A full-automatic coupling assembling and detecting all-in-one machine based on machine vision

Abstract

The application relates to the technical field of mechanical component assembling equipment, in particular to a full-automatic coupling assembling and detecting integrated machine based on machine vision and a full-automatic coupling assembling and detecting integrated machine based on machine vision. The full-automatic coupling assembling and detecting integrated machine based on machine vision comprises a rack body, a clamping and positioning mechanism, a bolt taking mechanism, a bolt tightening mechanism, a vibrating feeding disc and an industrial camera module. A plurality of bolt clamping assemblies are arranged, a plurality of assembling bolts can be cached and grabbed at a time, the plurality of bolts can be placed into a torque batch head one by one, the taking mechanism does not need to return to the feeding position to take the bolts again after assembling one bolt, the number of high-frequency back-and-forth movements of the taking mechanism is effectively reduced, the process waiting time is shortened, and the overall assembling efficiency of the coupling is improved.

Description

Technical Field

[0001] This invention relates to the field of mechanical component assembly equipment technology, specifically a fully automatic coupling assembly and inspection integrated machine based on machine vision. Background Technology

[0002] Coupling assembly equipment is a specialized automated tooling equipment used to automate the positioning of coupling components, bolt insertion, and locking, and can be equipped with assembly quality inspection. In the mass production process of couplings, multiple sets of bolts need to be assembled sequentially to the flange mounting holes of the coupling to achieve the docking and fixing of the two halves of the coupling. Existing coupling assembly equipment uses a vibratory feeding mechanism to transport assembly bolts. The bolt picking mechanism configured in the equipment can only pick up one assembly bolt at a time. After completing the assembly of each bolt, the picking mechanism must return to the vibratory feeding mechanism to pick up the next bolt. Due to the limitation of only being able to pick up one bolt at a time, the picking mechanism needs to repeat the entire cycle of "picking up, moving to the assembly station, and returning to pick up again" for each bolt. The continuous high-frequency back-and-forth movement occupies a large amount of production cycle time, making it impossible to achieve pre-buffering and continuous supply of multiple bolts. The long process waiting time directly results in low overall machine assembly efficiency, making it difficult to meet the needs of continuous assembly of large batches of couplings and the integrated synchronous production of assembly and vision inspection. In view of this, we propose a fully automatic coupling assembly and inspection integrated machine based on machine vision to solve the above technical problems. Summary of the Invention

[0003] The purpose of this invention is to provide a fully automatic coupling assembly and inspection machine based on machine vision, so as to solve the problem of low assembly efficiency in the prior art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a fully automatic coupling assembly and inspection integrated machine based on machine vision, comprising: The frame body has a discharge channel at its top; A clamping and positioning mechanism is fixedly mounted on the top of the frame body for assembling and fixing the coupling; A bolt picking mechanism is fixedly installed on the top of the frame body and is used to pick up coupling assembly bolts; A bolt tightening mechanism is fixedly mounted on the top of the frame body and is used for coupling bolt assembly. A vibrating feeding tray, fixedly mounted on the machine frame, is used to feed bolts for assembling couplings to the bolt feeding mechanism.

[0005] Preferably, the clamping and positioning mechanism includes: Two three-axis cylinders are fixedly mounted on the top of the frame body, and the two three-axis cylinders are symmetrically distributed around the opening of the discharge channel. The clamping blocks are two in number and are respectively fixed on the output rods of two three-axis cylinders. Each of the two clamping blocks has a contour clamping groove on its opposite surface that directly matches the flange of the coupling to be assembled. The inner wall of the contour clamping groove forms a clamping structure on the outer periphery of the flange of the coupling to be assembled.

[0006] Preferably, the bolt feeding mechanism includes: The first rotating frame is fixedly mounted on the top of the frame body; A rotating block, which is rotatably disposed on the side of the first rotating frame; A first linear motor is fixedly mounted at the bottom of the rotating block; A connecting plate, which is fixedly disposed at the output end of the rotating block; The second linear motor is fixedly mounted on the bottom of the connecting plate; The mounting base is fixedly disposed at the bottom of the second linear motor, and a bolt clamping assembly is movably provided at the bottom of the mounting base.

