Automatic feeding, cleaning and CCD (Charge Coupled Device) detection device

Abstract

The utility model discloses an automatic feeding, cleaning and CCD (Charge Coupled Device) detection device which comprises a base station and an automatic material conveying line arranged on the base station, the automatic material conveying line is used for conveying material boxes, and a plurality of groups of visual sensors used for detecting the conveying positions of the material boxes are arranged on the conveying line; the pre-cleaning shed cover is fixed to the middle of the automatic material conveying line and connected with a blowing assembly used for preliminarily cleaning the material boxes and materials on the material boxes. The transplanting mechanical arm is connected to the base table and takes and places materials in the material box. The single material cleaning mechanism is fixed to the base table and provided with a chuck used for clamping materials and an air nozzle used for cleaning the materials. The CCD detection assembly is installed on the base table in an up-down lifting mode and used for detecting size parameters of materials, and the single material cleaning mechanism and the CCD detection assembly are both located on a grabbing path of the transplanting manipulator; according to the system, the design is systematized, the detection precision is high, and the use is convenient.

Description

Technical Field

[0001] The utility model relates to the field of fine product size detection, in particular to an automatic feeding, cleaning and CCD detection device. Background Art

[0002] At present, due to the low strength and uneven cut end surface of cemented carbide bar soft billet, manual caliper sampling is generally used during the pressing process to ensure the quality of subsequent finished products. However, this detection method requires high skills from the operator and cannot guarantee the accuracy of the detection.

[0003] In addition, after the blank is formed, the oil or debris on the blank itself will also affect the accuracy of blank detection, especially for fine products with a length specification of 2mm to 10mm, the oil on the bar itself directly affects the detection accuracy.

[0004] Therefore, how to provide an automated feeding, cleaning, and CCD detection device is a problem that those skilled in the art need to solve urgently. Utility Model Content

[0005] In view of this, the utility model provides an automatic feeding, cleaning and CCD detection device, which can clean the oil stains on the surface of the material, has high detection accuracy and automatic processing.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solution: an automatic feeding, cleaning, CCD detection device, which includes:

[0007] abutment,

[0008] An automatic material conveying line, the automatic material conveying line is installed on the base, the automatic material conveying line is used to convey material boxes, and a plurality of groups of visual sensors for detecting the conveying position of the material boxes are provided on one side edge of the automatic material conveying line;

[0009] A pre-cleaning shed cover, the pre-cleaning shed cover is fixed to the middle of the automatic material conveying line, and the pre-cleaning shed cover is connected to a spraying assembly for preliminary cleaning of the material box and the material thereon;

[0010] A transplanting robot, which is connected to the base and used to take and place materials in the material box;

[0011] A single material cleaning mechanism, the single material cleaning mechanism is fixed on the base and close to one side of the automatic material conveying line, and the single material cleaning mechanism is provided with a clamping head for clamping the material and an air nozzle for cleaning the material;

[0012] A CCD detection component, the CCD detection component is installed on the base platform so as to be lifted up and down, the CCD detection component is used to detect the size parameters of the material, and the single material cleaning mechanism and the CCD detection component are both located on the grasping path of the transplanting manipulator;

[0013] The industrial computer is respectively connected with the automatic material conveying line, the visual sensor, the spraying component, the transplanting manipulator, the single material cleaning mechanism and the CCD detection component by electrical signals.

[0014] The beneficial effects of the utility model are as follows: the base is the foundation for the installation of related components, the automatic material conveying line can automatically monitor the conveying position of the material box according to the visual sensor thereon, and complete the effect of automatic feeding. A preliminary cleaning is performed first. When the material box is delivered to the inside of the pre-cleaning shed, the blowing component can be started to perform preliminary dust and oil removal on the material box and the material thereon. After the pre-cleaning, the automatic material conveying line continues to transport the material to the manual position of the transplanting robot. At this time, the transplanting robot grabs the material from the inside of the material box and puts it into the single material cleaning mechanism for cleaning. The cleaning principle is to use an air nozzle to remove oil and debris on the surface of the material, and then the transplanting robot grabs the material to the CCD detection component to detect whether it is qualified, and then puts it back into the material box, and circulates the detection process of other materials in the material box until the material detection in the material box is completed, completing the automatic detection process of the material.

