Automatic feeding equipment based on 3D vision
Through automated feeding equipment based on 3D vision, 3D vision cameras and robots automatically identify and sort product position, the problems of inefficiency and high cost caused by manual placement are solved, and efficient automatic feeding and precise feeding are achieved.
Patent Information
- Application Number
- CN202422597870.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-25
- Publication Date
- 2025-08-26
- Estimated Expiration
- 2034-10-25
AI Technical Summary
The feeding method of existing valve manufacturing companies requires manual placement of products, which leads to low efficiency and high cost, and time-consuming replacement of special tooling, affecting production efficiency.
Use automated feeding equipment based on 3D vision, and use 3D vision cameras to identify product position information, and realize automated feeding through rectangular coordinate robots and six-axis robots to avoid the use of special tooling.
It realizes efficient automatic feeding, improves placement efficiency, reduces costs, reduces manual intervention and improves production efficiency.
Smart Images
Figure CN223267712U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of automatic feeding equipment, in particular to an automatic feeding equipment based on 3D vision. Background Art
[0002] In valve manufacturing companies, the products they manufacture generally have the characteristics of small size, diverse shapes, frequent model changes, and high production rhythm. In order to meet the needs of automated production, companies currently generally place the products neatly on the tooling first, and then another device grabs the products in turn and puts them into the processing machine to complete the feeding action. It can be seen that the above feeding method requires staff to place the products, and the manual placement method is extremely labor-intensive. As the working time becomes longer, the staff will become tired, resulting in a decrease in placement efficiency, which ultimately affects production efficiency. When placing different products, different special tooling is required for adaptation, which increases the cost of the first step of placing the materials in the feeding process, and the replacement between different special tooling consumes a lot of time, further affecting the actual production efficiency. Summary of the Invention
[0003] The utility model aims to solve the existing technical problem by providing an automated feeding device based on 3D vision, which can always maintain high placement efficiency, thereby ensuring production efficiency, and does not require special tooling for placing products, thereby reducing a lot of trouble and effectively reducing costs.
[0004] The technical solution adopted by the utility model to solve the above technical problems is:
[0005] The utility model discloses an automatic feeding equipment based on 3D vision, comprising a fuselage, a frame arranged above the front of the fuselage, and a silo arranged at the rear of the upper surface of the fuselage, a hoist is provided at the rear side of the frame, the lower end of the hoist is located in the silo, the upper end of the hoist is connected with the internal space of the frame, a feeding port is provided at the front of the frame; a material distribution port connected with the internal space of the frame is provided at the rear side of the lower part of the feeding port; a material distribution mechanism corresponding to the position of the hoist is provided in the material distribution port; the front of the material distribution mechanism is located in the feeding port; the feeding port is provided with a material distribution mechanism corresponding to the position of the material distribution mechanism A rectangular coordinate robot corresponding to the front position; the rectangular coordinate robot is provided with a second end effector matching it; the second end effector and the feeding mechanism are perpendicular to each other; the upper surface of the frame is provided with a camera mounting hole which is connected with the feeding port; a 3D vision camera matching it is provided in the camera mounting hole; a product placement table corresponding to the front position of the feeding mechanism is provided on the lower inner wall of the feeding port; a six-axis robot corresponding to the position of the product placement table is provided on the front side of the fuselage; and a first end effector is provided at the end of the six-axis robot.
[0006] The material distribution mechanism includes vertical plates on the left and right sides of the lower surface of the frame; the vertical plates on the left and right sides are enclosed with the upper surface of the machine body to form a conveying trough corresponding to the position of the material distribution port; the front part of the upper notch of the conveying trough is located in the feeding port, and the rear part of the upper notch of the conveying trough is located in the machine body; a partition is provided on the upper surface of the machine body between the left and right vertical plates; an upper front driven shaft is provided between the front ends of the left and right vertical plates; upper front synchronous wheels are provided on the left and right sides of the upper front driven shaft between the partition and the vertical plates; an upper rear main shaft is provided between the rear ends of the left and right vertical plates driving shaft; upper rear synchronous wheels located between the partition and the vertical plate are provided on the left and right sides of the upper rear driving shaft; the upper front synchronous wheel is connected to the upper rear synchronous wheel by an upper synchronous belt; a guide plate is provided on the upper ends of the vertical plates on the left and right sides, and the front end of the guide plate is bent toward the partition; auxiliary plates opposite to the guide plates are provided on the left and right sides of the upper end of the partition, and the front end of the auxiliary plate is bent in the direction away from the partition; the spacing between the guide plate and the auxiliary plate gradually decreases from the back to the front; an upper motor connected to the end of the upper rear driving shaft is provided on one of the vertical plates on the left and right sides.