[0007] Preferably, there are multiple sets of the V-shaped springs, and each set includes: Two grippers are symmetrically distributed along the central axis of the mounting base plate and are slidably disposed on the bottom of the mounting base plate via a guide rail. The gripping ends of the two grippers are provided with anti-slip grooves. Two guide posts are respectively installed on the side of the two grippers away from the mounting substrate; A V-shaped spring is fixedly disposed between two grippers.

[0008] Preferably, the bolt picking mechanism further includes a drive assembly, the drive assembly comprising: A transmission pressure plate is fixedly mounted on the output end of the second linear motor, and both ends of the transmission pressure plate have downward integrally bent portions. Two extrusion plates are respectively installed on the bent portions at both ends of the transmission pressure plate and are positioned opposite the guide post. A wedge surface is provided on the side of each extrusion plate near the guide post. A servo motor is fixedly mounted on the side of the first rotating frame away from the rotating block, and the output shaft of the servo motor is fixedly assembled with the side of the rotating block close to the first rotating frame.

[0009] Preferably, the number of bolt clamping assemblies corresponds to the number of bolt mounting holes of the coupling being assembled, and the jaw ends of the first set of bolt clamping assemblies and the jaw ends of the second set of bolt clamping assemblies are arranged in an alternating pattern.

[0010] Preferably, the extrusion plate is assembled with the waist-shaped adjustment hole by fastening bolts. The waist-shaped adjustment hole is a waist-shaped hole and is opened on the bottom surface of the transmission pressure plate. When the fastening bolts are loosened, the extrusion plate can move along the opening direction of the waist-shaped adjustment hole to adjust the installation position. Tightening the fastening bolts can fix the position between the extrusion plate and the transmission pressure plate.

[0011] Preferably, the bolt tightening mechanism includes: The third linear motor is fixedly mounted on the top of the frame body; A lifting platform is fixedly mounted on the output end of a third linear motor, which can drive the lifting platform to move along the height direction of the third linear motor. The main shaft is vertically rotatable inside the lifting platform and extends through the top and bottom of the lifting platform; Torque screwdriver bits, the number and position of which correspond to the number and position of the bolt mounting holes of the coupling being assembled; A lockable motor is fixedly mounted on the top of the lifting platform, and its output shaft moves through the lifting platform. The drive gear is fixedly mounted on the output shaft of the lockable motor. The driven gear ring is fixedly mounted on the outer circumferential surface of the main shaft and meshes with the driving gear; A twisting motor is fixedly mounted on the top of the main shaft, and the twisting motor drives the torque bit to rotate through gears.

[0012] Preferably, a vibrating feeding plate is fixedly installed on the top of the frame body. The unloading end of the vibrating feeding plate is opposite to the picking end of the clamping and positioning mechanism. The material discharged from the unloading end of the vibrating feeding plate can be conveyed to the picking end of the clamping and positioning mechanism.

[0013] Preferably, an industrial camera module is fixedly mounted on the top of the frame body, and the industrial camera module is used to inspect the coupling assembly.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. By setting up multiple sets of bolt clamping components, the present invention can buffer and grab multiple assembly bolts at one time, and then place multiple bolts into the torque bit one by one. There is no need to return to the loading position to pick up the bolts after each assembly, which effectively reduces the number of high-frequency back-and-forth movements of the picking mechanism, shortens the process waiting time, and improves the overall assembly efficiency of the coupling.

[0015] 2. This invention synchronously drives multiple bolt clamping assemblies to open and close sequentially through a drive component. All clamps can be clamped and opened for unloading with only one drive structure. The structure design is more compact, reducing the number of drive components and effectively reducing the overall production cost of the equipment.

[0016] 3. This invention adds an industrial camera module, which can directly perform visual inspection of the assembly quality of the coupling after assembly, realizing integrated assembly and inspection operations and meeting the processing needs of continuous production of large batches of couplings. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of the present invention. Figure 2 ; Figure 3 In this invention Figure 2 A magnified structural diagram of part A; Figure 4 This is a schematic diagram of the clamping and positioning mechanism in this invention; Figure 5 This is a schematic diagram of the bolt tightening mechanism in this invention; Figure 6 This is a schematic diagram of the bolt feeding mechanism in this invention. Figure 1 ; Figure 7 This is a schematic diagram of the bolt feeding mechanism in this invention. Figure 2 ; Figure 8 In this invention Figure 7 A magnified structural diagram of part B.

