A visual detection-based end cover feeding mechanism

Abstract

The application discloses a kind of end cap feeding mechanism based on visual inspection, it is related to electric vehicle motor end cap feeding technical field, including protective box and motor end cap, the downside of the protective box is fixedly connected with support frame, the downside of the support frame is evenly fixedly connected with several supporting legs, the upside of the support frame is fixedly connected with collection plate, the upside of the collection plate is evenly fixedly connected with several collecting tubes, the upside of the collecting tube is equipped with vibration component for sequentially individually discharging several motor end caps and screening motor end cap positive and negative, effectively avoid the problem that the labor intensity is big, positioning accuracy is low, production efficiency is poor in traditional feeding mode due to end cap specification mixed and need artificial one by one discerning ear number and manually adjusting angle of placement, reach the technical effect of full-automatic identification classification to different ear number end cap and realize accurate angle positioning.

Description

Technical Field

[0001] This invention relates to the field of electric vehicle motor end cap feeding technology, specifically an end cap feeding mechanism based on vision detection. Background Technology

[0002] Currently, there are many types of end caps for electric vehicle motors, and the end caps for different specifications and models of motors have significant structural differences. Depending on the installation and connection method, the number of connecting ears (or mounting ears) on the edge of the end cap varies, with common types including two-ear, three-ear, and four-ear end caps. These connecting ears are key structures for bolting the end cap to the motor housing, and each has mounting holes for subsequent drilling. Since different motor specifications have different requirements for the installation orientation of the end cap, before drilling, each mounting ear must be accurately positioned in the preset circumferential orientation according to the specific type of end cap. For example, a two-ear end cap requires both ears to be horizontally aligned, and a four-ear end cap requires all four ears to be aligned with the front, back, left, and right directions respectively, to accommodate the processing orientation set by the drill bit programming during subsequent drilling. After positioning, the end cap is pushed to the drilling area by a pusher clamping mechanism for drilling operations.

[0003] However, existing motor end cap feeding mechanisms generally lack the ability to automatically identify and position different types of end caps. In actual production, when end caps of various specifications are produced on the same line, the feeding mechanism cannot automatically determine whether the current end cap is a two-ear, three-ear, or four-ear type, nor can it automatically adjust it to the required processing position according to the number of ears. Therefore, it is often necessary to manually identify the front and back of each end cap and adjust its position before drilling, and then the pushing and clamping mechanism pushes the end cap to the drilling area for drilling. This manual operation mode is not only labor-intensive and inefficient, but also has a large degree of randomness and uncertainty in human operation, making it difficult to ensure that the positioning angle of each end cap is accurate and consistent. Positioning deviation will directly cause the drilling position to deviate from the design size, resulting in processing waste. In severe cases, the end cap may not be able to be properly assembled with the motor housing due to incorrect drilling angle, affecting the cycle time of the entire production line and the consistency of product quality.

[0004] Therefore, it is necessary to design an end cap feeding mechanism that can automatically identify the number of end cap ears and synchronously adjust the position of the ears. Summary of the Invention

[0005] The purpose of this invention is to provide a vision-based end cap feeding mechanism to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a visual inspection-based end cap feeding mechanism, comprising a protective box and a motor end cap, wherein a support frame is fixedly connected to the lower side of the protective box, and a plurality of legs are uniformly fixedly connected to the lower side of the support frame, a collecting plate is fixedly connected to the upper side of the support frame, and a plurality of collecting pipes are uniformly fixedly connected to the upper side of the collecting plate, and a vibration component is provided on the upper side of the collecting pipe for discharging a plurality of motor end caps sequentially and individually and screening out the front and back of the motor end caps, and a positioning adjustment mechanism is provided on one side of the protective box for automatically adjusting the angle of the motor end cap according to the number of motor end cap ears and positioning the motor end cap.

[0007] According to the above technical solution, a support plate is fixedly connected to one side of the protective box, two connecting plates are fixedly connected to the upper side of the support plate, a push plate conveyor is fixedly connected to the upper side of the connecting plate, a storage shell is fixedly connected to the lower end of the push plate conveyor, and a discharge shell is fixedly connected to the upper end of the push plate conveyor. The discharge shell is located directly above the vibration assembly.

[0008] According to the above technical solution, a collection box is provided on the lower side of the collection plate, and a collection cavity is provided inside the collection box. An inclined plate is fixedly connected inside the collection cavity, and the discharge ends of several collection tubes are aligned with the high starting end of the inclined plate. The inclined plate is made of rubber.

