Feeding device based on machine vision and robot

Abstract

The utility model discloses a feeding device based on machine vision and a robot, and relates to the technical field of intelligent robots, the feeding device comprises a transmission seat, the inner wall of the transmission seat is rotatably connected with a plurality of rotating rods, and the outer walls of the plurality of rotating rods are in transmission connection with a transmission belt. When the position of the camera needs to be adjusted towards the two sides, a user only needs to rotate a second rotating handle, the second rotating handle drives a second threaded rod to rotate, the second threaded rod drives a second extension rod to move towards the two sides, and then the camera can be adjusted towards the two sides by rotating the second rotating handle, driving the second threaded rod to rotate, and driving the second extension rod to move towards the two sides. And the extension rod II drives the displacement seat II to move, so that the camera can freely and flexibly move in multiple directions, the scanning area range is more comprehensive, and the data acquisition requirements of different observation points in various use scenes are met.

Description

TECHNICAL FIELD

[0001] The utility model belongs to intelligent robot technical field, especially, it is related to a feeding device based on machine vision and robot. BACKGROUND

[0002] Robot is the machine device of automatic execution work, it can accept human command, can also run prearranged program, also can act according to the principle of artificial intelligence technology formulation, its task is to assist or replace human work, for example, production, construction, or dangerous work;

[0003] The existing equipment has the problems of inconvenient multi-directional movement of the camera, limited scanning area range, insufficient to meet the data acquisition requirements of different observation points in various use scenarios, inconvenient taking out of single material plate from the stacked material plate for the camera to scan comprehensively, difficult to distinguish whether the material has defects and low production and processing efficiency, therefore, the utility model provides a feeding device based on machine vision and robot. UTILITY MODEL CONTENTS

[0004] The utility model discloses a feeding device based on machine vision and robot, through displacement seat, inconvenient multi-directional movement of the camera is solved, the scanning area range is very limited, insufficient to meet the data acquisition requirements of different observation points in various use scenarios, inconvenient taking out of single material plate from the stacked material plate for the camera to scan comprehensively, difficult to distinguish whether the material has defects and low production and processing efficiency are solved.

[0005] To solve the above technical problems, the utility model is realized through the following technical schemes:

[0006] The utility model discloses a feeding device based on machine vision and robot, including transmission seat, the inner wall wall of transmission seat is connected with a plurality of rotating rods, the outer wall of a plurality of rotating rods is connected with transmission belt, the outer wall of transmission seat is fixedly connected with robot, the outer wall of robot is fixedly connected with sucking disc jaw, the outer wall of transmission seat is provided with scanning mechanism,

[0007] The scanning mechanism comprises a feeding box, an outer wall of the feeding box is fixedly connected with a telescopic sleeve, an inner wall of the telescopic sleeve is rotatably connected with a threaded rod, the threaded rod penetrates through the telescopic sleeve to the outer wall, an outer wall of the threaded rod is transmissionally connected with an extension rod, an outer wall of the extension rod is slidably connected with the inner wall of the telescopic sleeve, an outer wall of one end of the extension rod away from the telescopic sleeve is fixedly connected with a displacement seat, an inner wall of the displacement seat is provided with a displacement groove, an inner wall of the displacement groove is slidably connected with a camera, an outer wall of one end of the feeding box away from the telescopic sleeve is fixedly connected with a fixed plate, an inner wall of the fixed plate is fixedly connected with a telescopic sleeve two, an inner wall of the telescopic sleeve two is rotatably connected with a threaded rod two, the threaded rod two penetrates through the telescopic sleeve two to the outer wall, an outer wall of the threaded rod two is transmissionally connected with an extension rod two, an outer wall of one end of the extension rod two away from the telescopic sleeve two is fixedly connected with a displacement seat two, an inner wall of the displacement seat two is provided with a displacement groove two, an inner wall of the displacement groove two is slidably connected with an outer wall of the camera, the outer wall of the threaded rod is fixedly connected with a rotating handle, and the outer wall of the threaded rod two is fixedly connected with a rotating handle two.

[0008] Further, an outer wall of the bottom of the feeding box is provided with a feeding mechanism, the feeding mechanism comprises a motor, an outer wall of the top of the motor is fixedly connected with the outer wall of the bottom of the feeding box, and a bottom output shaft of the motor is fixedly connected with a transmission rod through a shaft coupling.