[0015] Preferably, one end of the automatic material conveyor line is the feeding end, and the other end is the discharging end. The automatic material conveyor line is provided with a material box cache mechanism near the discharging end. A QR code viewer is provided on one side of the material box cache mechanism. The QR code viewer is connected to the industrial control electromechanical signal and records the material detection information in the material box.

[0016] The resulting technical effect is: the automatic material conveyor line relies on the visual sensor installed on one side to locate and monitor the position of the material box. A material box cache mechanism is set at the discharge end of the automatic material conveyor line to temporarily cache the material box. The material inspection status in the material box is recorded by relying on the QR code viewer to complete the organization and archiving of the inspection data.

[0017] Preferably, the automatic material conveyor line includes a long conveyor frame, a driving motor and a conveyor belt. The conveyor frame is fixed on the base. A plurality of groups of transmission rollers are rotatably connected to the conveyor frame. The transmission belts are connected to the plurality of transmission rollers. The driving motor is fixed at the discharge end of the conveyor frame. The output end of the driving motor is transmission-connected to the transmission roller. The material box cache mechanism is a belt cache line and is transmission-connected to the transmission roller.

[0018] The resulting technical effect is: the drive motor is the power source for the automatic material conveying line and the material box cache mechanism, and the material box cache mechanism can connect the automatic material conveying line and transitionally cache the material box.

[0019] Preferably, the spray assembly includes an air pump and a spray head, the air pump is connected to the industrial control electromechanical signal, the spray head is fixed on the inner side of the pre-cleaning shed cover and arranged toward the automatic material conveying line, and the spray head is connected to the air pump by a pipeline.

[0020] The resulting technical effect is: the air source is provided by the air pump, and the blowing head is used to perform preliminary cleaning on the material box and the material.

[0021] Preferably, the single material cleaning mechanism includes a lifting platform, a material clamping seat and an air supply source, the lifting platform is driven by a cylinder on the base, the lifting platform is provided with a avoidance port, air nozzles are fixed on the two side edges of the avoidance port, the air nozzles are arranged toward the material on the chuck, the air nozzles are connected to the air supply source pipeline, the material clamping seat is fixed on the base, the chuck is fixedly connected to the material clamping seat and is used to vertically clamp the material, and the air nozzle rises and falls with the lifting platform.

[0022] The resulting technical effect is: since the material is a bar material, the material is clamped vertically, and the lifting platform is lifted and lowered with the air nozzle to complete the axial cleaning of the material.

[0023] Preferably, the transplanting robot is a two-axis transplanting robot with X-axis and Z-axis.

[0024] The resulting technical effect is that the two-axis transplanting robot can complete lateral and vertical movement, and cooperate with the robot to complete the material picking and placing process.

[0025] Preferably, the CCD detection component includes an L-shaped mounting frame, a laser detector and a CCD camera, a lifting mechanism is vertically connected to the base, the lifting mechanism is connected to the industrial control electromechanical signal, the lifting end of the lifting mechanism is fixedly connected to the T-shaped mounting frame, the L-shaped mounting frame is horizontally arranged, the laser detector and the CCD camera are respectively mounted on the L-shaped mounting frame and the detection paths of the laser detector and the CCD camera intersect, the L-shaped mounting frame is provided with an avoidance groove corresponding to the intersection area of ​​the detection paths of the laser detector and the CCD camera; a material clamping seat is fixed below the base corresponding to the avoidance groove, and the transplanting robot is used to take and place materials on the material clamping seat.

[0026] The resulting technical effect is: the laser detector can detect the data of the corresponding parts of the material, the CD camera obtains the material's shape contour data, the detection data is accurate and high-precision, the detection component rises and falls under the action of the lifting mechanism, and different axial positions of the bar can be detected.

[0027] Preferably, the industrial control electromechanical signal is connected to a display, and the display is used to display the detection information of the material.

[0028] The resulting technical effect is that the detection data and image information can be displayed on the monitor, making it convenient for personnel to obtain them.

[0029] Preferably, the pre-cleaning shed cover is a rectangular structure, with openings at both ends in the long direction of the pre-cleaning shed cover, and the pre-cleaning shed cover is rotatably connected with cover doors corresponding to the openings. A cover door opening and closing drive mechanism for controlling the opening and closing of the cover doors at both ends is provided on one side wall of the pre-cleaning shed cover, and the cover door opening and closing drive mechanism is connected to the industrial control electromechanical signal.