[0018] In the diagram: 100, frame body; 101, discharge channel; 200, clamping and positioning mechanism; 201, three-axis cylinder; 202, clamping block; 203, contour clamping groove; 300, bolt picking mechanism; 301, first rotating frame; 302, rotating block; 303, first linear motor; 304, connecting plate; 305, second linear motor; 306, mounting base plate; 307, gripper; 308, anti-slip groove; 309, guide post; 310 311. Transmission pressure plate; 312. Extrusion plate; 313. Wedge surface; 314. V-shaped spring; 315. Servo motor; 316. Waist-shaped adjustment hole; 407. Bolt tightening mechanism; 408. Third linear motor; 409. Lifting platform; 4000. Main shaft; 401. Torque bit; 402. Locking motor; 403. Drive gear; 404. Driven gear ring; 405. Twisting motor; 500. Vibrating feeder; 601. Industrial camera module. Detailed Implementation

[0019] 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.

[0020] The technical solution provided by this invention specifically includes the following embodiments: Reference Figures 1-2 As shown, a fully automatic coupling assembly and inspection integrated machine based on machine vision includes a frame body 100, a clamping and positioning mechanism 200, a bolt picking mechanism 300, a bolt tightening mechanism 400, a vibrating feeding plate 500, and an industrial camera module 600. The frame body 100 serves as the mounting base for the entire machine, with mounting positions for various functional mechanisms on its top platform. A through-flow discharge channel 101 is located at the center of the platform of the frame body 100, allowing assembled and inspected couplings to be discharged downwards to the receiving station below. A clamping and positioning mechanism 200 is fixedly installed on the top of the frame body 100, surrounding the discharge channel 101, and is used to center, clamp, and position the two coupling flange halves to be assembled, preventing flange displacement and rotation during assembly. A bolt picking mechanism 300 is fixedly installed on the top of the frame body 100, located to one side of the clamping and positioning mechanism 200, and is used to pick up assembly bolts in batches from the vibrating feed plate 500 and transfer the bolts step-by-step to the bolt... The tightening mechanism 400 is fixedly installed on the top of the frame body 100, located directly above the clamping and positioning mechanism 200. It is used to receive the bolts transferred by the bolt picking mechanism 300 and simultaneously tighten all the bolts into the assembly holes of the coupling flange to complete the locking operation. The vibrating feeding plate 500 is fixedly installed on the top side of the frame body 100, and its discharge end extends to the lower part of the picking station of the bolt picking mechanism 300. It is used to arrange and continuously transport the assembly bolts in an orderly manner and continuously supply them to the bolt picking mechanism 300. The industrial camera module 600 is fixedly installed on the top of the frame body 100, facing the assembly station of the clamping and positioning mechanism 200. It is used to automatically detect the assembly completion status of the coupling based on machine vision technology.

[0021] Reference Figure 4As shown, the clamping and positioning mechanism 200 includes two triaxial cylinders 201 and two clamping blocks 202. The two triaxial cylinders 201 are symmetrically fixed on the top surface of the frame body 100 and are respectively arranged on the left and right sides of the opening of the discharge channel 101. The output rods of the two triaxial cylinders 201 are arranged facing each other. The two clamping blocks 202 are respectively fixedly installed at the ends of the output rods of the two triaxial cylinders 201. They can move towards or away from each other in the horizontal direction under the drive of the triaxial cylinders 201. The inner surfaces of the two clamping blocks 202 are provided with contoured clamping grooves 203. The groove contour of the contoured clamping groove 203 completely matches the outer peripheral contour of the coupling flange to be assembled. When the two triaxial cylinders 201 drive the clamping blocks 202 to close towards each other, the inner walls of the two contoured clamping grooves 203 together adhere to and hug the outer peripheral surface of the coupling flange, forming a stable radial clamping structure and realizing the precise centering and positioning of the coupling.