[0009] Further, an outer wall of one end of the transmission rod away from the motor is fixedly connected with a transmission wheel, an outer wall of the transmission wheel is transmissionally connected with a transmission belt, and an inner wall of one end of the transmission belt away from the transmission wheel is transmissionally connected with a transmission wheel two.

[0010] Further, the outer wall of the transmission wheel two is fixedly connected with the outer wall of the rotating rod, an outer wall of one end of the rotating rod away from the transmission wheel two is fixedly connected with a transmission wheel three, an outer wall of the transmission wheel three is transmissionally connected with a transmission belt two, and an inner wall of one end of the transmission belt two away from the transmission wheel three is transmissionally connected with a transmission wheel four.

[0011] Further, the outer wall of the transmission wheel four is rotatably connected with the outer wall of the feeding box, the outer wall of the transmission wheel four is fixedly connected with a convex shaft rod, the outer wall of the convex shaft rod is rotatably connected with a rotating shaft rod, one end of the rotating shaft rod away from the convex shaft rod is rotatably connected with a rotating shaft rod two, and the bottom inner wall of the rotating shaft rod two is rotatably connected with the outer wall of the transmission seat.

[0012] Further, the outer wall of the rotating shaft rod two is rotatably connected with a sliding rod, the outer wall of the sliding rod is slidably connected with a sliding sleeve, the outer wall of the sliding sleeve is rotatably connected with a fixed plate two, the outer wall of the fixed plate two is fixedly connected with the outer wall of the transmission seat, and the outer walls of the plurality of sliding rods are fixedly connected with telescopic plates.

[0013] Further, the inner wall of the telescopic plate is slidably connected with a plurality of slide rods two, the slide rods two penetrate the telescopic plate to the outer wall, and the outer wall of the plurality of slide rods two is fixedly connected with a fixed plate three.

[0014] Further, the outer wall of one end of the fixed plate three close to the telescopic plate is fixedly connected with a plurality of springs, the outer wall of one end of the plurality of springs away from the fixed plate three is fixedly connected with the telescopic plate, and the outer wall of one end of the fixed plate three away from the telescopic plate is fixedly connected with a plurality of suction cups.

[0015] The utility model has the following beneficial effects:

[0016] 1, the utility model discloses a displacement seat is set up, if need to adjust the position of camera only needs to rotate the handlebar, handlebar drives screw rod rotation, screw rod drives extension rod displacement, screw rod drives displacement seat displacement, displacement seat drives camera displacement, if need to adjust the position of camera to both sides only needs to rotate handlebar two, handlebar two drive screw rod two rotation, screw rod two drive extension rod two displacement to both sides, extension rod two drive displacement seat two displacement, displacement seat two drive camera displacement to both sides, stop rotating handlebar and handlebar two after camera is moved to the appropriate position, can, reach can freely and flexibly to camera carry out multidirectional movement, make its scanning area range more comprehensive, satisfy the action of different observation point data acquisition demand under various use scenes.

[0017] 2, the utility model discloses a suction cup is set up, motor drives transmission rod rotation, transmission rod drives transmission wheel rotation, transmission wheel drives transmission belt rotation, transmission belt drive transmission wheel two rotation, transmission wheel two drive rotating rod rotation, rotating rod drive transmission belt and transmission wheel three rotation, transmission wheel three drive transmission belt two rotation, transmission belt two drive transmission wheel four rotation, transmission wheel four drive the one end rotation of convex axle rod, convex axle rod drive rotating shaft rod reciprocating displacement, rotating shaft rod drive rotating shaft rod two reciprocating rotation, rotating shaft rod two drive slide rod reciprocating displacement, slide rod drive telescopic plate reciprocating rotation, telescopic plate drive fixed plate three displacement, fixed plate three drive a plurality of suction cups reciprocating displacement, reach can automatically take out single material board from the material board of piling up and place it on the surface of transmission belt to transmission displacement to the action of improving production and processing efficiency, benefit camera to carry out comprehensive scanning to distinguish whether there is a flaw.

[0018] Of course, implementing any product of the utility model does not necessarily need to achieve all the advantages mentioned above at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description, obviously, the drawings described in the following description are only some embodiments of the present application, and for the ordinary skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0020] Figure 1 It is a whole structure schematic view of the present application.

[0021] Figure 2 It is a scanning mechanism sectional view of the present application.

[0022] Figure 3 It is the present application Figure 2 It is an enlarged view of A in the middle.

[0023] Figure 4 It is a feeding mechanism schematic view of the present application.

[0024] Figure 5 It is a motor structure schematic view of the present application.