[0009] According to the above technical solution, the vibration assembly includes a vibration motor fixedly connected to the upper side of the collecting plate, a circular plate fixedly connected to the upper side of the vibration motor, a second annular ring fixedly connected to the middle of the upper side of the circular plate, a first annular ring provided on the outer side of the second annular ring and fixedly connected to the circular plate, a C-shaped plate fixedly connected to the upper side of the first annular ring, a screening cylinder fixedly connected to the other end of the C-shaped plate, the screening cylinder fixedly connected to the vibration motor, the second annular ring being a sloping C-shape, a storage groove provided inside the second annular ring, and a first material transfer chute provided between the outer wall of the second annular ring and the inner wall of the first annular ring.

[0010] According to the above technical solution, the first annular ring is provided with a discharge port inside, one end of the second annular ring is fixedly connected to an inclined guide plate and the other end of the inclined guide plate is fixedly connected to the discharge port, the outer wall of the first annular ring is fixedly connected to a first baffle plate, the upper side of the screen cylinder is fixedly connected to a first discharge block, the inlet end of the first discharge block is aligned with the outlet end of the first annular ring, the other side of the first discharge block is fixedly connected to a second discharge block, and the other side of the second discharge block is fixedly connected to an inclined discharge plate.

[0011] According to the above technical solution, a second baffle plate is provided on one side of the first baffle plate, and a circular ring is fixedly connected to the outer side of the first annular ring. The circular ring is fixedly connected to the second baffle plate. The inner side of the circular ring is provided with an arc groove. The width of the arc groove is gradually reduced along the direction from the feed end to the discharge end of the first annular ring. The inner side of the first discharge block is provided with a first discharge chute, and the inner side of the second discharge block is provided with a second discharge chute. The first discharge chute and the second discharge chute are interconnected. The angle between the first discharge chute and the vertical horizontal plane is smaller than the angle between the second discharge chute and the vertical horizontal plane. The inner side of the screening cylinder is uniformly provided with a plurality of screening holes. Each screening hole is aligned with each collection pipe and the screening hole and the collection pipe do not contact each other.

[0012] According to the above technical solution, the positioning adjustment mechanism includes a conveyor fixedly connected to one side of the protective box. A second U-shaped plate and a first U-shaped plate are fixedly connected to the upper side of the conveyor. A camera is fixedly connected to the lower side of the second U-shaped plate. The camera contains a database and a judgment module. The database contains recognition photos of motor end caps with different numbers of "ears" and motor end caps with different rotation angles. An electric push rod is fixedly connected to the upper side of the first U-shaped plate. The output end of the electric push rod passes through the first U-shaped plate and is fixedly connected to a rotary motor. The output end of the rotary motor is fixedly connected to a double-headed cylinder. Both telescopic ends of the double-headed cylinder are fixedly connected to clamps.

[0013] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: 1. By capturing images of the motor end cap during conveying using a camera, the judgment module compares the captured images with template photos of different numbers of ears stored in the database, automatically identifying the number of ears on the current end cap and classifying it as a two-ear end cap, a three-ear end cap, or a four-ear end cap. Simultaneously, it compares the captured images with template photos of this type of end cap at different rotation angles to identify the current placement angle of the end cap's ears. The judgment module automatically retrieves the corresponding target angle parameters based on the identified end cap type and calculates the clockwise and counterclockwise rotation angles based on the current angle. The required compensation angles in the two counterclockwise directions are compared and the direction with the smallest absolute value is selected as the shortest rotation path. Then, the electric push rod is extended, the double-headed cylinder clamps, and the rotary motor rotates precisely along the shortest path at the specified angle, thereby driving the end cap to rotate to the preset target processing position. This effectively avoids the problems of high labor intensity, low positioning accuracy, and poor production efficiency caused by the need for manual identification of the number of hanging ears and manual adjustment of the placement angle due to the mixed specifications of end caps in traditional feeding methods. It achieves the technical effect of fully automatic identification and classification of end caps with different numbers of hanging ears and precise angle positioning.