[0007] The upper surface of the upper synchronous belt is coplanar with the lower inner wall of the feed port.
[0008] A lower front driven shaft is provided between the front ends of the left and right vertical plates, and the lower front driven shaft is located in front and below the upper front driven shaft; lower front synchronous wheels are provided on the left and right sides of the lower front driven shaft and are located between the partition and the vertical plate; a lower rear driving shaft is provided between the rear ends of the left and right vertical plates, and the lower rear driving shaft is located in the rear and below of the upper rear driving shaft; lower rear synchronous wheels are provided on the left and right sides of the lower rear driving shaft and are located between the partition and the vertical plate; the lower rear synchronous wheel is connected to the lower front synchronous wheel through a lower synchronous belt; a lower motor connected to the end of the lower rear driving shaft is provided on one of the left and right vertical plates; the rear port of the gap between the left and right vertical plates is located above the silo.
[0009] The frame is provided with a display and a touch screen connected to the display.
[0010] The silo is in the shape of a funnel that is wide at the top and narrow at the bottom.
[0011] A fixing plate is provided on the front side wall of the fuselage; a limiting plate is provided on the front side wall of the fixing plate to fit therewith; a six-axis robot mounting plate is provided on the upper end of the limiting plate, and the six-axis robot is arranged on the upper surface of the six-axis robot mounting plate; the six-axis robot mounting plate and the fixing plate are perpendicular to each other; a number of screw holes are provided on the left and right sides of the fixing plate, evenly distributed from top to bottom; a number of through holes are provided on the left and right sides of the limiting plate, evenly distributed from top to bottom, and the number of screw holes is greater than the number of through holes.
[0012] The lower surface of the six-axis robot mounting plate and the front side wall of the limiting plate are connected through a plurality of evenly distributed right-angle plates.
[0013] The beneficial effects of the utility model are:
[0014] Compared with the existing technology, the 3D vision-based automatic feeding equipment using the structure of the utility model can achieve the effect of automatic feeding by only placing a large number of products into the silo. During the feeding process, 3D vision can be used to quickly identify and locate the products. When the 3D vision camera finds that the posture information of the automatically sorted and placed products meets the qualifications for grasping, it is equivalent to the products being neatly placed. Then, the rectangular coordinate robot is used to quickly sort and grasp the products. Finally, the six-axis robot can accurately feed the processing equipment. There is no need for special tooling in this feeding process, which can not only reduce a lot of trouble, but also effectively reduce costs. The products can be automatically sorted and placed through the sorting mechanism, and this method of automatic sorting and placement through the sorting mechanism can maximize the placement efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 This is a structural diagram of the utility model's automatic feeding equipment based on 3D vision from one angle;
[0016] Figure 2 This is a schematic structural diagram of the utility model's 3D vision-based automatic feeding equipment from another angle;
[0017] Figure 3 This is the first partial structural diagram of the utility model's 3D vision-based automatic feeding equipment;
[0018] Figure 4 This is a schematic structural diagram of the utility model's 3D vision-based automatic feeding equipment after removing the frame;
[0019] Figure 5 This is a schematic structural diagram of the utility model's 3D vision-based automatic feeding equipment after removing the frame from another angle;
[0020] Figure 6 This is a schematic diagram of the second partial structure of the automatic feeding equipment based on 3D vision of the present invention. DETAILED DESCRIPTION
[0021] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:
[0022] See also Figures 1 to 6The present invention provides an automatic feeding device based on 3D vision, comprising a body 1, a frame 2 arranged above the front of the body 1, and a silo 3 arranged at the rear of the upper surface of the body 1, a hoist 4 is provided at the rear side of the frame 2, the lower end of the hoist 4 is located in the silo 3, and the upper end of the hoist 4 is connected with the internal space of the frame 2, a feeding port 5 is provided at the front of the frame 2; a dividing port 6 connected with the internal space of the frame 2 is provided at the rear side of the lower part of the feeding port 5; a dividing mechanism corresponding to the position of the hoist 4 is provided in the dividing port 6; the front of the dividing mechanism is located in the feeding port 5; the feeding port is provided with a dividing mechanism corresponding to the position of the dividing mechanism A rectangular coordinate robot corresponding to the front position; the rectangular coordinate robot is provided with a second end effector matching it; the second end effector 801 and the feeding mechanism are perpendicular to each other; the upper surface of the frame 2 is provided with a camera mounting hole 9 which is connected with the feeding port 5; a 3D vision camera 10 matching it is provided in the camera mounting hole 9; a product placement table 11 corresponding to the front position of the feeding mechanism is provided on the lower inner wall of the feeding port 5; a six-axis robot 12 corresponding to the position of the product placement table is provided on the front side of the fuselage 1; the end of the six-axis robot 12 is provided with a first end effector 1201.