[0022] Reference Figures 6-8As shown, the bolt picking mechanism 300 is fixedly mounted on the top of the frame body 100. It is used to pick up assembly bolts in batches from the unloading end of the vibrating feeding plate 500 and transfer the bolts one group at a time to the bolt tightening mechanism 400 to complete the loading. Through the design of multiple sets of clamping structures synchronously buffering and single drive control opening and closing, the number of picking back and forth is reduced, and the assembly cycle is improved. The bolt picking mechanism 300 includes a first rotating frame 301, a rotating block 302, a first linear motor 303, a connecting plate 304, a second linear motor 305, a mounting base plate 306, and multiple sets of bolt clamping assemblies. The first rotating frame 301 is vertically fixedly mounted on the top surface of the frame body 100. The rotating block 302 is rotatably mounted on the side of the first rotating frame 301. The first rotating frame 301 is away from the rotating plate. A servo motor 314 is fixedly mounted on one side of the rotating block 302. The output shaft of the servo motor 314 passes through the first rotating frame 301 and is fixedly connected to the rotating block 302. It is used to drive the rotating block 302 to reciprocate 180° around the horizontal axis, thereby driving the clamping structure below to switch between the material picking station above the vibratory feeder and the material loading station on the side of the bolt tightening mechanism 400. A first linear motor 303 is fixedly mounted on the bottom of the rotating block 302. Its output end performs linear reciprocating motion in the horizontal direction. A connecting plate 304 is fixedly assembled on the output end of the first linear motor 303 and moves horizontally synchronously with the output end. A second linear motor 305 is fixedly mounted on the bottom of the connecting plate 304. Its output end is also set in the horizontal direction, and its output motion direction is the same as that of the first linear motor 302. The linear motors 303 move in parallel directions. The mounting base 306 is fixedly connected to the bottom of the body of the second linear motor 305 and remains relatively fixed to the connecting plate 304. It moves horizontally along with the first linear motor 303 to adjust the overall horizontal position of the multiple bolt clamping assemblies, allowing each clamping assembly to be sequentially aligned with the receiving position of the bolt tightening mechanism 400. Each bolt clamping assembly includes two jaws 307, two guide posts 309, and a V-shaped spring 313. The two jaws 307 are symmetrically distributed along the central axis of the corresponding workstation on the mounting base 306 and are slidably mounted on the bottom surface of the mounting base 306 via linear guide rails. The lower clamping ends of the two jaws 307 are provided with anti-slip grooves 308, the groove shape of which matches the shape of the bolt shank. To increase clamping friction and prevent bolts from falling off, two guide posts 309 are fixed to the two grippers 307 on opposite sides of the mounting base 306. A V-shaped spring 313 is fixedly installed between the two grippers 307. Under normal conditions, the two grippers 307 are kept open by their own elasticity. A transmission pressure plate 310 is fixedly assembled to the output end of the second linear motor 305. The two ends of the transmission pressure plate 310 are bent downwards to form side uprights. Two extrusion plates 311 are respectively installed on the inner walls of the two side uprights. The inner surfaces of the two extrusion plates 311 are provided with wedge surfaces 312. The inclination direction of the wedge surfaces 312 corresponds to the position of the guide posts 309 of each clamping assembly. When the output end of the second linear motor 305 extends horizontally...The drive plate 310 and the pressing plate 311 move horizontally synchronously. The wedge surface 312 contacts and presses against the outer circumferential surfaces of each set of guide posts 309 in sequence. The inclined plane force overcomes the elastic force of the V-shaped spring 313, pushing the two grippers 307 to slide and close towards each other along the guide rail, thus clamping the bolt. When the output end of the second linear motor 305 retracts horizontally, the wedge surface 312 gradually releases the pressing force on the guide posts 309. Under the rebound force of the V-shaped spring 313, the grippers 307 slide and open in opposite directions, releasing the clamped bolt. The number of multiple sets of bolt clamping assemblies corresponds one-to-one with the number of bolt assembly holes on the coupling flange to be assembled. Furthermore, the ends of the clamps 307 of the first set of bolt clamping assemblies and the ends of the clamps 307 of the second set of bolt clamping assemblies are arranged in an alternating pattern, allowing multiple clamping structures to be deployed within a limited installation space. This also avoids motion interference between adjacent clamps 307 during opening, closing, and station switching.

