Visual intelligence-based production line tray automatic feeder

Abstract

The present application belongs to the technical field of automatic material conveying equipment, in particular to a production line tray automatic feeding machine based on visual intelligence, aiming at the problems of existing tray feeding equipment, such as more manual intervention, low positioning accuracy, poor feeding continuity, the following scheme is proposed, including: conveying tool frame, a tray feeding rack and a tray collecting rack are symmetrically arranged above the conveying tool frame, and horizontal rods are fixedly connected to the two sides of the tray feeding rack and the tray collecting rack, and a plurality of horizontal rods are provided with a stack monitor on one side. The production line tray automatic feeding machine based on visual intelligence has the advantages of realizing closed-loop accurate positioning through the visual monitor and the lead screw guide rail, eliminating belt deviation and cumulative error, adopting vacuum suction cups and elastic lateral positioning rollers to realize flexible clamping and stable adsorption of the tray, avoiding mechanical impact, full-automatic plate separation, conveying and positioning, greatly reducing manual intervention, and improving the feeding continuity and production change adaptability.

Description

Technical Field

[0001] This invention relates to the field of automated material handling equipment technology, and in particular to an automatic pallet feeder for production lines based on visual intelligence. Background Technology

[0002] On automated production lines, pallets are crucial tooling for carrying and transporting parts and semi-finished products. They are widely used in industries such as electronics manufacturing, machining, automotive parts assembly, and new energy vehicle manufacturing. To improve material storage and dispatching efficiency, companies typically deploy integrated warehousing and logistics systems consisting of automated storage and retrieval systems, stacker cranes, and unmanned storage yard intelligent control systems. This enables dense storage and automated inbound and outbound of pallets. During production line operation, empty pallets or pallets carrying materials need to be supplied to processing stations, robot gripping stations, or packaging stations at fixed times, distances, and points via reliable transportation or storage devices. In this process, the introduction of industrial vision intelligence technology to identify and provide feedback on pallet position, posture, and material supply status in real time can significantly improve the speed, accuracy, and continuity of material supply.

[0003] The existing production line pallet feeders mainly use manual feeding and ordinary belt conveyor combined with mechanical stop. However, manual feeding relies on operators to place pallets manually, which is labor-intensive and difficult to adapt to high-speed continuous production. Ordinary belt conveyor combined with mechanical stop is prone to pallet jamming or displacement due to belt deviation or slack. Mechanical hard limit has large impact and significant cumulative positioning error. Moreover, manual adjustment is required when changing production. Generally speaking, there are problems such as excessive manual intervention, low positioning accuracy, and poor feeding continuity. Summary of the Invention

[0004] This invention discloses an automatic pallet feeder for production lines based on visual intelligence, aiming to solve the technical problems of existing pallet feeding equipment in the background art, such as excessive manual intervention, low positioning accuracy, and poor feeding continuity.

[0005] The present invention proposes an automatic pallet feeder for production lines based on visual intelligence, comprising: The conveying fixture frame has a pallet unloading rack and a pallet collecting rack symmetrically arranged on its top. Both sides of the pallet unloading rack and the pallet collecting rack are fixedly connected with crossbars, and a pallet stacking monitor is installed on one side of each of the multiple crossbars. The visual intelligent positioning continuous feeding module is set inside the conveying fixture frame. The visual intelligent positioning continuous feeding module includes a guide rail. A horizontal nut moving seat is slidably connected inside the guide rail. There are mounting round holes on both sides of the guide rail. The two mounting round holes are connected to the same lead screw through bearings.

[0006] In a preferred embodiment, the visual intelligent positioning continuous feeding module further includes: Two tooling plates are symmetrically fixedly connected to one side of the inside of the conveying tooling frame. Two limiting cylinders are fixedly connected to the opposite side of the two tooling plates. Two slide blocks are slidably connected to the outside of the two limiting cylinders. A vision monitor is provided on one side of each of the two tooling plates. The supporting pallet plate is fixedly connected above multiple slide blocks. Smooth holes are evenly spaced on one side of the supporting pallet plate. Guide cylinders are slidably connected inside the multiple smooth holes. One end of the multiple guide cylinders is fixedly connected to the same lifting support plate. Threaded holes are opened on one side of the lifting support plate. A notch is opened on one side of the supporting pallet plate. A lifting distribution plate is set inside the notch. One side of the lifting distribution plate is fixedly connected to the other end of the guide cylinder.