[0023] The material distribution mechanism includes vertical plates 13 provided on the left and right sides of the lower surface of the frame 2; the vertical plates 13 on the left and right sides and the upper surface of the fuselage 1 are enclosed to form a conveying trough 14 corresponding to the position of the material distribution port 6; the front part of the upper notch of the conveying trough 14 is located in the feed port 5, and the rear part of the upper notch of the conveying trough 14 is located in the frame 2; a partition 15 is provided on the upper surface of the fuselage 1 between the left and right vertical plates 13; an upper front driven shaft 16 is provided between the front ends of the left and right vertical plates 13; upper front synchronous wheels 17 are provided on the left and right sides of the upper front driven shaft 16 and are located between the partition 15 and the vertical plates 13; an upper rear driving shaft 18 is provided between the rear ends of the left and right vertical plates 13 ; The upper rear driving shaft 18 is provided with an upper rear synchronous wheel 19 located between the partition 15 and the vertical plate 13 on the left and right sides; the upper front synchronous wheel 17 is connected to the upper rear synchronous wheel 19 by an upper synchronous belt 20; a guide plate 21 is provided at the upper end of the vertical plates 13 on both sides, and the front end of the guide plate 21 is bent toward the partition 15; auxiliary plates 22 are provided on the left and right sides of the upper end of the partition 15 opposite to the guide plate 21, and the front end of the auxiliary plate 22 is bent in the direction away from the partition 15; the distance between the guide plate 21 and the auxiliary plate 22 gradually decreases from the back to the front; an upper motor connected to the end of the upper rear driving shaft 18 is provided on one of the vertical plates 13 on the left and right sides.
[0024] The upper surface of the upper synchronous belt 20 is coplanar with the lower inner wall of the feeding port 5 .
[0025] A lower front driven shaft 23 is provided between the front ends of the left and right side vertical plates 13, and the lower front driven shaft 23 is located in front and below the upper front driven shaft 16; lower front synchronous wheels 24 are provided on the left and right sides of the lower front driven shaft 23 and are located between the partition 15 and the vertical plate 13; a lower rear driving shaft 25 is provided between the rear ends of the left and right side vertical plates 13, and the lower rear driving shaft 25 is located behind and below the upper rear driving shaft 18; lower rear synchronous wheels 26 are provided on the left and right sides of the lower rear driving shaft 25 and are located between the partition 15 and the vertical plate 13; the lower rear synchronous wheel 26 is connected to the lower front synchronous wheel 24 through a lower synchronous belt 27; a lower motor connected to the end of the lower rear driving shaft 25 is provided on one of the left and right side vertical plates 13; the rear side port of the gap between the left and right side vertical plates 13 is located above the silo 3.
[0026] The frame 2 is provided with a display 39 and a touch screen connected to the display 39 .
[0027] The silo 3 is in the shape of a funnel that is wide at the top and narrow at the bottom.
[0028] The front side wall of the fuselage 1 is provided with a fixing plate 33; the front side wall of the fixing plate 33 is provided with a limiting plate 34 fitted therewith; the upper end of the limiting plate 34 is provided with a six-axis robot mounting plate 35, and the six-axis robot 12 is arranged on the upper surface of the six-axis robot mounting plate 35; the six-axis robot mounting plate 35 and the fixing plate 33 are perpendicular to each other; the left and right sides of the fixing plate 33 are provided with a number of screw holes 36 evenly distributed from top to bottom; the left and right sides of the limiting plate 34 are provided with a number of through holes 37 evenly distributed from top to bottom, and the number of screw holes 36 is greater than the number of through holes 37.