[0023] Furthermore, a waist-shaped adjustment hole 315 is provided on the side plate of the transmission pressure plate 310. The pressing plate 311 is assembled with the waist-shaped adjustment hole 315 by fastening bolts. When the fastening bolts are loosened, the pressing plate 311 can move horizontally along the opening direction of the waist-shaped adjustment hole 315 to adjust the relative distance between the two pressing plates 311 to adapt to the clamping stroke requirements of bolts of different diameters. Tightening the fastening bolts can complete the position fixation of the pressing plate 311.

[0024] Reference Figure 5As shown, the bolt tightening mechanism 400 includes a third linear motor 401, a lifting platform 402, a main shaft 403, multiple torque bits 404, a locking motor 405, a drive gear 406, a driven gear ring 407, and a torque-tightening motor 408. The third linear motor 401 is vertically fixed to the top of the frame body 100 via a bracket, with its output end pointing vertically downwards. The lifting platform 402 is horizontally fixed to the output end of the third linear motor 401 and can be driven by the third linear motor 401 to move vertically upwards and downwards to adjust the height position of the tightening operation. The main shaft 403 is vertically rotatable at the center position of the lifting platform 402 via bearings, with both the upper and lower ends of the main shaft 403 extending beyond the platform surface of the lifting platform 402. Multiple torque bits 404 are rotatable at the lower end of the main shaft 403 in a circumferential direction. The number and arrangement of the torque bits 404 are related to the coupling. The number and position of the bolt mounting holes on the flange correspond one-to-one. Each torque bit 404 has a magnetic block embedded inside, which can magnetically attract and fix the bolt head and receive the bolts transferred by the bolt picking mechanism 300. The locking motor 405 is fixedly installed on the top surface of the lifting platform 402, and its output shaft passes through the lifting platform 402 downward. The driving gear 406 is fixedly fitted on the end of the output shaft of the locking motor 405, and the driven gear ring 407 is fixedly fitted on the outer circumferential surface of the main shaft 403. The driven gear ring 407 and the driving gear 406 mesh with each other. When the locking motor 405 is running, the driving gear 406 drives the driven gear ring 407 to rotate, thereby driving the main shaft 403 and all the torque bits 404 at the lower end to rotate around the axis of the main shaft 403. This allows different torque bits 404 to be aligned with the loading position of the bolt picking mechanism 300, so as to receive the bolts one by one. The twisting motor 408 is fixedly installed at the top of the main shaft 403. The output end of the twisting motor 408 is connected to each torque bit 404 through a gear transmission mechanism. When the twisting motor 408 is running, it can synchronously drive all torque bits 404 to rotate, screw the bolts into the mounting holes of the coupling flange, and can precisely control the tightening torque to ensure assembly consistency.

[0025] The vibrating feeder 500 is fixedly installed on the side of the top of the frame body 100. The unloading end of its spiral feeding track extends directly below the picking position of the bolt picking mechanism 300. It can arrange the messy assembly bolts one by one in an orderly manner through vibration and continuously transport them to the picking position for batch picking by the bolt clamping assembly.

[0026] The industrial camera module 600 is fixedly installed on the top of the frame body 100, facing the assembly station side of the clamping and positioning mechanism 200. It has a built-in image acquisition unit and vision processing unit. After the coupling is assembled by tightening the bolts, the industrial camera module 600 acquires images of the coupling assembly part and uses machine vision algorithms to detect whether bolts are missing, whether the bolts are tightened properly, and whether the alignment accuracy of the two coupling flanges meets the requirements, so as to realize the integrated operation of assembly and inspection.