[0007] In a preferred embodiment, the visual intelligent positioning continuous feeding module further includes: A support frame is fixedly connected to the bottom of multiple slides. A circular hole is opened on one side of the support frame. A screw is connected to the inside of the circular hole through a bearing. A lead screw motor is fixedly connected to one side of the support frame. The drive end of the lead screw motor is connected to one end of the screw through a coupling. The pump body is located on one side of the support frame, and the side of the supporting tray plate has mounting ports at equal intervals. Each mounting port is equipped with a vacuum suction cup. The suction end of the pump body is connected to the inside of the vacuum suction cups through a suction pipe.

[0008] In a preferred embodiment, the visual intelligent positioning continuous feeding module further includes: Two L-shaped tooling plates are symmetrically fixedly connected to one side of the horizontal nut moving seat. One side of the L-shaped tooling plate is fixedly connected to one side of the support frame. Two round holes are opened on one side of each of the two L-shaped tooling plates. Rotating rods are connected to the inside of the multiple round holes through bearings. Multiple pulleys are fixedly connected to the outside of multiple rotating rods, and the same belt is slidably connected to the outside of two pulleys on the same side.

[0009] In a preferred embodiment, the visual intelligent positioning continuous feeding module further includes: Two limiting rails are fixedly connected to one side of two L-shaped tooling plates respectively. Two opposing sliders are slidably connected to each of the two limiting rails. A U-shaped support frame is fixedly connected to one side of each of the multiple opposing sliders. Multiple linkage blocks are fixedly connected to one side of the U-shaped support frame and the opposing slider, respectively. One side of the linkage block is fixedly connected to one side of the belt. One side of each of the multiple U-shaped support frames is fixedly connected to an opposing inclined rod. One side of two opposing inclined rods located on the same side is fixedly connected to the same horizontal support rod. One side of the two horizontal support rods is provided with rounded openings at equal intervals. The interior of each of the multiple rounded openings is slidably connected to a limit rod. Multiple limiting blocks are fixedly connected to one end of multiple limiting round rods. The same telescopic spring is fixedly connected to the opposite side of the limiting block and the horizontal support rod. The telescopic spring is located outside the limiting round rod. A U-shaped tooling block is fixedly connected to the other end of each of the multiple limiting round rods. The interior of each of the multiple U-shaped tooling blocks is connected to a positioning roller through a bearing. Photoelectric sensors are set at equal distances on one side of each of the two horizontal support rods.

[0010] In a preferred embodiment, it also includes: Two drive motors are respectively installed on one side of two L-shaped tooling plates, and the drive motors are connected to one end of one of the rotating rods via a coupling; A general-purpose motor is located on the outer side of the conveying fixture frame. The drive end of the general-purpose motor is connected to one end of the lead screw through a linkage mechanism.

[0011] In a preferred embodiment, it also includes: Multiple hollow blown plates are arranged at equal intervals on one side of the conveying fixture frame. An air pump is installed on one side of the conveying fixture frame, and the air pump's blowing end is connected to the interior of the multiple hollow blown plates through an air blowing pipe.

[0012] In a preferred embodiment, it also includes: A unidirectional support mechanism is symmetrically arranged on both sides of the pallet collection rack.

[0013] In a preferred embodiment, it also includes: The tray-separating mechanism is symmetrically arranged on both sides of the tray feeding rack.

[0014] In a preferred embodiment, it also includes: The controller is located above the conveyor frame; The material handling mechanism is located on one side of the pallet rack.

[0015] As can be seen from the above, the automatic pallet feeder for production lines based on visual intelligence provided by the present invention has the advantages of achieving closed-loop precise positioning through a visual monitor and a lead screw guide rail, eliminating belt deviation and cumulative errors, using vacuum suction cups and elastic lateral positioning rollers to achieve flexible clamping and stable adsorption of pallets, avoiding mechanical impact, and fully automating pallet sorting, conveying and positioning, greatly reducing manual intervention and improving the continuity of material supply and adaptability to production changes. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the main structure of an automatic pallet feeder for production lines based on visual intelligence, as proposed in this invention. Figure 2 This is a side view of the automatic pallet feeder for production lines based on visual intelligence, as proposed in this invention. Figure 3This is a schematic diagram of the conveying tooling frame of an automatic pallet feeder for production lines based on visual intelligence, as proposed in this invention. Figure 4 This is a schematic diagram of the visual intelligent positioning continuous feeding module structure of a visual intelligence-based automatic pallet feeder for production lines proposed in this invention. Figure 5 This is a schematic diagram of a visual intelligent positioning continuous feeding module of an automatic pallet feeder for production lines based on visual intelligence, as proposed in this invention. Figure 6 for Figure 5 A schematic diagram of the enlarged structure of part B; Figure 7 This is a schematic diagram of the L-shaped tooling plate structure of an automatic pallet feeder for production lines based on visual intelligence, as proposed in this invention. Figure 8 This is a schematic diagram of the pallet unloading rack of an automatic pallet feeder for production lines based on visual intelligence, as proposed in this invention. Figure 9 for Figure 2 A magnified structural diagram of part A; Figure 10 This is a schematic diagram of the pallet collection rack structure of an automatic pallet feeder for production lines based on visual intelligence, as proposed in this invention.