[0029] The lower surface of the six-axis robot mounting plate 35 and the front side wall of the limiting plate 34 are connected by a plurality of evenly distributed right-angle plates 38 .
[0030] The method of using the utility model is as follows:
[0031] The rectangular coordinate robot is an existing automation equipment. The rectangular coordinate robot consists of an X-axis, a Y-axis, a Z-axis and an R-axis. The Z-axis is connected to the R-axis. At the same time, the X-axis is arranged in the feed port 5, the Y-axis 7 is arranged on the X-axis, and the slider of the Y-axis 7 is provided with the Z-axis and the R-axis 8. The second end effector is arranged on the Z-axis and the R-axis, which is more conducive to the operation of the second end effector.
[0032] The specific structure of the X-axis can be refined into a linear module 28 arranged on the right side of the lower inner wall of the feed port 5, and an auxiliary slide rail 29 arranged on the left side of the lower inner wall of the feed port 5; the auxiliary slide rail 29 is provided with an auxiliary slider 2901 matching it; the auxiliary slider 2901 is provided with a left support plate 30; the upper surface of the module slider 2801 of the linear module 28 is provided with a right support plate 31; the upper end of the left support plate 30 and the upper end of the right support plate 31 are connected by a connecting plate 32; the Y-axis 7 is provided on the front side wall of the connecting plate 32.
[0033] Before feeding, the operator can first pour the product into the silo 3, then operate through the touch screen, select the product model through the display 39, and finally start the equipment through the start button.
[0034] When the equipment is turned on, the elevator 4 starts to operate. The elevator 4 is an existing transportation equipment. It can transport the products at the bottom of the silo 3 upward and send them into the frame 2 through the upper end of the elevator 4. In actual use, a feeding track can be set between the upper end of the elevator 4 and the material distribution mechanism. When the product is sent out from the upper end of the elevator 4, it can fall directly into the feeding track. The product will eventually fall randomly onto the upper synchronous belt 20 on the left and right sides through the feeding track. When the upper motor is running, the upper motor will drive The upper rear driving shaft 18 rotates, and the upper rear synchronous wheel 19 on the upper rear driving shaft 18 is connected to the upper front synchronous wheel 17 on the upper front driven shaft 16 through the upper synchronous belt 20. Therefore, when the upper rear driving shaft 18 rotates, the upper synchronous belt 20 rotates synchronously to convey, thereby conveying the product falling on the upper surface of the rear part of the upper synchronous belt 20 to the feed port 5, and converging to the middle part of the upper synchronous belt 20 under the guidance of the guide plate 21 and the auxiliary plate 22, so as to prevent the product from falling from the side of the upper synchronous belt 20 during the conveying process.
[0035] When the upper synchronous belt 20 conveys the product to the bottom of the 3D vision camera 10, the 3D vision camera 10 takes a picture of the product, calculates the posture information of the product, and sends the posture information to the Y-axis 7. At this time, the Y-axis 7 will determine which product is the graspable product based on the posture information of the product. Then the Y-axis 7 will drive the Z-axis and R-axis 8 to move to the rear of the graspable product through its own slider. Then the linear module 28 is started, and the connection plate 32 is driven to move back and forth through the cooperation of the module slider 2801 and the auxiliary slider 2901, thereby realizing the forward and backward movement of the Y-axis 7. When the Y-axis 7 moves with the Z-axis and R-axis 8 to the top of the graspable product, the linear module 28 stops running, and then the Z-axis When running with the R-axis 8, the Z-axis and the R-axis 8 drive the second end effector 801 to move downward. At this time, the second end effector 801 is the existing pneumatic gripper. Finally, the second end effector 801 clamps the product, and with the cooperation of the Y-axis 7, the Z-axis and the R-axis 8 and the linear module 28, the second end effector 801 places the product on the product placement table 11. At this moment, the sensor on the product placement table 11 will further judge the product. When the product is successfully identified, the six-axis robot 12 will grab the product on the product placement table 11 through the first end effector 1201 and send the product to the designated processing equipment. At this time, the first end effector 1201 is a pneumatic gripper.