[0027] Working principle of a fully automated coupling assembly and inspection machine based on machine vision: Two 201 drives two 202 to move towards the middle, so that two 203 clamp the outer peripheral surface of the coupling flange to be assembled, thereby positioning the coupling. At the same time, 500 transports the assembly bolts in batches to the bolt clamping assembly. 305 drives 310 to move, and 310 pushes two 311 to move together, so that two 312 contact the outer peripheral surface of two 309 of each bolt clamping assembly. Through the squeezing action of the inclined structure, two 307 are pushed to slide towards each other along the guide rail, so that the clamping ends of the two 307 are synchronously closed. The assembly bolts are clamped by 308, completing the batch clamping and positioning of the assembly bolts. Then, 314 drives 302 to rotate 180°, conveying the clamped bolt to the assembly station. Next, 401 drives 402 to move downwards a certain distance. 402, through 403, drives 404 to move downwards synchronously. One of the 404s closer to 300 aligns with the bolt head held by the outermost bolt clamping assembly. Note that 404 contains a magnetic block, causing the assembly bolt to be magnetically attracted inside 404. 305 drives 310 and the two 311s to move back a distance equal to the bolt diameter. The two 307s of this bolt clamping assembly open under the rebound force of 313, releasing the bolt. This causes the current bolt clamping assembly to loosen its grip on the assembly bolt, completing the bolt removal and transfer. Afterwards, 401 drives 402, 403, and... 404 moves upward, 405 drives 406 to rotate via the output shaft, 406 drives 407 to rotate via meshing, 407 drives 403 and 404 to rotate together, rotating the next 404 to face the direction of 300. At the same time, 303 drives 304, 305 and 306 to move a certain distance, so that the head of the assembly bolt held by the second set of bolt clamping assemblies is aligned with the bottom of 404 facing the direction of 300. Then 401 drives 402 to move downward again. After the head of the assembly bolt is inserted into the interior of 404, 305 drives 310 and the two 311 to move back a distance of one bolt diameter. The two 307 of this set of bolt clamping assemblies open under the action of the rebound force of 313, releasing the bolt. The above steps are repeated until all 404 are filled with assembly bolts. Next, 314 drives 302 to rotate 180° in the opposite direction to the top of the 500-degree unloading end, waiting for the next batch of assembly bolts to be loaded. After the material is picked up, 404 moves down under the drive of 401, so that each assembly bolt is aligned with the corresponding assembly hole on the coupling flange. Then, 408 drives 404 to rotate, and all assembly bolts are tightened during the rotation process, realizing the fully automatic assembly of the coupling. This eliminates the manual process of loading and tightening bolts one by one, greatly improving assembly efficiency and reducing manual labor intensity. After assembly, the 600 uses machine vision technology to automatically inspect the assembly position and bolt tightening status of the coupling, determining whether bolts are missing, whether the tightening torque is qualified, and whether the flange alignment accuracy meets the assembly requirements. Once the inspection is complete, the entire assembly and inspection process does not require manual assembly. Relying on machine vision to achieve high-precision positioning and quality inspection, it effectively improves the efficiency and accuracy of coupling assembly and reduces the errors and safety risks caused by manual assembly.

[0028] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention.

Claims

1. A fully automated coupling assembly and inspection integrated machine based on machine vision, characterized in that: include: The frame body (100) has a discharge channel (101) at the top. A clamping and positioning mechanism (200) is fixedly mounted on the top of the frame body (100) for assembling and fixing the coupling; Bolt picking mechanism (300), the bolt picking mechanism (300) is fixedly installed on the top of the frame body (100) and is used to pick up coupling assembly bolts; A bolt tightening mechanism (400) is fixedly mounted on the top of the frame body (100) and is used for coupling bolt assembly; A vibrating feeder (500) is fixedly mounted on the frame body (100) and is used to feed the bolts for assembling the coupling to the bolt feeding mechanism (300).

2. The fully automatic coupling assembly and inspection integrated machine based on machine vision according to claim 1, characterized in that: The clamping and positioning mechanism (200) includes: Two three-axis cylinders (201) are fixedly mounted on the top of the frame body (100). The two three-axis cylinders (201) are symmetrically distributed around the opening of the discharge channel (101). Clamping blocks (202), there are two clamping blocks (202), and they are respectively fixed on the output rods of two three-axis cylinders (201). The two clamping blocks (202) have contour clamping grooves (203) on their opposite surfaces that directly match the coupling flange to be assembled. The inner wall of the contour clamping grooves (203) forms a clamping structure on the outer periphery of the coupling flange to be assembled.

3. The fully automatic coupling assembly and inspection integrated machine based on machine vision according to claim 2, characterized in that: The bolt taking mechanism (300) includes: The first rotating frame (301) is fixedly mounted on the top of the frame body (100); A rotating block (302) is rotatably disposed on the side of the first rotating frame (301); The first linear motor (303) is fixedly mounted on the bottom of the rotating block (302); A connecting plate (304) is fixedly disposed at the output end of the rotating block (302); The second linear motor (305) is fixedly mounted on the bottom of the connecting plate (304); Mounting base plate (306) is fixedly disposed at the bottom of the second linear motor (305), and a bolt clamping assembly is movably disposed at the bottom of the mounting base plate (306).