[0030] The resulting technical effect is that doors are provided at both ends of the pre-cleaning shed cover, which makes pre-cleaning of the material box relatively safe and environmentally friendly.

[0031] Preferably, the cover door opening and closing drive mechanism includes a lifting cylinder, a transition rod, a pull rod and a connecting rod. The lifting cylinder is vertically fixed on one side of the pre-cleaning shed cover and is connected to the industrial control electromechanical signal. One end of the transition rod is hinged on both sides of the lifting end of the lifting cylinder. The middle part of the transition rod is rotatably connected to the pre-cleaning shed cover. One end of the pull rod is hinged to the other end of the transition rod, one end of the connecting rod is connected to the other end of the pull rod, and the other end of the connecting rod is fixedly connected to the shaft that drives the cover door to rotate.

[0032] The resulting technical effect is that the opening and closing of the cover door is controlled by the cover door opening and closing driving mechanism, which will not affect the transportation of the material box. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is the overall structure of an automatic feeding, cleaning and CCD detection device of the utility model. Figure 1 ;

[0034] Figure 2 This is the overall structure of an automatic feeding, cleaning and CCD detection device of the utility model. Figure 2 ;

[0035] Figure 3 This is a partial structural diagram of an automatic material conveying line with an automatic feeding, cleaning and CCD detection device of the utility model;

[0036] Figure 4 This is a partial structural diagram of a transplanting manipulator of an automatic feeding, cleaning and CCD detection device of the utility model;

[0037] Figure 5 This is a structural diagram of a single material cleaning mechanism of an automatic feeding, cleaning and CCD detection device of the utility model;

[0038] Figure 6 This is a diagram of a single material cleaning mechanism structure of an automatic feeding, cleaning and CCD detection device of the utility model without the lifting platform;

[0039] Figure 7 This is a structural diagram of a CCD detection component of an automatic feeding, cleaning and CCD detection device of the utility model;

[0040] Figure 8 This is a partial component diagram of the CCD detection component of the automatic feeding, cleaning and CCD detection device of the utility model after the L-shaped installation frame is hidden.

[0041] 1 base, 2 automatic material conveying line, 201 conveying frame, 202 driving motor, 203 conveyor belt, 3 material box, 301 material, 4 visual sensor, 5 pre-cleaning shed cover, 501 cover door, 502 cover door opening and closing drive mechanism, 6 blowing assembly, 7 transplanting manipulator, 8 single material cleaning mechanism, 801 lifting platform, 802 material clamping seat, 803 air supply source, 804 cylinder, 805 air nozzle, 806 chuck, 9CCD detection assembly, 901L type installation frame, 902 laser detector, 903CCD camera, 904 avoidance slot, 10 lifting mechanism, 11 industrial computer, 12 display, 13 material box cache mechanism, 14 QR code viewer, 15 material clamping seat. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0043] See the attached Figures 1 to 8 According to an embodiment of the utility model, an automatic feeding, cleaning, and CCD detection device includes:

[0044] Abutment 1, the abutment is a rectangular flat plate structure;

[0045] An automatic material conveying line 2, which is installed on a base 1, and is used to convey a material box 3. A plurality of visual sensors 4 for detecting the conveying position of the material box are provided on one side edge of the automatic material conveying line 2;

[0046] A pre-cleaning shed cover 5 is fixed in the middle of the automatic material conveying line 2. A blowing assembly 6 for preliminary cleaning of the material box and the material thereon is connected to the pre-cleaning shed cover 5, so as to pre-treat the material box;

[0047] A transplanting robot 7, which is connected to the base 1 and is used to take and place the material 301 in the material box 3;

[0048] Single material cleaning mechanism 8, the single material cleaning mechanism 8 is fixed on the base 1 and close to one side of the automatic material conveying line 2, and the single material cleaning mechanism 8 is provided with a clamp 806 for clamping the material and an air nozzle 805 for cleaning the material. This process is a fine cleaning process;

[0049] CCD detection component 9, CCD detection component 9 is installed on the base 1 to be lifted up and down, and CCD detection component 9 is used to detect the size parameters of the material 301. The single material cleaning mechanism 8 and CCD detection component 9 are both located on the grasping path of the transplanting manipulator 7; this ensures that the transplanting manipulator can complete the working process of each station;

[0050] The industrial computer 11 is connected to the automatic material conveying line 2, the visual sensor 4, the spraying component 6, the transplanting robot 7, the single material cleaning mechanism 8 and the CCD detection component 9 by electrical signals.