[0014] 2. The eccentric block inside the vibrating motor generates periodic centrifugal force. The horizontal and vertical components of this centrifugal force act on the circular plate, causing the circular plate and the fixed first and second annular rings and screen cylinder to produce high-frequency, micro-amplitude directional vibration. Under the action of vibration, a large number of motor end caps gradually climb upward along the spiral inclined surface of the inner wall of the second annular ring and enter the arc groove in sequence. During the conveying process of the end caps along the arc groove, the geometric characteristics of the end caps, with a convex structure on the front and a concave structure on the back, combined with the gradually narrowing structure of the arc groove from the feed end to the discharge end—the concave part of the bottom of the end cap facing upward forms a large contact support area with the outer wall of the first annular ring, which can ensure... The end cap, maintaining a stable posture, continues to advance along the trough. The bottom protrusion of the reverse end cap has a small contact area with the outer wall and unstable support. As the trough width narrows, the lateral pressure on the edge increases, causing it to lose its restraint and fall from the arc trough. It then falls into the screen cylinder through the clearance groove between the first annular ring and the screen cylinder, and then falls into the collection pipe through the screen hole and slides into the collection box for centralized recycling. This effectively avoids quality problems such as subsequent angle positioning failure and drilling position errors caused by the mixing of the positive and negative end caps. It achieves the dual technical effect of simultaneously completing the end cap sorting and automatic screening of the positive and negative sides through a purely mechanical structure without any sensors or active actuators, greatly simplifying the equipment structure. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of an end cap feeding mechanism based on vision detection according to the present invention. Figure 2 This is a schematic diagram of the internal structure of the protective box in this invention; Figure 3 This is a schematic diagram of the structure of the collection box in this invention; Figure 4 This is a schematic diagram of the vibration component in this invention; Figure 5 This is a schematic diagram of the vibration component from another perspective in this invention; Figure 6 This is a schematic diagram of a partial explosion of the vibration component in this invention; Figure 7 This is a schematic diagram of the positioning adjustment mechanism in this invention; Figure 8 In this invention Figure 7 Enlarged diagram of area A; Figure 9 This is a schematic diagram showing the placement of the camera when it is shooting directly above the motor end cover in this invention; In the diagram: 1. Protective box; 2. Support frame; 3. Support legs; 4. Push plate conveyor; 41. Discharge shell; 42. Storage shell; 43. Connecting plate; 44. Support plate; 5. Positioning and adjusting mechanism; 51. First U-shaped plate; 52. Second U-shaped plate; 53. Camera; 54. Motor end cover; 55. Conveyor; 56. Electric push rod; 57. Rotary motor; 58. Double-headed cylinder; 59. Clamping plate; 6. Vibration assembly; 61. Circular plate; 62. First annular ring; 621. Arc groove; 622. Circular ring; 623. Second baffle plate; 63. C-shaped plate; 64. Screen cylinder; 641. Screen hole; 65. Second annular ring; 651. Inclined guide plate; 652. First baffle plate; 66. Vibration motor; 67. First discharge block; 671. First discharge chute; 68. Second discharge block; 681. Second discharge chute; 69. Inclined discharge plate; 7. Collection box; 71. Collection chamber; 72. Inclined plate; 8. Collection plate; 9. Collection tube. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Please see Figure 1-9 The present invention provides a technical solution: a visual inspection-based end cap feeding mechanism, comprising a protective box 1 and a motor end cap 54. A support frame 2 is fixedly connected to the lower side of the protective box 1, and a plurality of legs 3 are uniformly fixedly connected to the lower side of the support frame 2. A collection plate 8 is fixedly connected to the upper side of the support frame 2, and a plurality of collection pipes 9 are uniformly fixedly connected to the upper side of the collection plate 8. A vibration component 6 is provided on the upper side of the collection pipes 9 for discharging the plurality of motor end caps 54 in sequence and screening out the front and back of the motor end caps 54. A positioning adjustment mechanism 5 is provided on one side of the protective box 1 for automatically adjusting the angle of the motor end cap 54 according to the number of ears of the motor end cap 54 and positioning the motor end cap 54.

[0018] A support plate 44 is fixedly connected to one side of the protective box 1. Two connecting plates 43 are fixedly connected to the upper side of the support plate 44. A push plate conveyor 4 is fixedly connected to the upper side of the connecting plate 43. A storage shell 42 is fixedly connected to the lower end of the push plate conveyor 4. A discharge shell 41 is fixedly connected to the upper end of the push plate conveyor 4. The discharge shell 41 is located directly above the vibration assembly 6.

[0019] The specific description of the above structure is as follows: the push plate conveyor 4 adopts a push-type conveying method, which lifts the motor end cover 54 from a low position to a high position through the push plate, and then sends it into the interior of the vibration component 6.

[0020] A collection box 7 is provided on the lower side of the collection plate 8. The collection box 7 has a collection cavity 71 inside. An inclined plate 72 is fixedly connected inside the collection cavity 71. The discharge ends of several collection tubes 9 are aligned with the high starting end of the inclined plate 72. The inclined plate 72 is made of rubber.

[0021] The specific description of the above structure is as follows: The collection chamber 71 is used to collect the motor end cover 54 that falls from above. When the motor end cover 54 falls to the high starting end of the inclined plate 72, the rubber inclined plate 72 will undergo a slight elastic deformation, converting the impact kinetic energy of the motor end cover 54 into the elastic potential energy inside the rubber, which is then slowly released, thereby effectively absorbing the impact of the fall. Then the motor end cover 54 will slide down to the low ending end of the inclined plate 72.