[0017] In the diagram: 1. Conveying fixture frame; 2. Pallet unloading rack; 3. Pallet collecting rack; 4. Controller; 5. Vision intelligent positioning continuous feeding module; 501. Vision monitor; 502. Limiting cylinder; 503. Guide rail; 504. Lead screw; 505. Horizontal nut moving seat; 506. L-shaped fixture plate; 507. Support frame; 508. Slide; 509. Bearing pallet plate; 510. Guide cylinder; 511. Lifting tray plate; 512. Lifting support plate; 513. Screw; 514. Lead screw motor; 515. Vacuum suction cup; 516. Pump body; 517. Suction pipe; 518. Limiting device. 519. Round rod; 520. Limiting block; 521. Telescopic spring; 522. U-shaped tooling block; 523. Positioning roller; 524. Photoelectric sensor; 525. Limiting track; 526. Opposing slider; 527. U-shaped support frame; 528. Linkage block; 6. Tooling plate; 7. General motor; 8. Drive motor; 9. Opposing inclined rod; 10. Horizontal support rod; 11. Rotating rod; 12. Pulley; 13. Belt; 14. Material handling mechanism; 15. Dividing mechanism; 16. Air pump; 17. Air pipe; 18. Hollow blowing plate; 19. One-way support mechanism; 20. Crossbar; 21. Pallet monitor. Detailed Implementation

[0018] 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. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0019] The present invention discloses a visual intelligence-based automatic pallet feeder for production lines, which is mainly applied to scenarios where existing pallet feeding equipment suffers from excessive manual intervention, low positioning accuracy, and poor feeding continuity.

[0020] Reference Figures 1-10 An automatic pallet feeder for production lines based on visual intelligence, comprising: The conveying fixture frame 1 is symmetrically provided with a pallet feeding rack 2 and a pallet collecting rack 3 above it. Both sides of the pallet feeding rack 2 and the pallet collecting rack 3 are fixedly connected with crossbars 20. Each side of the multiple crossbars 20 is provided with a pallet monitoring device 21. The visual intelligent positioning continuous feeding module 5 is set inside the conveying fixture frame 1, and the visual intelligent positioning continuous feeding module 5 includes a guide rail 503. A horizontal nut moving seat 505 is slidably connected inside the guide rail 503. There are mounting round holes on both sides of the guide rail 503, and the two mounting round holes are connected to the same lead screw 504 through bearings.

[0021] Reference Figures 1-7 In a preferred embodiment, the visual intelligent positioning continuous feeding module 5 further includes: Two tooling plates 6 are symmetrically fixedly connected to one side of the inner side of the conveying tooling frame 1. Two limiting cylinders 502 are fixedly connected to the opposite side of the two tooling plates 6. Two slide blocks 508 are slidably connected to the outside of the two limiting cylinders 502. A vision monitor 501 is provided on one side of each of the two tooling plates 6. The supporting pallet plate 509 is fixedly connected above multiple slide blocks 508. Smooth holes are equally spaced on one side of the supporting pallet plate 509. Guide cylinders 510 are slidably connected inside the multiple smooth holes. One end of the multiple guide cylinders 510 is fixedly connected to the same lifting support plate 512. A threaded hole is opened on one side of the lifting support plate 512. A notch is opened on one side of the supporting pallet plate 509. A lifting distribution plate 511 is set inside the notch. One side of the lifting distribution plate 511 is fixedly connected to the other end of the guide cylinder 510.

[0022] Reference Figures 1-7 In a preferred embodiment, the visual intelligent positioning continuous feeding module 5 further includes: A support frame 507 is fixedly connected to the bottom of multiple slides 508. A circular hole is opened on one side of the support frame 507. A screw 513 is connected to the inside of the circular hole through a bearing. A lead screw motor 514 is fixedly connected to one side of the support frame 507. The drive end of the lead screw motor 514 is connected to one end of the screw 513 through a coupling. The pump body 516 is located on one side of the support frame 507. The support tray plate 509 has mounting ports at equal intervals on one side. Each mounting port is equipped with a vacuum suction cup 515. The suction end of the pump body 516 is connected to the inside of the vacuum suction cups 515 through a suction pipe 517.