[0036] If the product on the product placement table 11 is not recognized, it will be placed on the front upper surface of the lower synchronous belt 27 by the first end effector 1201 of the six-axis robot 12. Since the lower front driven shaft 23 is located in front of and below the upper front driven shaft 16, there is enough space in front of the upper synchronous belt 20, and the product can be placed smoothly on the front upper surface of the lower synchronous belt 27. At this time, the lower motor is started. Since the lower rear synchronous wheel 26 on the lower rear driving shaft 25 is connected to the lower front synchronous wheel 24 on the lower front driven shaft 23 through the lower synchronous belt 27, when the lower motor drives the lower rear driving shaft 25 to rotate, the lower synchronous belt 27 rotates synchronously to transport the product to the rear, and finally drops it into the silo to realize the reflux of the product.
[0037] From the above, it can be seen that the utility model can achieve the effect of automatic feeding by simply placing a large number of products into the silo 3. During the feeding process, 3D vision can be used to quickly identify and locate the products. When the 3D vision camera 10 finds that the posture information of the automatically sorted and placed products meets the qualifications for grasping, it can be equivalent to the products being in a neatly placed state. Then, the rectangular coordinate robot is used to realize rapid sorting and grasping of the products. Finally, the six-axis robot 12 can accurately feed the processing equipment. There is no need for special tooling in this feeding process, which can not only reduce a lot of trouble, but also effectively reduce costs. The products can be automatically sorted and placed through the sorting mechanism, and this method of automatic sorting and placement through the sorting mechanism can maximize the placement efficiency.
[0038] The upper surface of the upper synchronous belt 20 is coplanar with the lower inner wall of the feeding port 5, which not only facilitates direct observation of the material distribution situation, but also avoids the situation where the upper surface of the upper synchronous belt 20 is too low, resulting in an excessively long grasping stroke.
[0039] The silo 3 is funnel-shaped, wide at the top and narrow at the bottom. This structure facilitates the concentration of products below the silo 3, thereby facilitating the concentration of products in the silo 3 around the lower end of the elevator 4, which is beneficial for the elevator 4 to transport the products.
[0040] The front side wall of the fuselage 1 is provided with a fixing plate 33, and the front side wall of the fixing plate 33 is provided with a limiting plate 34 fitted therewith, and a six-axis robot mounting plate 35 is provided on the upper end of the limiting plate 34, and the six-axis robot 12 is arranged on the upper surface of the six-axis robot mounting plate 35, and the six-axis robot mounting plate 35 and the fixing plate 33 are perpendicular to each other; the fixing plate 33 is provided with a number of screw holes 36 evenly distributed from top to bottom on the left and right sides, and the limiting plate 34 is provided with a number of through holes 37 evenly distributed from top to bottom on the left and right sides. It is only necessary to pass the screws through the through holes 37 and screw them into the screw holes 36 corresponding to the through holes 37 to achieve the fixation between the limiting plate 34 and the fixing plate 33. When the number of screw holes 36 is greater than the number of through holes 37, it is only necessary to change the screw holes 36 corresponding to the through holes 37 to quickly adjust the height of the limiting plate 34, thereby achieving the height adjustment of the six-axis robot 12.
[0041] The lower surface of the six-axis robot mounting plate 35 and the front side wall of the limit plate 34 are connected by several evenly distributed right-angle plates 38. The presence of the right-angle plates 38 can effectively improve the supporting force of the six-axis robot mounting plate 35 and effectively ensure the stability of the six-axis robot 12 when it is installed and fixed on the six-axis robot mounting plate 35.
[0042] In actual use, the 3D vision camera 10 can be replaced with an industrial 2D camera, the rectangular coordinate robot can be replaced with a SCARA robot, and the six-axis robot 12 can be replaced with a truss robot.