[0022] The vibration assembly 6 includes a vibration motor 66 fixedly connected to the upper side of the collecting plate 8. A circular plate 61 is fixedly connected to the upper side of the vibration motor 66. A second annular ring 65 is fixedly connected to the middle of the upper side of the circular plate 61. A first annular ring 62 is provided on the outer side of the second annular ring 65 and is fixedly connected to the circular plate 61. A C-shaped plate 63 is fixedly connected to the upper side of the first annular ring 62. A screening cylinder 64 is fixedly connected to the other end of the C-shaped plate 63. The screening cylinder 64 is fixedly connected to the vibration motor 66. The second annular ring 65 is a sloping C-shaped ring. A storage trough is provided inside the second annular ring 65. A first material transfer chute is provided between the outer wall of the second annular ring 65 and the inner wall of the first annular ring 62.

[0023] The first annular ring 62 has a discharge port inside. One end of the second annular ring 65 is fixedly connected to an inclined guide plate 651, and the other end of the inclined guide plate 651 is fixedly connected to the discharge port. The outer wall of the first annular ring 62 is fixedly connected to a first baffle plate 652. The upper side of the screen cylinder 64 is fixedly connected to a first discharge block 67. The feed end of the first discharge block 67 is aligned with the discharge end of the first annular ring 62. The other side of the first discharge block 67 is fixedly connected to a second discharge block 68. The other side of the second discharge block 68 is fixedly connected to an inclined discharge plate 69.

[0024] A second baffle plate 623 is provided on one side of the first baffle plate 652. A circular ring 622 is fixedly connected to the outer side of the first annular ring 62. The circular ring 622 is fixedly connected to the second baffle plate 623. An arc groove 621 is provided inside the circular ring 622. The width of the arc groove 621 is gradually reduced along the direction from the feed end to the discharge end of the first annular ring 62. A first discharge chute 671 is provided inside the first discharge block 67. A second discharge chute 681 is provided inside the second discharge block 68. The first discharge chute 671 and the second discharge chute 681 are connected to each other. The angle between the first discharge chute 671 and the vertical horizontal plane is smaller than the angle between the second discharge chute 681 and the vertical horizontal plane. A number of screening holes 641 are evenly provided inside the screening cylinder 64. Each screening hole 641 is aligned with each collection pipe 9 and the screening hole 641 and the collection pipe 9 do not contact each other.

[0025] The specific explanation based on the above structure is as follows: Before positioning each type of motor end cover 54, it must be ensured that the motor end cover 54 is facing upwards. Otherwise, no matter how the angle is adjusted for positioning, the subsequent drilling of the motor end cover 54 will always be incorrect. Therefore, before positioning different types of motor end covers 54, it is necessary to screen the front and back of the motor end cover 54.

[0026] The vibrating motor 66 is the excitation source of the entire vibrating assembly 6. When the eccentric block inside rotates, it generates a periodically changing centrifugal force. The components of this centrifugal force in the horizontal and vertical directions act together on the circular plate 61, causing it to generate high-frequency, small-amplitude directional vibration. Within one vibration cycle, the resultant force on the material points towards the discharge port, thereby causing the motor end cover 54 to move forward gradually along the predetermined track under the action of vibration.

[0027] The first annular ring 62 and the second annular ring 65 are both annular thin-walled structures fixed on the circular plate 61. The second annular ring 65 is located on the inner side, and its inner wall is shaped like a sloping C. The so-called sloping C shape means that the bottom plane of the second annular ring 65 gradually rises along the circumference, forming a spiral upward slope. Its cross-sectional shape is C-shaped, and the internal space constitutes a storage trough. The annular gap between the first annular ring 62 and the second annular ring 65 forms the first material transfer chute, which serves as a channel for the motor end cover 54 to move circumferentially under vibration. The width of the arc groove 621 gradually decreases from the feed end to the discharge end. An avoidance groove is provided between the first annular ring 62 and the screen cylinder 64. The two are not directly connected. The screen cylinder 64 is located below the first annular ring 62 and has a number of screen holes 641 evenly arranged inside. Each screen hole 641 is aligned with the collection pipe 9 below.

[0028] When a large number of motor end caps 54 are put into the storage trough inside the second annular ring 65, under the excitation of the vibrating motor 66, the motor end caps 54 gradually climb upward along the spiral inclined surface of the first material conveying chute. When the motor end caps 54 climb to the highest outlet of the first material conveying chute, they are transferred to the discharge port of the first annular ring 62 via the inclined guide plate 651, and then reach the outer side of the first annular ring 62, and continue to move forward to the arc groove 621 of the ring 622. At this time, the edge of the motor end caps 54 enters the interior of the arc groove 621, and continues to be conveyed forward along the arc groove 621 under the action of vibration.