[0051] In other embodiments, one end of the automatic material conveying line 2 is the feeding end, and the other end is the discharging end. The automatic material conveying line 2 is provided with a material box cache mechanism 13 near the discharging end. One side of the material box cache mechanism 13 is provided with four groups of QR code viewers 14. The QR code viewers 14 are electrically connected to the industrial computer 11 and record the material detection information in the material box.

[0052] In other specific embodiments, the automatic material conveyor line 2 includes a long conveyor frame 201, a driving motor 202 and a conveyor belt 203. The conveyor frame 201 is fixed on the base 1. A plurality of groups of transmission rollers are rotatably connected to the conveyor frame 201. The transmission belt 203 is connected to the plurality of transmission rollers. The driving motor 202 is fixed at the discharge end of the conveyor frame 201. The output end of the driving motor 202 is transmission-connected to the transmission roller. The material box cache mechanism 13 is a belt cache line and is transmission-connected to the transmission roller. The material box cache mechanism is also driven by the driving motor.

[0053] In some other embodiments, the blowing assembly 6 includes an air pump and a blowing head. The air pump is electrically connected to the industrial computer 11. The blowing head is fixed on the inner side of the pre-cleaning shed cover 5 and arranged toward the automatic material conveying line 2. The blowing head and the air pump are connected by a pipeline. There are multiple groups of blowing heads to ensure the blowing area and preliminary cleaning effect of the material box. The gas sprayed by the blowing head completes the preliminary cleaning of the material box and the material.

[0054] In some other specific embodiments, a single material cleaning mechanism 8 includes a lifting platform 801, a material clamping seat 802 and an air supply source 803. The lifting platform 801 is driven by a cylinder 804 on the base 1. A avoidance port is provided on the lifting platform 801. Air nozzles 805 are fixed on the two side edges of the avoidance port. The air nozzles 805 are arranged toward the material on the chuck. The air nozzles 805 are connected to the air supply source 803 pipeline. The material clamping seat 802 is fixed on the base 1. The chuck 806 is fixedly connected to the material clamping seat 802 and is used to vertically clamp the material. The air nozzles 805 rise and fall with the lifting platform 801 to complete the fine cleaning of the material.

[0055] In other embodiments, the transplanting robot 7 is an X-axis and Z-axis two-axis transplanting robot, specifically including a vertical frame and a horizontal frame, the vertical frame is fixed at one side end of the machine, the horizontal frame is fixed at the top of the vertical frame, the horizontal frame is provided with a sliding seat and a screw power mechanism for driving the sliding seat to move back and forth, a vertical rail is installed on the sliding seat, a robot fixed seat is slidably installed on the vertical rail, a screw power mechanism for driving the robot fixed seat to slide up and down is provided on the vertical rail, and the robot fixed seat is connected to the operating robot.

[0056] In other specific embodiments, the CCD detection component 9 includes an L-shaped mounting frame 901, a laser detector 902 and a CCD camera 903. A lifting mechanism 10 is vertically connected to the base 1. The lifting mechanism 10 is electrically connected to the industrial computer 11. The lifting mechanism can be a motor-driven screw slider mechanism. The lifting end of the lifting mechanism 10 is fixedly connected to the L-shaped mounting frame 901. The L-shaped mounting frame 901 is horizontally arranged. The laser detector 902 and the CCD camera 903 are respectively installed on the L-shaped mounting frame 901 and the detection paths of the laser detector and the CCD camera intersect. The L-shaped mounting frame 901 is provided with an avoidance groove 904 at the intersection area of ​​the detection paths of the laser detector 902 and the CCD camera 903; a material clamping seat 15 is fixed below the base 1 corresponding to the avoidance groove 904. The transplanting robot 7 is used to take and place materials on the material clamping seat. The laser detector 902 and the CCD camera 903 can both detect the materials.

[0057] In some other embodiments, the industrial computer 11 is connected to the display 12 via an electrical signal, and the display 12 is used to display the detection information of the material.