[0025] In the drawings, the component list represented by each number is as follows:

[0026] 1, transmission seat; 101, rotating rod; 102, transmission belt; 103, robot; 104, suction cup claw; 2, scanning mechanism; 201, feeding box; 202, telescopic sleeve; 203, threaded rod; 204, extension rod; 205, displacement seat; 206, displacement groove; 207, camera; 208, fixed plate; 209, telescopic sleeve two; 210, threaded rod two; 211, extension rod two; 212, displacement seat two; 213, displacement groove two; 214, handlebar; 215, handlebar two; 3, feeding mechanism; 301, motor; 302, transmission rod; 303, transmission wheel; 304, transmission belt; 305, transmission wheel two; 306, transmission wheel three; 307, transmission belt two; 308, transmission wheel four; 309, convex shaft rod; 310, rotating shaft rod; 311, rotating shaft rod two; 312, sliding rod; 313, sliding sleeve; 314, fixed plate two; 315, telescopic plate; 316, sliding rod two; 317, fixed plate three; 318, spring; 319, suction cup. DETAILED DESCRIPTION

[0027] The technical scheme in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application, obviously, the described embodiments are only some embodiments of the present application, and for the ordinary skilled in the art, all other embodiments obtained without creative labor on the basis of these drawings also belong to the protection scope of the present application.

[0028] Referring to Figures 1-5 As shown in the figure, the utility model is a kind of based on machine vision and robot feeding device, including transmission seat 1, the inner wall of transmission seat 1 is rotatably connected with several rotating rods 101, the outer wall of several rotating rods 101 is drivingly connected with transmission belt 102, the outer wall of transmission seat 1 is fixedly connected with robot 103, transmission seat 1 to several rotating rods 101 mainly play the role of rotary limit, several rotating rods 101 can only rotate in fixed position, the outer wall of robot 103 is fixedly connected with sucking disc jaw 104, the outer wall of transmission seat 1 is provided with scanning mechanism 2;

[0029] Scanning mechanism 2 includes feeding box 201, the outer wall of feeding box 201 is fixedly connected with telescopic sleeve 202, the inner wall of telescopic sleeve 202 is rotatably connected with threaded rod 203, threaded rod 203 penetrates telescopic sleeve 202 to the outer wall, telescopic sleeve 202 to threaded rod 203 mainly play the role of rotary limit, threaded rod 203 can only rotate in fixed position, the outer wall of threaded rod 203 is drivingly connected with extension rod 204, the outer wall of extension rod 204 is slidably connected with the inner wall of telescopic sleeve 202, the outer wall of the end of extension rod 204 away from telescopic sleeve 202 is fixedly connected with displacement seat 205, telescopic sleeve 202 to extension rod 204 mainly play the role of sliding limit, extension rod 204 can only slide displacement of fixed angle in fixed range, the inner wall of displacement seat 205 is provided with displacement groove 206, the inner wall of displacement groove 206 is slidably connected with camera 207, the outer wall of the end of feeding box 201 away from telescopic sleeve 202 is fixedly connected with fixed plate 208, the inner wall of fixed plate 208 is fixedly connected with telescopic sleeve two 209, displacement groove 206 to camera 207 play the role of sliding limit, camera 207 can only slide displacement in fixed range, the inner wall of telescopic sleeve two 209 is rotatably connected with threaded rod two 210, threaded rod two 210 penetrates telescopic sleeve two 209 to the outer wall, the outer wall of threaded rod two 210 is drivingly connected with extension rod two 211, telescopic sleeve two 209 to threaded rod two 210 mainly play the role of rotary limit, threaded rod two 210 can only rotate in fixed position, the outer wall of the end of extension rod two 211 away from telescopic sleeve two 209 is fixedly connected with displacement seat two 212, the inner wall of displacement seat two 212 is provided with displacement groove two 213, the inner wall of displacement groove two 213 is slidably connected with the outer wall of camera 207, extension rod two 211 to displacement seat two 212 mainly play the role of driving displacement, extension rod two 211 displacement will drive displacement seat two 212 and displacement, the outer wall of threaded rod 203 is fixedly connected with handle 214, the outer wall of threaded rod two 210 is fixedly connected with handle two 215, the shape of handle 214 can be conveniently held by user and rotated, handle 214 rotates and will drive threaded rod two 210 and rotate.