[0029] During the conveying process of the motor end cover 54 in the arc groove 621, the first annular ring 62 and the second annular ring 65 vibrate synchronously with the vibrating motor 66. The front of the motor end cover 54 is a convex structure (that is, the outer surface of the motor end cover 54 has a convex feature), and the back is a concave structure (that is, the inner surface of the motor end cover 54 is a cavity). At the feeding end of the arc groove 621, the groove width is relatively wide. Regardless of whether the motor end cover 54 is facing up or down, its edge can be placed inside the arc groove 621 and conveyed forward along the groove under the action of vibration. However, as the motor end cover 54 continues to move forward along the arc groove 621, the groove width gradually narrows.

[0030] For the motor end cap 54 with its reverse side facing upward (i.e., concave side facing upward and convex side facing downward), the protruding part at its bottom contacts the inclined outer wall of the first annular ring 62. Since the contact area between the protruding part and the outer wall is small, and the width of the arc groove 621 gradually narrows, the lateral pressure on the edge of the motor end cap 54 in the groove increases. In addition, due to the influence of vibration, the motor end cap 54 will shift outward due to the loss of stable support and eventually fall out of the arc groove 621. Since there is an avoidance groove between the first annular ring 62 and the screen cylinder 64 and the two are not directly connected, the falling motor end cap 54 falls directly into the inside of the screen cylinder 64 and falls into the collection pipe 9 below through the screen hole 641 at the bottom of the screen cylinder 64. Finally, it slides down the collection pipe 9 into the collection box 7 for centralized recycling.

[0031] As for the motor end cover 54 facing upwards (i.e., convex surface facing upwards and concave surface facing downwards), the concave part at its bottom contacts the outer wall of the first annular ring 62. Since the concave structure can better fit the outer wall, it forms a larger contact support area, allowing the motor end cover 54 to obtain stable support force. Even if the width of the arc groove 621 gradually narrows, the motor end cover 54 facing upwards can still maintain a stable posture, and its edge is always constrained inside the arc groove 621. Therefore, it can continue to be conveyed forward along the arc groove 621 to the discharge end, and then enter the first discharge chute 671 and the second discharge chute 681 in sequence. During the vibration conveying process, the angle between the motor end cover 54 and the horizontal plane gradually decreases until it is flattened and enters the next process.

[0032] When the reverse side is facing up, the bottom protrusion has a small contact area and unstable support. When the front side is facing up, the bottom concave contact area has a large contact area and stable support. Combined with the tapered structure of the arc groove 621, the pure mechanical automatic differentiation and screening of the front and back sides of the motor end cover 54 is achieved without any sensors or active actuators, and each motor end cover 54 is sequentially transported to the top of the conveyor 55.

[0033] The positioning adjustment mechanism 5 includes a conveyor 55 fixedly connected to one side of the protective box 1. A second U-shaped plate 52 and a first U-shaped plate 51 are fixedly connected to the upper side of the conveyor 55. A camera 53 is fixedly connected to the lower side of the second U-shaped plate 52. The camera 53 has a database and a judgment module inside. The database has motor end caps 54 with different numbers of ears and recognition photos of motor end caps 54 at different rotation angles. An electric push rod 56 is fixedly connected to the upper side of the first U-shaped plate 51. The output end of the electric push rod 56 passes through the first U-shaped plate 51 and is fixedly connected to a rotary motor 57. The output end of the rotary motor 57 is fixedly connected to a double-headed cylinder 58. Both telescopic ends of the double-headed cylinder 58 are fixedly connected to clamps 59.

[0034] After camera 53 captures an image of the motor end cover 54 directly below, it converts the image into an electrical signal and sends it to the judgment module. The judgment module first compares the image of the motor end cover 54 with recognition photos of motor end covers 54 with different numbers of "ears" in its internal database to pre-identify the number of "ears" on the current motor end cover 54. Based on the captured image of the motor end cover 54, the module classifies the type of the motor end cover 54 into a two-ear end cover, a three-ear end cover, and a four-ear end cover. The judgment module then compares the image of the motor end cover 54 with recognition photos of the motor end cover 54 at different rotation angles to pre-identify the "ear" placement angle of the current model of motor end cover 54. Based on the captured image of the motor end cover 54, the module determines the optimal rotation direction and angle for the rotation positioning of the motor end cover 54.