[0023] Reference Figures 1-7 In a preferred embodiment, the visual intelligent positioning continuous feeding module 5 further includes: Two L-shaped tooling plates 506 are symmetrically fixedly connected to one side of the horizontal nut moving seat 505. One side of the L-shaped tooling plate 506 is fixedly connected to one side of the support frame 507. Two round holes are opened on one side of each of the two L-shaped tooling plates 506. The interior of each of the multiple round holes is connected to a rotating rod 11 through a bearing. Multiple pulleys 12 are fixedly connected to the outside of multiple rotating rods 11, and the same belt 13 is slidably connected to the outside of two pulleys 12 on the same side.

[0024] Reference Figures 1-7 In a preferred embodiment, the visual intelligent positioning continuous feeding module 5 further includes: Two limiting rails 524 are fixedly connected to one side of two L-shaped tooling plates 506 respectively. Two opposing sliders 525 are slidably connected to each of the two limiting rails 524. A U-shaped support frame 526 is fixedly connected to one side of each of the multiple opposing sliders 525. Multiple linkage blocks 527 are fixedly connected to one side of the U-shaped support frame 526 and the opposing slider 525, respectively. One side of the linkage block 527 is fixedly connected to one side of the belt 13. One side of each of the multiple U-shaped support frames 526 is fixedly connected to an opposing inclined rod 9. One side of two opposing inclined rods 9 located on the same side is fixedly connected to the same horizontal support rod 10. One side of the two horizontal support rods 10 is provided with rounded openings at equal intervals. The interior of each of the multiple rounded openings is slidably connected to a limit rod 518. Multiple limiting blocks 519 are fixedly connected to one end of multiple limiting round rods 518. The same telescopic spring 520 is fixedly connected to the opposite side of the limiting block 519 and the horizontal support rod 10. The telescopic spring 520 is located outside the limiting round rod 518. The other end of the multiple limiting round rods 518 is fixedly connected to a U-shaped tooling block 521. The interior of the multiple U-shaped tooling blocks 521 is connected to a positioning roller 522 through a bearing. Photoelectric sensors 523 are equally spaced on one side of the two horizontal support rods 10.

[0025] Reference Figures 1-7 In a preferred embodiment, it further includes: Two drive motors 8 are respectively set on one side of the two L-shaped tooling plates 506, and the drive motors 8 are connected to one end of one of the rotating rods 11 through a coupling; The general-purpose motor 7 is located on the outer side of the conveying tooling frame 1. The drive end of the general-purpose motor 7 is connected to one end of the lead screw 504 through a linkage mechanism.

