installation port (14) is located above the lifting channel (101) of the material tray transport rack (1). The visual recognition component (7) includes a camera (701). The camera (701) is installed in the installation port (14). An optical lens (702) is installed at the bottom of the camera (701). Two parallel light tubes (703) are provided at the bottom of the horizontal surface of the inverted L-shaped support plate (13). The two light tubes (703) are symmetrically arranged about the camera (701). The output end of the camera (701) is electrically connected to the input end of the control component (10).

8. The automatic casting gate grinding machine vision equipment according to claim 7, characterized in that, The positioning bracket (5) has a chassis (18) on its rear side. An industrial LCD screen (19) is provided on the side of the chassis (18) away from the positioning bracket (5). The input end of the industrial LCD screen (19) is electrically connected to the output end of the camera (701).

9. The automatic casting gate grinding machine vision equipment according to claim 1, characterized in that, The rotating assembly (6) includes a first support plate and a second support plate (602) disposed on both sides of the fixed plate (20). The first support plate is connected to one side of the first mounting plate (603) via a rotary cylinder (601). A workpiece fixing jaw (11) is mounted on the first mounting plate (603). The other side of the first mounting plate (603) is connected to the second support plate (602) via a rotary bearing. The second lifting assembly (8) includes a first dual-axis cylinder (801) vertically mounted at the front end of the fixed plate (20). The piston rod end of the first dual-axis cylinder (801) is connected to the second mounting plate (802). The gripper fingers (1101) of the workpiece fixing jaw (11) are provided with a second limiting assembly (9) at the bottom. 9) Includes a movable plate (901) disposed at the bottom of the gripper finger (1101), a second dual-axis cylinder (902) is horizontally disposed between the bottom groove of the movable plate (901) and the top of the second mounting plate (802), the piston rod end of the second dual-axis cylinder (902) is connected to the movable block (903), a second L-shaped limiting plate (904) is disposed at the top of the movable block (903), the second L-shaped limiting plate (904) is provided with an elongated hole, and is connected to the elongated hole by screws so that the position of the second L-shaped limiting plate (904) in the movable block (903) is adjustable, and the input end of the rotary cylinder (601), the first dual-axis cylinder (801) and the second dual-axis cylinder (902) are electrically connected to the output end of the control component (10).

10. The automatic casting gate grinding machine vision equipment according to claim 1, characterized in that, The material chute (14) is set at the bottom of the material tray transport frame (1) by a bracket (1401), and the lower end of the material chute (14) is set directly above the opening of the material aluminum frame.

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