[0035] The specific description of the above structure is as follows: the electric push rod 56 is responsible for driving the rotary motor 57 and the entire gripper assembly to move up and down in the vertical direction. When the motor end cover 54 is conveyed to the area directly below the gripper, the telescopic end of the electric push rod 56 extends, lowers the gripper to the height position of the motor end cover 54, clamps it, and completes the rotational positioning. Then, the telescopic end of the electric push rod 56 retracts, lifts the motor end cover 54, and makes room for the next action of the conveyor 55.

[0036] The output end of the rotary motor 57 is fixedly connected to the double-headed cylinder 58, which is responsible for providing precise circumferential rotation driving force. The rotary motor 57 is usually a stepper motor or servo motor, which can receive pulse signals to achieve precise angle control, and its rotation accuracy can reach within ±0.1°.

[0037] After the double-headed cylinder 58 is ventilated, the two telescopic ends move synchronously towards each other (clamping) or away from each other (releasing), driving the two clamping plates 59 to clamp the outer wall of the motor end cover 54 from both sides. The inner side of the clamping plates 59 is usually provided with rubber pads or V-shaped grooves to increase friction and protect the surface of the motor end cover 54 from damage.

[0038] After the camera 53 captures an image of the motor end cover 54, the judgment module extracts the edge contour features in the image and identifies the number of ear contours protruding outward from the edge of the motor end cover 54 through template matching. The current motor end cover 54 is determined to be a double-ear end cover, and the target angle parameter corresponding to the double-ear end cover is retrieved: θ_target=0° (based on the reference ear being located directly to the right).

[0039] The judgment module uses the geometric center (center of bearing chamber) of motor end cover 54 as reference point O, identifies the center points A and B of the two ears, selects one of them as the reference ear (for example, the first ear A that is identified is fixed), calculates the angle between the line connecting OA and the positive direction of the horizontal axis of the image, and records it as θ_current. When the reference ear A is located in the right rear of the double ear end cover image captured by camera 53, θ_current is calculated to be 45°.

[0040] The judgment module calculates the shortest compensation angle according to the formula: Counterclockwise rotation angle: Δθ_cw = (0° - 45° + 360°) % 360° = 315° Clockwise rotation angle: Δθ_ccw = (45° - 0° + 360°) % 360° = 45° After comparison, the judgment module selects to rotate 45° clockwise (Δθ_ccw=45°<Δθ_cw=315°) and sends this instruction to the actuator.

[0041] When the electric push rod 56 is started, its output end extends and pushes the rotary motor 57, the double-headed cylinder 58 and the clamping plate 59 to move downward as a whole until the clamping plate 59 reaches the height position of the motor end cover 54. The double-headed cylinder 58 is ventilated and the two telescopic ends move synchronously towards each other, driving the two clamping plates 59 to clamp the outer wall of the motor end cover 54 from both sides.

[0042] The rotary motor 57 receives the pulse signal sent by the judgment module and drives the output end to rotate precisely 45° clockwise. Since the double-headed cylinder 58 is fixedly connected to the output end of the rotary motor 57, the clamping plate 59 holds the motor end cover 54, and the motor end cover 54 rotates synchronously with the rotary motor 57.

[0043] After the rotation is completed, the reference ear A rotates from the right rear (45°) to the right (0°), and the other ear B rotates from the corresponding position in the left front to the left, so that the two ears are horizontally symmetrical.

[0044] The double-headed cylinder 58 vents in reverse, causing the two telescopic ends to move in opposite directions, and the clamping plate 59 releases the motor end cover 54. The electric push rod 56 starts in reverse, retracts its output end, and drives the gripper assembly to lift upward, making room for the next conveying step of the conveyor 55.

[0045] At this point, the two ears of the double-ear end cap are precisely positioned to the left and right, meeting the programming requirements for the drill bit's symmetrical position during drilling.

[0046] The judgment module identifies that there are 3 ear contours on the edge of the motor end cover 54 through contour feature extraction. The current motor end cover 54 is judged as a three-ear end cover, and the target angle parameter corresponding to the three-ear end cover is retrieved: θ_target=90° (with one of the reference ears located in front as the reference). The coordinate system is defined as follows: with the geometric center O of the motor end cover 54 as the origin, the right side is 0° and the front side is 90°.

[0047] The judgment module uses the geometric center O of the end cap as a reference point to identify the center points A, B, and C of the three ears. Since the three ears are evenly distributed at 120° on the circumference, the judgment module selects a reference ear according to a preset rule (for example, a fixed selection of an ear with an angle within a specific range, such as an ear with an angle between 30° and 150° as the reference), and calculates the angle between the line connecting the reference ear and the center O and the 0° direction line (directly to the right), denoted as θ_current.