[0026] Specifically, before starting the equipment, the operator places the stacked pallets into the upper pallet feeding rack 2, and the empty pallet collection rack 3 is ready. The controller 4 is powered on for self-testing, and the vision monitor 501, pallet stacking monitor 21, photoelectric sensor 523, and all motors and pumps enter standby mode. The pallet stacking monitor 21 is fixed to both sides of the pallet feeding rack 2 and the pallet collection rack 3 by the crossbar 20, and detects the height of the pallet stack in real time and sends the signal to the controller 4 to ensure sufficient material. When the production line issues a feeding command, the controller 4 first controls the vision intelligent positioning continuous feeding module 5 to move to directly below the pallet feeding rack 2. Specifically, the general motor 7 drives the lead screw 504 to rotate, which drives the horizontal nut moving seat 505 and the L fixed on it. The tooling plate 506 moves precisely horizontally along the guide rail 503. Since the support frame 507 is fixedly connected to the tooling plate 506 and the slide 508, the entire supporting pallet plate 509 and the lifting tray plate 511, among other components, move into position. Once in position, the tray separating mechanism 15 activates, separating the bottommost single pallet from the pallet stack above. Subsequently, the screw motor 514 starts, driving the screw 513 to rotate. The screw 513, through its engagement with the threaded hole on the lifting support plate 512, drives the lifting support plate 512 to move upwards. The lifting support plate 512, through multiple guide cylinders 510, drives the lifting tray plate 511 to rise smoothly within the recess of the supporting pallet plate 509. The lifting tray plate 511 supports the separated single pallet, removing it from the pallet stack. When the pallet is fully ejected from the feeding rack 2, the bottom surface of the pallet contacts the multiple vacuum suction cups 515 on the supporting pallet plate 509. The controller 4 immediately starts the pump body 516, which generates negative pressure in the vacuum suction cups 515 through the suction pipe 517, firmly adhering to the bottom of the pallet. After adsorption is completed, the general-purpose motor 7 drives the lead screw 504 again, driving the entire vision intelligent positioning continuous feeding module 5, along with the pallet on it, to move precisely towards the working position of the picking mechanism 14 along the limiting cylinder 502 and the guide rail 503. During the movement, the vision monitor 501 located on one side of the tooling plate 6 continuously captures the edge of the pallet and transmits the data to the controller 4 in real time. The controller 4 runs an image processing algorithm to calculate the precise position and posture deviation of the pallet. The controller 4 corrects the control parameters of the general-purpose motor 7 in real time to achieve dynamic, closed-loop precise positioning, ensuring that the pallet finally stops at the preset absolute position. At the same time, in order to eliminate the final position error of the pallet in the horizontal plane, the lateral positioning mechanism works synchronously. When the pallet approaches the final working position, the two drive motors 8 start, driving the pulley 12 and belt 13 to rotate through the rotating rod 11. The linkage block 527 fixedly connected to the belt 13 moves accordingly, driving the opposing slider 525 to slide towards each other on the limit track 524. The opposing slider 525 drives the U-shaped support frame 526, the opposing inclined rod 9 and the horizontal support rod 10 to move closer to the middle. The positioning roller 522 fixed on the horizontal support rod 10 first contacts the side of the pallet.Since each positioning roller 522 is elastically connected to the horizontal support rod 10 via a U-shaped tooling block 521, a limiting rod 518, and a telescopic spring 520, the telescopic spring 520 is compressed when the rollers on both sides clamp the pallet, providing flexible compensation for the length tolerance of different pallets. This allows all rollers to fit tightly against the side wall of the pallet, achieving adaptive centering and clamping. After the photoelectric sensor 523 detects that all positioning rollers 522 are in position, it sends a positioning completion signal to the controller 4. After the pallet is precisely clamped and positioned, the controller 4 issues a command, and the material handling mechanism 14, like a transfer device on a production line, accurately grabs the material from above and moves it to the next station. After the material handling is completed, the empty pallet will be... The visual intelligent positioning continuous feeding module 5 on the production line is directly pushed towards the pallet collection rack 3 area of ​​this equipment under the drive of the general-purpose motor 7. At this time, the controller 4 instructs the pump body 516 to stop working, the vacuum suction cup 515 releases its suction, and simultaneously, the two drive motors 8 reverse, driving the positioning rollers 522 back to their initial positions. The one-way support mechanism 19 ensures that empty pallets can only be pushed into the collection rack and will not slide out, realizing the automatic stacking and collection of empty pallets. Subsequently, the visual intelligent positioning continuous feeding module 5, driven by the general-purpose motor 7, quickly returns to below the pallet unloading rack 2, ready to receive the next pallet, repeating the above separation, suction, conveying, and positioning actions to achieve continuous feeding. In specific application scenarios, this invention integrates a visual monitor 501, a pallet monitor 21, a photoelectric sensor 523, and a controller 4 to construct a full-process intelligent sensing and control system from pallet separation, conveying, positioning to recycling. The visual monitor 501 collects the pallet position in real time, and the controller 4 analyzes and processes the data to precisely control the universal motor 7 to drive the lead screw 504 to rotate, thereby driving the horizontal nut moving seat 505 and the entire visual intelligent positioning continuous feeding module 5 to move precisely along the guide rail 503, realizing dynamic, closed-loop positioning and correction of the pallet position. The pallet monitor 21 monitors the pallets in the pallet feeding rack 2 and the pallet collecting rack 3 in real time. Inventory levels, combined with the logic judgment of controller 4, can automatically trigger feeding or alarms, completely changing the traditional equipment's reliance on manual monitoring and intervention, significantly reducing labor intensity, and achieving fully automated material supply. Employing multiple guiding and precise positioning mechanisms, it effectively solves the problems of easy deviation and low positioning accuracy in traditional belt conveyors. First, in the horizontal direction, high-precision linear feeding is achieved through the cooperation of the lead screw 504 and the horizontal nut moving seat 505. Second, the bearing pallet 509 slides on two high-rigidity limiting cylinders 502 via the slide block 508, ensuring smooth movement of the main bearing components and resistance to eccentric loads. Furthermore, in... In the final pallet positioning stage, a unique elastic adaptive lateral positioning mechanism is designed: the drive motor 8 drives the linkage block 527 through the pulley 12 and belt 13, causing the opposing sliders 525 to move in opposite directions on the limiting track 524, thereby enabling the two rows of positioning rollers 522 to simultaneously clamp the pallet from both sides. The elastic design of the limiting rod 518 and the telescopic spring 520 allows the positioning rollers 522 to adapt to different pallet length errors and edge irregularities, providing a constant flexible clamping force, ensuring high-precision positioning while avoiding damage to the pallet from rigid impacts. The photoelectric sensor 523 is used to detect whether the pallet is in place, forming a closed-loop confirmation. The invention ensures absolutely accurate material supply. By optimizing the mechanical structure and action sequence, it achieves uninterrupted continuous material supply. The pallets in the pallet feeding rack 2 are separated one by one by the separating mechanism 15. The lifting separating plate 511 in the visual intelligent positioning continuous feeding module 5 is driven by the lead screw motor 514 and the screw 513. The guide cylinder 510 drives the lifting separating plate 511 to rise precisely, pushing the separated individual pallets out of the pallet feeding rack 2 and receiving them. Subsequently, the pump body 516 is started, and the suction pipe 517 generates negative pressure in the vacuum suction cup 515, firmly sucking the bottom of the pallet and ensuring that the pallet will not slip or overturn during high-speed horizontal movement.