[0030] The transmission seat 1 limits the rotating rod 101 to rotate only at fixed positions, the telescopic sleeve 202 limits the threaded rod 203 to rotate only at fixed positions, the telescopic sleeve 202 limits the extension rod 204 to fixed-angle sliding displacement only within a fixed range, the displacement slot 206 limits the camera 207 to sliding displacement only within a fixed range, the telescopic sleeve two 209 limits the threaded rod two 210 to rotate only at fixed positions, and the extension rod two 211 drives the displacement seat two 212 to displace when it displaces.

[0031] The bottom outer wall of the feeding box 201 is provided with a feeding mechanism 3. The feeding mechanism 3 comprises a motor 301, the top outer wall of the motor 301 is fixedly connected with the bottom outer wall of the feeding box 201, the bottom output shaft of the motor 301 is fixedly connected with a transmission rod 302 through a shaft coupling, the motor 301 mainly provides kinetic energy for the transmission rod 302, and the motor 301 drives the transmission rod 302 to rotate when it is started. The outer wall of one end of the transmission rod 302 away from the motor 301 is fixedly connected with a transmission wheel 303, the outer wall of the transmission wheel 303 is drivingly connected with a transmission belt 304, the inner wall of one end of the transmission belt 304 away from the transmission wheel 303 is drivingly connected with a transmission wheel two 305, the transmission belt 304 drives the transmission wheel two 305, the transmission wheel 303 drives the transmission belt 304 to rotate when it rotates, the transmission belt 304 drives the transmission wheel two 305 to rotate when it rotates, the outer wall of the transmission wheel two 305 is fixedly connected with the outer wall of the rotating rod 101, the outer wall of one end of the rotating rod 101 away from the transmission wheel two 305 is fixedly connected with a transmission wheel three 306, the outer wall of the transmission wheel three 306 is drivingly connected with a transmission belt two 307, the inner wall of one end of the transmission belt two 307 away from the transmission wheel three 306 is drivingly connected with a transmission wheel four 308, the transmission belt two 307 drives the transmission wheel four 308, the transmission wheel three 306 drives the transmission belt two 307 to rotate when it rotates, the transmission belt two 307 drives the transmission wheel four 308 to rotate when it rotates, and the outer wall of the transmission wheel four 308 is rotatably connected with the outer wall of the feeding box 201. The outer wall of the transmission wheel four 308 is fixedly connected with a convex shaft rod 309, the outer wall of the convex shaft rod 309 is rotatably connected with a rotating shaft rod 310. The feeding box 201 mainly plays a rotating limiting role for the transmission wheel four 308, and the transmission wheel four 308 can only rotate at fixed positions.

[0032] The motor 301 drives the transmission rod 302 to rotate when it is started, the transmission wheel 303 drives the transmission belt 304 to rotate when it rotates, the transmission belt 304 drives the transmission wheel two 305 to rotate when it rotates, the transmission wheel three 306 drives the transmission belt two 307 to rotate when it rotates, the transmission belt two 307 drives the transmission wheel four 308 to rotate when it rotates, and the feeding box 201 limits the transmission wheel four 308 to rotate only at fixed positions.

[0033] The outer wall of one end of the rotating shaft rod 310 away from the convex shaft rod 309 is rotatably connected with a rotating shaft rod two 311, the inner wall of the bottom of the rotating shaft rod two 311 is rotatably connected with the outer wall of the transmission seat 1, the outer wall of the rotating shaft rod two 311 is rotatably connected with a sliding rod 312, the outer wall of the sliding rod 312 is slidably connected with a sliding sleeve 313, the sliding sleeve 313 plays a sliding limiting role on the sliding rod 312, the sliding rod 312 can only slide and displace in the sliding sleeve 313, the outer wall of the sliding sleeve 313 is rotatably connected with a fixed plate two 314, the outer wall of the fixed plate two 314 is fixedly connected with the outer wall of the transmission seat 1, the outer wall of the plurality of sliding rods 312 is fixedly connected with an expansion plate 315, the transmission seat 1 mainly plays a fixed limiting role on the fixed plate two 314, the fixed plate two 314 can only be fixedly positioned and cannot displace, the inner wall of the expansion plate 315 is slidably connected with a plurality of sliding rods two 316, the sliding rods two 316 penetrate through the expansion plate 315 to the outer wall, the outer wall of the plurality of sliding rods two 316 is fixedly connected with a fixed plate three 317, one end of the outer wall of the fixed plate three 317 close to the expansion plate 315 is fixedly connected with a plurality of springs 318, the expansion plate 315 plays a sliding limiting role on the plurality of sliding rods two 316, the plurality of sliding rods two 316 can only slide and displace in a fixed range, one end of the outer wall of the plurality of springs 318 away from the fixed plate three 317 is fixedly connected with the expansion plate 315, one end of the outer wall of the fixed plate three 317 away from the expansion plate 315 is fixedly connected with a plurality of suction cups 319, the plurality of springs 318 play an automatic resetting role on the expansion plate 315, when the expansion plate 315 displaces, the springs 318 will drive the expansion plate 315 to automatically reset relying on the physical properties of the springs 318.