[0048] If the three ear caps under the camera 53 have the following angles: ear A is 30° (right front, the ear closest to the front), ear B is 150° (left front), and ear C is 270° (directly behind), then the ear A (30°) closest to the front (90°) is selected as the reference ear, and θ_current=30°.

[0049] The decision module calculates the shortest compensation angle to rotate the reference ear A from the current angle θ_current=30° to the target angle θ_target=90° (directly in front): Clockwise rotation angle: Δθ_cw = (90° - 30° + 360°) % 360° = 60° Counterclockwise rotation angle: Δθ_ccw = (30° - 90° + 360°) % 360° = 300° After comparison, the judgment module selects to rotate 60° clockwise (Δθ_cw=60°<Δθ_ccw=300°) and sends this instruction to the actuator.

[0050] When the electric push rod 56 is started, its output end extends and pushes the rotary motor 57, the double-headed cylinder 58 and the clamping plate 59 to move downward as a whole until the clamping plate 59 reaches the height position of the motor end cover 54. The double-headed cylinder 58 is ventilated and the two telescopic ends move synchronously towards each other, driving the two clamping plates 59 to clamp the outer wall of the motor end cover 54 from both sides.

[0051] The rotary motor 57 receives the pulse signal sent by the judgment module and drives the output end to rotate precisely 60° clockwise. Since the double-headed cylinder 58 is fixedly connected to the output end of the rotary motor 57, the clamping plate 59 holds the motor end cover 54. The motor end cover 54 rotates synchronously with the rotary motor 57. At this time, the three ears are distributed in an isosceles triangle with one in front and two behind.

[0052] The reference ear of the three-ear end cap is precisely located at the front (90°), and the other two ears are located at the left rear (210°) and right rear (330°) respectively, which meets the programming requirements of the drill bit for the "one front and two rear" triangular distribution orientation during drilling.

[0053] The judgment module identifies that there are 4 ear contours on the edge of the motor end cover 54 through contour feature extraction. The current motor end cover 54 is judged as a four-ear end cover, and the target angle parameter corresponding to the four-ear end cover is retrieved: θ_target=0° (with one reference ear located on the right as the reference, and the other three located in front, left and back respectively).

[0054] The judgment module uses the geometric center O of the motor end cover 54 as a reference point to identify the center points A, B, C, and D of the four ears. The four ears are evenly distributed at 90° angles on the circumference. The judgment module selects a reference ear according to a preset rule (for example, the first ear A that has been identified is fixed), calculates the angle between the line connecting the reference ear and the center O and the positive direction of the horizontal axis of the image, and records it as θ_current. In the image of the four-ear end cover captured by the camera 53, the reference ear A is located at the right rear, and θ_current is calculated to be -60° (i.e., 300°).

[0055] The judgment module calculates the shortest compensation angle according to the formula: Clockwise rotation angle: Δθ_cw = (0° - 300° + 360°) % 360° = 60° Counterclockwise rotation angle: Δθ_ccw = (300° - 0° + 360°) % 360° = 300° After comparison, the judgment module selects to rotate 60° clockwise (Δθ_cw=60°<Δθ_ccw=300°) and sends this instruction to the actuator.

[0056] When the electric push rod 56 is started, its output end extends and pushes the rotary motor 57, the double-headed cylinder 58 and the clamping plate 59 to move downward as a whole until the clamping plate 59 reaches the height position of the motor end cover 54. The double-headed cylinder 58 is ventilated and the two telescopic ends move synchronously towards each other, driving the two clamping plates 59 to clamp the outer wall of the motor end cover 54 from both sides.

[0057] The rotary motor 57 receives the pulse signal sent by the judgment module and drives the output end to rotate precisely 60° clockwise. Since the double-headed cylinder 58 is fixedly connected to the output end of the rotary motor 57, the clamping plate 59 holds the motor end cover 54, and the motor end cover 54 rotates synchronously with the rotary motor 57.

[0058] The four ears are arranged in a standard cross-shaped symmetrical distribution. The four ears of the four-ear end cap are precisely located in the four directions of front, back, left, and right, which meets the programming requirements of the drill bit for cross-shaped symmetrical orientation during drilling.