[0027] Reference Figure 1 , Figure 2 and Figure 9 In a preferred embodiment, it further includes: Multiple hollow blow plates 18 are arranged at equal intervals on one side of the conveying fixture frame 1. An air pump 16 is provided on one side of the conveying fixture frame 1. The air pump 16 is connected to the interior of the multiple hollow blow plates 18 through an air pipe 17.

[0028] Specifically, during the entire operation, the controller 4 can periodically start the air pump 16 according to the preset program. High-pressure air is delivered to multiple hollow blowing plates 18 through the air pipe 17. The hollow blowing plates 18 blow air onto the tray surface in a uniform and directional curtain shape, effectively removing accumulated dust and debris, ensuring the efficiency of the vacuum adsorption system and the cleanliness of the tray surface.

[0029] Reference Figure 1 , Figure 9 and Figure 10 In a preferred embodiment, it further includes: One-way support mechanism 19 is symmetrically arranged on both sides of pallet collection rack 3.

[0030] Reference Figure 1 , Figure 9 and Figure 10 In a preferred embodiment, it further includes: The tray distribution mechanism 15 is symmetrically arranged on both sides of the tray feeding rack 2.

[0031] Reference Figure 1 and Figure 8 In a preferred embodiment, it further includes: Controller 4 is positioned above the conveyor frame 1; The material handling mechanism 14 is located on one side of the pallet feeding rack 2.