[0034] The sliding rod 312 can only slide and displace in the sliding sleeve 313, the transmission seat 1 limits the fixed plate two 314 to be fixedly positioned and cannot displace, and the expansion plate 315 limits the plurality of sliding rods two 316 to be able to only slide and displace in a fixed range, when the expansion plate 315 displaces, the springs 318 will drive the expansion plate 315 to automatically reset relying on the physical properties of the springs 318.

[0035] One specific application of the embodiment is:

[0036] When the staff needs to use the device, if it is necessary to adjust the position of the camera 207 forward, only need to turn the handle 214, the handle 214 drives the threaded rod 203 to rotate, the threaded rod 203 drives the extension rod 204 to displace forward, the threaded rod 203 drives the displacement seat 205 to displace, the displacement seat 205 drives the camera 207 to displace forward, if it is necessary to adjust the position of the camera 207 to both sides, only need to turn the handle two 215, the handle two 215 drives the threaded rod two 210 to rotate, the threaded rod two 210 drives the extension rod two 211 to displace to both sides, the extension rod two 211 drives the displacement seat two 212 to displace, the displacement seat two 212 drives the camera 207 to displace to both sides, stop turning the handle 214 and the handle two 215 after moving the camera 207 to the appropriate position, can directly place the material plate vertically in the feeding box 201, then start the motor 301, the motor 301 drives the transmission rod 302 to rotate, the transmission rod 302 drives the transmission wheel 303 to rotate, the transmission wheel 303 drives the transmission belt 304 to rotate, the transmission belt 304 drives the transmission wheel two 305 to rotate, the transmission wheel two 305 drives the rotating rod 101 to rotate, the rotating rod 101 drives the transmission belt 102 and the transmission wheel three 306 to rotate, the transmission wheel three 306 drives the transmission belt two 307 to rotate, the transmission belt two 307 drives the transmission wheel four 308 to rotate, the transmission wheel four 308 drives one end of the convex shaft rod 309 to rotate, the convex shaft rod 309 drives the rotating shaft rod 310 to reciprocate, the rotating shaft rod 310 drives the rotating shaft rod two 311 to rotate back and forth, the rotating shaft rod two 311 drives the slide rod 312 to reciprocate, the slide rod 312 drives the telescopic plate 315 to rotate back and forth, the telescopic plate 315 drives the fixed plate three 317 to displace, the fixed plate three 317 drives a plurality of suction cups 319 to displace back and forth, a plurality of suction cups 319 will displace back and forth in the process will place the material plate vertically in the feeding box 201 horizontally on the surface of the transmission belt 102, the transmission belt 102 will drive the material plate on the surface to displace when rotating, the material plate will pass through the scanning range of the camera 207 in the process of displacement, the camera 207 will send the scanned information to the robot 103, if the defective material plate is scanned, the robot 103 will drive the suction cup jaw 104 to move it away from the surface of the transmission belt 102 alone.

[0037] In the description of the present specification, the description of the terms "one embodiment", "example", "specific example" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0038] The preferred embodiments disclosed above are only used to help describe the utility model. The preferred embodiments do not describe all the details and do not limit the utility model to the specific embodiments. Obviously, according to the content of the specification, many modifications and changes can be made. The specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that the persons skilled in the art can well understand and utilize the utility model. The utility model is limited by the claims and the entire scope and equivalents thereof.