4. The fully automatic coupling assembly and inspection integrated machine based on machine vision according to claim 3, characterized in that: The V-shaped springs (313) consist of multiple sets, and each set includes: Two grippers (307) are symmetrically distributed along the central axis of the mounting base plate (306) and are slidably disposed on the bottom of the mounting base plate (306) via guide rails. The gripping ends of the two grippers (307) are provided with anti-slip grooves (308). Two guide posts (309) are respectively installed on one side of the two grippers (307) away from the mounting base plate (306); A V-shaped spring (313) is fixedly disposed between two grippers (307).

5. The fully automatic coupling assembly and inspection integrated machine based on machine vision according to claim 4, characterized in that: The bolt feeding mechanism (300) further includes a drive assembly, which comprises: The transmission pressure plate (310) is fixedly mounted on the output end of the second linear motor (305), and both ends of the transmission pressure plate (310) have downward integral bending portions. Two extrusion plates (311) are respectively installed on the bent portions at both ends of the transmission pressure plate (310) and their positions correspond to the guide post (309). A wedge surface (312) is provided on one side of each extrusion plate (311) near the guide post (309). Servo motor (314) is fixedly mounted on the side of the first rotating frame (301) away from the rotating block (302), and the output shaft of the servo motor (314) is fixedly assembled with the side of the rotating block (302) close to the first rotating frame (301).

6. The fully automatic coupling assembly and inspection integrated machine based on machine vision according to claim 5, characterized in that: The number of bolt clamping assemblies corresponds to the number of bolt mounting holes of the coupling being assembled. The ends of the clamps (307) of the first set of bolt clamping assemblies and the ends of the clamps (307) of the second set of bolt clamping assemblies are arranged in an alternating pattern.

7. The fully automatic coupling assembly and inspection integrated machine based on machine vision according to claim 6, characterized in that: The extrusion plate (311) is assembled with the waist-shaped adjustment hole (315) by fastening bolts. The waist-shaped adjustment hole (315) is a waist-shaped hole and is opened on the bottom surface of the transmission pressure plate (310). When the fastening bolts are loosened, the extrusion plate (311) can move along the opening direction of the waist-shaped adjustment hole (315) to adjust the installation position. The fastening bolts are locked to fix the position between the extrusion plate (311) and the transmission pressure plate (310).

8. The fully automatic coupling assembly and inspection integrated machine based on machine vision according to claim 7, characterized in that: The bolt tightening mechanism (400) includes: The third linear motor (401) is fixedly mounted on the top of the frame body (100); The lifting platform (402) is fixedly mounted on the output end of the third linear motor (401) and can drive the lifting platform (402) to move along the height direction of the third linear motor (401); The main shaft (403) is vertically rotatably disposed inside the lifting platform (402) and penetrates the top and bottom of the lifting platform (402); Torque bit (404), the number and position of the torque bit (404) correspond to the number and position of the bolt mounting holes of the coupling to be assembled; A lockable motor (405) is fixedly mounted on the top of the lifting platform (402), and its output shaft moves through the lifting platform (402). The drive gear (406) is fixedly mounted on the output shaft of the lockable motor (405); Driven gear ring (407) is fixedly mounted on the outer circumferential surface of main shaft (403) and meshes with drive gear (406); A twisting motor (408) is fixedly mounted on the top of the main shaft (403), and the twisting motor (408) drives the torque bit (404) to rotate through gears.

9. The fully automatic coupling assembly and inspection integrated machine based on machine vision according to claim 8, characterized in that: A vibrating feeder (500) is fixedly installed on the top of the frame body (100). The feeding end of the vibrating feeder (500) is opposite to the picking end of the clamping and positioning mechanism (200). The material discharged from the feeding end of the vibrating feeder (500) can be transported to the picking end of the clamping and positioning mechanism (200).

10. The fully automatic coupling assembly and inspection integrated machine based on machine vision according to claim 9, characterized in that: An industrial camera module (600) is fixedly mounted on the top of the frame body (100), and the industrial camera module (600) is used to inspect the coupling assembly.

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