[0032] Working Principle: Before starting the equipment, the operator places the stacked pallets into the pallet feeding rack 2 above. The empty pallet collection rack 3 is ready. The controller 4 is powered on and performs a self-test. The vision monitor 501, pallet stacking monitor 21, photoelectric sensor 523, and all motors and pumps enter standby mode. The pallet stacking monitor 21 is fixed to both sides of the pallet feeding rack 2 and the pallet collection rack 3 by the crossbar 20. It detects the height of the pallet stack in real time and sends the signal to the controller 4 to ensure sufficient material. When the production line issues a feeding command, the controller 4 first controls the vision intelligent positioning continuous feeding module 5 to move to directly below the pallet feeding rack 2. Specifically, the general motor 7 drives the lead screw 504 to rotate, which drives the horizontal nut moving seat 505 and the L fixed on it. The tooling plate 506 moves precisely horizontally along the guide rail 503. Since the support frame 507 is fixedly connected to the tooling plate 506 and the slide 508, the entire supporting pallet plate 509 and the lifting tray plate 511, among other components, move into position. Once in position, the tray separating mechanism 15 activates, separating the bottommost single pallet from the pallet stack above. Subsequently, the screw motor 514 starts, driving the screw 513 to rotate. The screw 513, through its engagement with the threaded hole on the lifting support plate 512, drives the lifting support plate 512 to move upwards. The lifting support plate 512, through multiple guide cylinders 510, drives the lifting tray plate 511 to rise smoothly within the recess of the supporting pallet plate 509. The lifting tray plate 511 supports the separated single pallet, removing it from the pallet stack. When the pallet is fully ejected from the feeding rack 2, the bottom surface of the pallet contacts the multiple vacuum suction cups 515 on the supporting pallet plate 509. The controller 4 immediately starts the pump body 516, which generates negative pressure in the vacuum suction cups 515 through the suction pipe 517, firmly adhering to the bottom of the pallet. After adsorption is completed, the general-purpose motor 7 drives the lead screw 504 again, driving the entire vision intelligent positioning continuous feeding module 5, along with the pallet on it, to move precisely towards the working position of the picking mechanism 14 along the limiting cylinder 502 and the guide rail 503. During the movement, the vision monitor 501 located on one side of the tooling plate 6 continuously captures the edge of the pallet and transmits the data to the controller 4 in real time. The controller 4 runs an image processing algorithm to calculate the precise position and posture deviation of the pallet. The controller 4 corrects the control parameters of the general-purpose motor 7 in real time to achieve dynamic, closed-loop precise positioning, ensuring that the pallet finally stops at the preset absolute position. At the same time, in order to eliminate the final position error of the pallet in the horizontal plane, the lateral positioning mechanism works synchronously. When the pallet approaches the final working position, the two drive motors 8 start, driving the pulley 12 and belt 13 to rotate through the rotating rod 11. The linkage block 527 fixedly connected to the belt 13 moves accordingly, driving the opposing slider 525 to slide towards each other on the limit track 524. The opposing slider 525 drives the U-shaped support frame 526, the opposing inclined rod 9 and the horizontal support rod 10 to move closer to the middle. The positioning roller 522 fixed on the horizontal support rod 10 first contacts the side of the pallet.Since each positioning roller 522 is elastically connected to the horizontal support rod 10 via a U-shaped tooling block 521, a limiting round rod 518, and a telescopic spring 520, the telescopic spring 520 is compressed when the rollers on both sides clamp the pallet, providing flexible compensation for the length tolerance of different pallets. This allows all rollers to fit tightly against the side wall of the pallet, achieving adaptive centering and clamping. After the photoelectric sensor 523 detects that all positioning rollers 522 are in place, it sends a positioning completion signal to the controller 4. After the pallet is accurately clamped and positioned, the controller 4 issues a command, and the material handling mechanism 14, like a transfer device on the production line, accurately grabs the material from above and moves it to the next station. After the material handling is completed, the empty pallet is directly pushed to the pallet collection rack 3 area of ​​this equipment by the visual intelligent positioning continuous feeding module 5 on the production line driven by the general motor 7. At this time, the controller 4 commands the pump body 51 6. The vacuum suction cup 515 releases its adsorption, and simultaneously, the two drive motors 8 reverse, driving the positioning rollers 522 back to their initial positions. The one-way support mechanism 19 ensures that empty pallets can only be pushed into the collection rack and will not slide out, achieving automatic stacking and collection of empty pallets. Subsequently, the visual intelligent positioning continuous feeding module 5, driven by the general-purpose motor 7, quickly returns to below the pallet feeding rack 2, ready to receive the next pallet, repeating the above separation, adsorption, conveying, and positioning actions to achieve continuous feeding. Throughout the entire operation, the controller 4 can periodically start the air pump 16 according to a preset program. High-pressure air is delivered to multiple hollow blowing plates 18 through the air pipe 17. The hollow blowing plates 18 blow air onto the pallet surface in a uniform and directional curtain-like pattern, effectively removing accumulated dust and debris, ensuring the efficiency of the vacuum adsorption system and the cleanliness of the pallet surface.

[0033] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A visual intelligence-based automatic pallet feeder for production lines, characterized in that, include: The conveying fixture frame (1) is symmetrically provided with a pallet feeding rack (2) and a pallet collecting rack (3) above it. Both sides of the pallet feeding rack (2) and the pallet collecting rack (3) are fixedly connected with crossbars (20). Each side of the multiple crossbars (20) is provided with a pallet monitoring device (21). The visual intelligent positioning continuous feeding module (5) is set inside the conveying tooling frame (1), and the visual intelligent positioning continuous feeding module (5) includes a guide rail (503). A horizontal nut moving seat (505) is slidably connected inside the guide rail (503). Both sides of the guide rail (503) are provided with mounting round holes, and the two mounting round holes are connected to the same lead screw (504) through bearings.

2. The automatic pallet feeder for production lines based on visual intelligence according to claim 1, characterized in that, The visual intelligent positioning continuous feeding module (5) also includes: Two tooling plates (6) are symmetrically fixedly connected to one side of the inner side of the conveying tooling frame (1). Two limiting cylinders (502) are fixedly connected to the opposite side of the two tooling plates (6). Two sliding blocks (508) are slidably connected to the outside of the two limiting cylinders (502). A vision monitor (501) is provided on one side of each of the two tooling plates (6). The supporting pallet plate (509) is fixedly connected above multiple slides (508). Smooth holes are provided at equal intervals on one side of the supporting pallet plate (509). Guide cylinders (510) are slidably connected inside the multiple smooth holes. One end of the multiple guide cylinders (510) is fixedly connected to the same lifting support plate (512). A threaded hole is provided on one side of the lifting support plate (512). A notch is provided on one side of the supporting pallet plate (509). A lifting distribution plate (511) is provided inside the notch. One side of the lifting distribution plate (511) is fixedly connected to the other end of the guide cylinder (510).