Claims

1. A feeding device based on machine vision and robot, comprising a transfer seat (1), characterized in that: The inner wall of the transmission seat (1) is rotationally connected with a plurality of rotating rods (101), the outer wall of the plurality of rotating rods (101) is drivingly connected with a transmission belt (102), the outer wall of the transmission seat (1) is fixedly connected with a robot (103), the outer wall of the robot (103) is fixedly connected with a suction claw (104), and the outer wall of the transmission seat (1) is provided with a scanning mechanism (2). The outer wall of the extension rod (204) is slidingly connected with the inner wall of the telescopic sleeve (202), and the outer wall of the extension rod (204) away from the telescopic sleeve (202) is fixedly connected with a displacement seat (205). The inner wall of the displacement seat (205) is provided with a displacement groove (206), and the inner wall of the displacement groove (206) is slidingly connected with a camera (207). The outer wall of the telescopic sleeve (202) is fixedly connected with a fixed plate (208) on one end away from the telescopic sleeve (202), and the inner wall of the fixed plate (208) is fixedly connected with a telescopic sleeve (209). The inner wall of the telescopic sleeve (209) is rotationally connected with a threaded rod (210), and the threaded rod (210) penetrates through the telescopic sleeve (209) to the outer wall. The outer wall of the threaded rod (210) is drivingly connected with an extension rod (211), and the outer wall of the extension rod (211) away from the telescopic sleeve (209) is fixedly connected with a displacement seat (212). The inner wall of the displacement seat (212) is provided with a displacement groove (213), and the inner wall of the displacement groove (213) is slidingly connected with the outer wall of the camera (207). The outer wall of the threaded rod (203) is fixedly connected with a rotating handle (214), and the outer wall of the threaded rod (210) is fixedly connected with a rotating handle (215).

2. The feeding device based on machine vision and robot according to claim 1, characterized in that, The bottom outer wall of the feeding box (201) is provided with a feeding mechanism (3), and the feeding mechanism (3) comprises a motor (301). The top outer wall of the motor (301) is fixedly connected with the bottom outer wall of the feeding box (201), and the bottom output shaft of the motor (301) is fixedly connected with a transmission rod (302) through a shaft coupling. 3.The feeding device based on machine vision and robot according to claim 2, characterized in that, The outer wall of the transmission rod (302) away from the motor (301) is fixedly connected with a transmission wheel (303), the outer wall of the transmission wheel (303) is drivingly connected with a transmission belt (304), and the inner wall of one end of the transmission belt (304) away from the transmission wheel (303) is drivingly connected with a transmission wheel (305).

4. The feeding device based on machine vision and robot according to claim 3, characterized in that, The outer wall of the transmission wheel two (305) is fixedly connected with the outer wall of the rotating rod (101), one end of the outer wall of the rotating rod (101) away from the transmission wheel two (305) is fixedly connected with the transmission wheel three (306), the outer wall of the transmission wheel three (306) is drivingly connected with the transmission belt two (307), one end of the inner wall of the transmission belt two (307) away from the transmission wheel three (306) is drivingly connected with the transmission wheel four (308).

5. The machine vision and robot based feeding device according to claim 4, characterized in that, The outer wall of the transmission wheel four (308) is rotatably connected with the outer wall of the feeding box (201), the outer wall of the transmission wheel four (308) is fixedly connected with the convex shaft rod (309), the outer wall of the convex shaft rod (309) is rotatably connected with the rotating shaft rod (310), one end of the outer wall of the rotating shaft rod (310) away from the convex shaft rod (309) is rotatably connected with the rotating shaft rod two (311), the bottom inner wall of the rotating shaft rod two (311) is rotatably connected with the outer wall of the transmission seat (1).

6. The feeding device based on machine vision and robot according to claim 5, characterized in that, The outer wall of the rotating shaft rod two (311) is rotatably connected with the sliding rod (312), the outer wall of the sliding rod (312) is slidingly connected with the sliding sleeve (313), the outer wall of the sliding sleeve (313) is rotatably connected with the second fixed plate (314), the outer wall of the second fixed plate (314) is fixedly connected with the outer wall of the transmission seat (1), the outer wall of the plurality of sliding rods (312) is fixedly connected with the telescopic plate (315).

7. The feeding device based on machine vision and robot according to claim 6, characterized in that, The inner wall of the telescopic plate (315) is slidingly connected with a plurality of sliding rods two (316), the sliding rods two (316) penetrate through the telescopic plate (315) to the outer wall, the outer wall of the plurality of sliding rods two (316) is fixedly connected with the third fixed plate (317). 8.The feeding device based on machine vision and robot according to claim 7, characterized in that, The outer wall of the third fixed plate (317) is fixedly connected with a plurality of springs (318) at one end away from the telescopic plate (315), the outer wall of the plurality of springs (318) is fixedly connected with the telescopic plate (315) at one end away from the third fixed plate (317), the outer wall of the third fixed plate (317) is fixedly connected with a plurality of suction cups (319) at one end away from the telescopic plate (315).

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