Claims
1. An automated feeding device based on 3D vision, comprising a body, a frame located above the front of the body, and a silo located at the rear of the upper surface of the body. A hoist is provided at the rear of the frame, the lower end of the hoist being located within the silo, and the upper end of the hoist being in communication with the interior space of the body. The device is characterized by: The front part of the frame is provided with a feeding port; the rear side of the lower part of the feeding port is provided with a dividing port which is communicated with the internal space of the frame; the dividing port is provided with a dividing mechanism corresponding to the position of the elevator; the front part of the dividing mechanism is located in the feeding port; the feeding port is provided with a rectangular coordinate robot corresponding to the front position of the dividing mechanism; the rectangular coordinate robot is provided with a second end effector which matches it; the second end effector and the dividing mechanism are perpendicular to each other; the upper surface of the frame is provided with a camera mounting hole which is communicated with the feeding port; the camera mounting hole is provided with a 3D vision camera which matches it; the inner wall of the lower side of the feeding port is provided with a product placement table corresponding to the front position of the dividing mechanism; the front side of the fuselage is provided with a six-axis robot corresponding to the position of the product placement table; the end of the six-axis robot is provided with a first end effector.
2. The 3D vision-based automated feeding equipment according to claim 1, characterized in that: The material distribution mechanism includes vertical plates on the left and right sides of the lower surface of the frame; the vertical plates on the left and right sides are enclosed with the upper surface of the machine body to form a conveying trough corresponding to the position of the material distribution port; the front part of the upper notch of the conveying trough is located in the feeding port, and the rear part of the upper notch of the conveying trough is located in the machine body; a partition is provided on the upper surface of the machine body between the left and right vertical plates; an upper front driven shaft is provided between the front ends of the left and right vertical plates; upper front synchronous wheels are provided on the left and right sides of the upper front driven shaft between the partition and the vertical plates; an upper rear main shaft is provided between the rear ends of the left and right vertical plates driving shaft; upper rear synchronous wheels located between the partition and the vertical plate are provided on the left and right sides of the upper rear driving shaft; the upper front synchronous wheel is connected to the upper rear synchronous wheel by an upper synchronous belt; a guide plate is provided on the upper ends of the vertical plates on the left and right sides, and the front end of the guide plate is bent toward the partition; auxiliary plates opposite to the guide plates are provided on the left and right sides of the upper end of the partition, and the front end of the auxiliary plate is bent in the direction away from the partition; the spacing between the guide plate and the auxiliary plate gradually decreases from the back to the front; an upper motor connected to the end of the upper rear driving shaft is provided on one of the vertical plates on the left and right sides.
3. The 3D vision-based automated feeding equipment according to claim 2, characterized in that: The upper surface of the upper synchronous belt is coplanar with the lower inner wall of the feed port.
4. The 3D vision-based automated feeding equipment according to claim 2, characterized in that: A lower front driven shaft is provided between the front ends of the left and right vertical plates, and the lower front driven shaft is located in front and below the upper front driven shaft; lower front synchronous wheels are provided on the left and right sides of the lower front driven shaft and are located between the partition and the vertical plate; a lower rear driving shaft is provided between the rear ends of the left and right vertical plates, and the lower rear driving shaft is located in the rear and below of the upper rear driving shaft; lower rear synchronous wheels are provided on the left and right sides of the lower rear driving shaft and are located between the partition and the vertical plate; the lower rear synchronous wheel is connected to the lower front synchronous wheel through a lower synchronous belt; a lower motor connected to the end of the lower rear driving shaft is provided on one of the left and right vertical plates; the rear port of the gap between the left and right vertical plates is located above the silo.
5. The 3D vision-based automated feeding equipment according to claim 1, characterized in that: The frame is provided with a display and a touch screen connected to the display.
6. The 3D vision-based automated feeding equipment according to claim 1, characterized in that: The silo is in the shape of a funnel that is wide at the top and narrow at the bottom.
7. The 3D vision-based automated feeding equipment according to claim 1, characterized in that: A fixing plate is provided on the front side wall of the fuselage; a limiting plate is provided on the front side wall of the fixing plate to fit therewith; a six-axis robot mounting plate is provided on the upper end of the limiting plate, and the six-axis robot is arranged on the upper surface of the six-axis robot mounting plate; the six-axis robot mounting plate and the fixing plate are perpendicular to each other; a number of screw holes are provided on the left and right sides of the fixing plate, evenly distributed from top to bottom; a number of through holes are provided on the left and right sides of the limiting plate, evenly distributed from top to bottom, and the number of screw holes is greater than the number of through holes.
8. The 3D vision-based automated feeding equipment according to claim 7, characterized in that: The lower surface of the six-axis robot mounting plate and the front side wall of the limiting plate are connected through a plurality of evenly distributed right-angle plates.