3. The automatic pallet feeder for production lines based on visual intelligence according to claim 2, characterized in that, The visual intelligent positioning continuous feeding module (5) also includes: A support frame (507) is fixedly connected to the bottom of multiple slides (508). A circular hole is provided on one side of the support frame (507). A screw (513) is connected to the inside of the circular hole through a bearing. A lead screw motor (514) is fixedly connected to one side of the support frame (507). The drive end of the lead screw motor (514) is connected to one end of the screw (513) through a coupling. The pump body (516) is located on one side of the support frame (507). The support tray plate (509) has mounting ports at equal intervals on one side. Each mounting port is equipped with a vacuum suction cup (515). The suction end of the pump body (516) is connected to the inside of the vacuum suction cup (515) through a suction pipe (517).

4. The automatic pallet feeder for production lines based on visual intelligence according to claim 3, characterized in that, The visual intelligent positioning continuous feeding module (5) also includes: Two L-shaped tooling plates (506) are symmetrically fixedly connected to one side of the horizontal nut moving seat (505). One side of the L-shaped tooling plate (506) is fixedly connected to one side of the support frame (507). Two round holes are opened on one side of each of the two L-shaped tooling plates (506). The interior of each of the multiple round holes is connected to a rotating rod (11) through a bearing. Multiple pulleys (12) are fixedly connected to the outside of multiple rotating rods (11), and the same belt (13) is slidably connected to the outside of two pulleys (12) on the same side.

5. The automatic pallet feeder for production lines based on visual intelligence according to claim 4, characterized in that, The visual intelligent positioning continuous feeding module (5) also includes: Two limiting rails (524) are fixedly connected to one side of two L-shaped tooling plates (506), and two opposing sliders (525) are slidably connected on each of the two limiting rails (524). A U-shaped support frame (526) is fixedly connected to one side of each of the multiple opposing sliders (525). Multiple linkage blocks (527) are fixedly connected to one side of the U-shaped support frame (526) and the opposing slider (525), respectively. One side of the linkage block (527) is fixedly connected to one side of the belt (13). One side of each of the multiple U-shaped support frames (526) is fixedly connected to an opposing inclined rod (9). One side of the two opposing inclined rods (9) located on the same side is fixedly connected to the same horizontal support rod (10). The two horizontal support rods (10) are provided with rounded openings at equal intervals on one side. The interior of each of the multiple rounded openings is slidably connected to a limit rod (518). Multiple limiting blocks (519) are fixedly connected to one end of multiple limiting round rods (518). The same telescopic spring (520) is fixedly connected to the opposite side of the limiting block (519) and the horizontal support rod (10). The telescopic spring (520) is located outside the limiting round rod (518). The other end of the multiple limiting round rods (518) is fixedly connected to a U-shaped tooling block (521). The interior of the multiple U-shaped tooling blocks (521) is connected to a positioning roller (522) through a bearing. Photoelectric sensors (523) are equally spaced on one side of the two horizontal support rods (10).

6. The automatic pallet feeder for production lines based on visual intelligence according to claim 5, characterized in that, Also includes: Two drive motors (8) are respectively set on one side of two L tooling plates (506), and the drive motors (8) are connected to one end of one of the rotating rods (11) through a coupling; A general-purpose motor (7) is located on the outside of the conveying tooling frame (1). The drive end of the general-purpose motor (7) is connected to one end of the lead screw (504) through a linkage mechanism.

7. The automatic pallet feeder for production lines based on visual intelligence according to claim 1, characterized in that, Also includes: Multiple hollow blow plates (18) are arranged at equal intervals on one side of the conveying fixture frame (1). An air pump (16) is provided on one side of the conveying fixture frame (1). The air pump (16) is connected to the interior of the multiple hollow blow plates (18) through an air pipe (17).

8. The automatic pallet feeder for production lines based on visual intelligence according to claim 7, characterized in that, Also includes: A one-way support mechanism (19) is symmetrically arranged on both sides of the pallet collection rack (3).

9. The automatic pallet feeder for production lines based on visual intelligence according to claim 8, characterized in that, Also includes: The tray distribution mechanism (15) is symmetrically arranged on both sides of the tray feeding rack (2).

10. The automatic pallet feeder for a production line based on visual intelligence according to claim 9, characterized in that, Also includes: The controller (4) is positioned above the conveying fixture frame (1); The material handling mechanism (14) is located on one side of the pallet rack (2).

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