[0058] In some other specific embodiments, the pre-cleaning shed cover 5 is a rectangular structure, and the two ends of the pre-cleaning shed cover 5 in the long direction are open, and the pre-cleaning shed cover 5 is rotatably connected to the corresponding openings with a cover door 501, and a cover door opening and closing driving mechanism 502 for controlling the opening and closing of the cover doors at both ends is provided on one side wall of the pre-cleaning shed cover 5, and the cover door opening and closing driving mechanism 502 is connected to the industrial computer 11 by electrical signals. The cover doors on both sides are opened or closed at the same time, so as to ensure the sequential conveying process of the material boxes on the conveyor belt, and will not affect the entry or discharge of the material boxes (relative to the pre-cleaning shed cover).

[0059] Specifically, the cover door opening and closing drive mechanism 502 includes a lifting cylinder, a transition rod, a pull rod and a connecting rod. The lifting cylinder is vertically fixed on one side of the pre-cleaning shed cover 5 and is electrically connected to the industrial control computer 11. One end of the transition rod is hinged on both sides of the lifting end of the lifting cylinder. The middle part of the transition rod is rotatably connected to the pre-cleaning shed cover 5. One end of the pull rod is hinged to the other end of the transition rod, one end of the connecting rod is connected to the other end of the pull rod, and the other end of the connecting rod is fixedly connected to the shaft that drives the cover door to rotate.

[0060] Working principle:

[0061] The material box is put in from the feeding end of the automatic material conveyor line, inspected by the visual sensor and enters the pre-cleaning shed, where the blowing component works to blow away oil, dust and position. Then the material box is sent out through the automatic material conveyor line, and the single material is taken out from the material box on the conveyor line by the transfer robot and transported to the single material cleaning mechanism for air blowing and degreasing and dust removal. After cleaning, the transfer robot takes out the material and transports it to the material clamping seat for inspection by the CCD detection component. After the inspection is completed, the transfer robot takes out the material and transports it to the material box on the conveyor line, completing one inspection. The cycle continues in sequence. After all the materials in the material box have been inspected, the material box flows through the conveyor line to the material box cache mechanism for QR code inspection and recording, and temporary storage of materials.

[0062] As for the device and the method of use disclosed in the embodiment, since they correspond to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0063] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic feeding, cleaning, and CCD detection device, characterized in that: include: abutment(1), An automatic material conveying line (2), the automatic material conveying line (2) being installed on the base platform (1), the automatic material conveying line (2) being used to convey material boxes (3), and a plurality of groups of visual sensors (4) for detecting the conveying position of the material boxes being arranged on one side edge of the automatic material conveying line (2); A pre-cleaning hood (5), the pre-cleaning hood (5) being fixed to the middle of the automatic material conveying line (2), the pre-cleaning hood (5) being connected to a spraying assembly (6) for preliminary cleaning of the material box and the material thereon; A transplanting robot (7), the transplanting robot (7) being connected to the base (1) and used for taking and placing materials (301) in the material box (3); A single material cleaning mechanism (8), the single material cleaning mechanism (8) being fixed on the base (1) and close to one side of the automatic material conveying line (2), the single material cleaning mechanism (8) being provided with a clamping head (806) for clamping the material and an air nozzle (805) for cleaning the material; A CCD detection component (9), the CCD detection component (9) being installed on the base (1) in a manner of being lifted and lowered, the CCD detection component (9) being used to detect the size parameters of the material (301), the single material cleaning mechanism (8) and the CCD detection component (9) being both located on a grasping path of the transplanting manipulator (7); An industrial control computer (11) is respectively connected to the automatic material conveying line (2), the visual sensor (4), the spraying component (6), the transplanting manipulator (7), the single material cleaning mechanism (8) and the CCD detection component (9) via electrical signals.

2. The automatic feeding, cleaning and CCD detection device according to claim 1, characterized in that: One end of the automatic material conveying line (2) is a feeding end, and the other end is a discharging end. The automatic material conveying line (2) is provided with a material box buffer mechanism (13) near the discharging end. A two-dimensional code viewer (14) is provided on one side of the material box buffer mechanism (13). The two-dimensional code viewer (14) is connected to the industrial control computer (11) via an electrical signal and records material detection information in the material box.