[0059] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0060] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A vision-based end cap feeding mechanism, comprising a protective box (1) and a motor end cap (54), characterized in that, The lower side of the protective box (1) is fixedly connected to a support frame (2), and a number of legs (3) are evenly fixedly connected to the lower side of the support frame (2). The upper side of the support frame (2) is fixedly connected to a collection plate (8), and a number of collection pipes (9) are evenly fixedly connected to the upper side of the collection plate (8). The upper side of the collection pipes (9) is provided with a vibration assembly (6) for discharging a number of motor end caps (54) in sequence and screening out the front and back of the motor end caps (54). One side of the protective box (1) is provided with a positioning adjustment mechanism (5) for automatically adjusting the angle of the motor end caps (54) according to the number of ears of the motor end caps (54) and positioning the motor end caps (54). The positioning adjustment mechanism (5) includes a conveyor (55) fixedly connected to one side of the protective box (1). The upper side of the conveyor (55) is fixedly connected to a second U-shaped plate (52) and a first U-shaped plate (51). The lower side of the second U-shaped plate (52) is fixedly connected to a camera (53). The camera (53) is equipped with a database and a judgment module. The database is equipped with motor end caps (54) with different numbers of ears and recognition photos of motor end caps (54) with different rotation angles. The upper side of the first U-shaped plate (51) is fixedly connected to an electric push rod (56). The output end of the electric push rod (56) passes through the first U-shaped plate (51) and is fixedly connected to a rotary motor (57). The output end of the rotary motor (57) is fixedly connected to a double-headed cylinder (58). Both telescopic ends of the double-headed cylinder (58) are fixedly connected to clamps (59). The vibration assembly (6) includes a vibration motor (66) fixedly connected to the upper side of the collecting plate (8). A circular plate (61) is fixedly connected to the upper side of the vibration motor (66). A second annular ring (65) is fixedly connected to the middle of the upper side of the circular plate (61). A first annular ring (62) is provided on the outer side of the second annular ring (65), and the first annular ring (62) is fixedly connected to the circular plate (61). The first annular ring (62) has a discharge port inside. One end of the second annular ring (65) is fixedly connected to an inclined guide plate (651), and the other end of the inclined guide plate (651) is fixedly connected to the discharge port. The outer wall of the first annular ring (62) is fixedly connected to a first baffle plate (652). A second baffle plate (623) is provided on one side of the first baffle plate (652). A circular ring (622) is fixedly connected to the outer side of the first annular ring (62). The circular ring (622) is fixedly connected to the second baffle plate (623). The circular ring (622) has an arc groove (621) inside. The width of the arc groove (621) is gradually reduced along the direction from the feed end to the discharge end of the first annular ring (62).

2. The end cap feeding mechanism based on vision detection according to claim 1, characterized in that, A support plate (44) is fixedly connected to one side of the protective box (1). Two connecting plates (43) are fixedly connected to the upper side of the support plate (44). A push plate conveyor (4) is fixedly connected to the upper side of the connecting plate (43). A storage shell (42) is fixedly connected to the lower end of the push plate conveyor (4). A discharge shell (41) is fixedly connected to the upper end of the push plate conveyor (4). The discharge shell (41) is located directly above the vibration assembly (6).

3. The end cap feeding mechanism based on vision detection according to claim 1, characterized in that, The collecting plate (8) is provided with a collecting box (7) on its lower side. The collecting box (7) is provided with a collecting cavity (71) inside. An inclined plate (72) is fixedly connected inside the collecting cavity (71). The discharge ends of several collecting tubes (9) are aligned with the high starting end of the inclined plate (72). The inclined plate (72) is made of rubber.

4. The end cap feeding mechanism based on vision detection according to claim 1, characterized in that, A C-shaped plate (63) is fixedly connected to the upper side of the first annular ring (62), and a sieve cylinder (64) is fixedly connected to the other end of the C-shaped plate (63). The sieve cylinder (64) is fixedly connected to the vibrating motor (66). The second annular ring (65) is a sloping C-shaped ring. A storage groove is provided inside the second annular ring (65). A first material transfer chute is provided between the outer wall of the second annular ring (65) and the inner wall of the first annular ring (62).

5. The end cap feeding mechanism based on vision detection according to claim 4, characterized in that, The upper side of the screen cylinder (64) is fixedly connected to a first discharge block (67), the feed end of the first discharge block (67) is aligned with the discharge end of the first annular ring (62), the other side of the first discharge block (67) is fixedly connected to a second discharge block (68), and the other side of the second discharge block (68) is fixedly connected to an inclined discharge plate (69).

6. The end cap feeding mechanism based on vision detection according to claim 5, characterized in that, The first discharge block (67) has a first discharge chute (671) inside, and the second discharge block (68) has a second discharge chute (681) inside.

7. The end cap feeding mechanism based on vision detection according to claim 6, characterized in that, The first discharge chute (671) and the second discharge chute (681) are connected to each other. The angle between the first discharge chute (671) and the vertical horizontal plane is smaller than the angle between the second discharge chute (681) and the vertical horizontal plane. The screen cylinder (64) is uniformly provided with a number of screen holes (641) inside. Each screen hole (641) is aligned with each collection pipe (9) and the screen hole (641) and the collection pipe (9) do not contact each other.

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