3. The automatic feeding, cleaning and CCD detection device according to claim 2, characterized in that: The automatic material conveying line (2) comprises a long conveying frame (201), a driving motor (202) and a conveying belt (203); the conveying frame (201) is fixed on the base (1); a plurality of transmission rollers are rotatably connected to the conveying frame (201); the conveying belt (203) is connected to the plurality of transmission rollers; the driving motor (202) is fixed at the discharge end of the conveying frame (201); the output end of the driving motor (202) is transmission-connected to the transmission roller; and the material box buffer mechanism (13) is a belt buffer line and transmission-connected to the transmission roller.

4. The automatic feeding, cleaning and CCD detection device according to claim 1, characterized in that: The blowing assembly (6) comprises an air pump and a blowing head, the air pump is electrically connected to an industrial computer (11), the blowing head is fixed on the inner side of the pre-cleaning shed cover (5) and arranged toward the automatic material conveying line (2), and the blowing head is connected to the air pump by a pipeline.

5. The automatic feeding, cleaning and CCD detection device according to claim 1, characterized in that: The single material cleaning mechanism (8) comprises a lifting platform (801), a material clamping seat (802) and an air supply source (803); the lifting platform (801) is driven by a cylinder (804) on a base (1); a clearance opening is provided on the lifting platform (801); air nozzles (805) are fixed to the two side edges of the clearance opening; the air nozzles (805) are arranged toward the material on the chuck; the air nozzles (805) are connected to the air supply source (803) through a pipeline; the material clamping seat (802) is fixed on the base (1); the chuck (806) is fixedly connected to the material clamping seat (802) and is used to vertically clamp the material; the air nozzles (805) rise and fall with the lifting platform (801).

6. The automatic feeding, cleaning and CCD detection device according to claim 1, characterized in that: The transplanting robot (7) is a two-axis transplanting robot with an X-axis and a Z-axis.

7. The automatic feeding, cleaning and CCD detection device according to claim 1, characterized in that: The CCD detection component (9) comprises an L-shaped mounting frame (901), a laser detector (902) and a CCD camera (903); a lifting mechanism (10) is vertically connected to the base (1); the lifting mechanism (10) is electrically connected to the industrial computer (11); a lifting end of the lifting mechanism (10) is fixedly connected to the L-shaped mounting frame (901); the L-shaped mounting frame (901) is horizontally arranged; the laser detector (902) and the CCD camera (903) are respectively mounted on the L-shaped mounting frame (901) and the detection paths of the laser detector and the CCD camera intersect; the L-shaped mounting frame (901) is provided with an avoidance notch (904) corresponding to the intersection of the detection paths of the laser detector (902) and the CCD camera (903); a material clamping seat (15) is fixed below the base (1) corresponding to the avoidance notch (904); and the transplanting manipulator (7) is used to take and place materials on the material clamping seat.

8. An automated feeding, cleaning, and CCD detection device according to any one of claims 1 to 7, characterized in that: The industrial computer (11) is connected to a display (12) via an electrical signal, and the display (12) is used to display detection information of the material.

9. The automatic feeding, cleaning and CCD detection device according to claim 1, characterized in that: The pre-cleaning shed cover (5) is of a rectangular structure. Both ends of the pre-cleaning shed cover (5) in the longitudinal direction are open. Cover doors (501) are rotatably connected to the pre-cleaning shed cover (5) corresponding to the openings. A cover door opening and closing driving mechanism (502) for controlling the opening and closing of the cover doors at both ends is provided on one side wall of the pre-cleaning shed cover (5). The cover door opening and closing driving mechanism (502) is connected to the industrial control computer (11) via electrical signals.

10. The automatic feeding, cleaning and CCD detection device according to claim 9, characterized in that: The cover door opening and closing drive mechanism (502) includes a lifting cylinder, a transition rod, a pull rod and a connecting rod. The lifting cylinder is vertically fixed on one side of the pre-cleaning shed cover (5) and is electrically connected to the industrial control computer (11). One end of the transition rod is hinged on both sides of the lifting end of the lifting cylinder. The middle part of the transition rod is rotatably connected to the pre-cleaning shed cover (5). One end of the pull rod is hinged to the other end of the transition rod, one end of the connecting rod is connected to the other end of the pull rod, and the other end of the connecting rod is fixedly connected to the shaft that drives the cover door to rotate.

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