Tool knife intelligent assembling equipment based on machine vision

Abstract

This utility model discloses a machine vision-based intelligent assembly device for utility knives. The utility knife includes a blade and a knife holder. The intelligent assembly device includes a knife holder acquisition device, a blade storage bin, a pushing component, and a knife holder lifting device. The blade acquisition device is configured to acquire the knife holder. The blade storage bin has a placement bin and a discharge port located at the bottom of the placement bin. The pushing component is configured to push the blades in the placement bin out of the discharge port. The knife holder lifting device is configured to move the knife holder vertically from a first position to a second position. Specifically, the pushing component pushes the blades in the placement bin from the discharge port to above the knife holder, and then the knife holder lifting device moves the knife holder upward to the second position so that the connecting post on the knife holder extends into the connecting hole of the blade, thereby assembling the blade into the knife holder. Compared with the prior art, this solution improves the assembly efficiency and accuracy of utility knives.

Description

Technical Field

[0001] This utility model relates to the field of automated assembly equipment, and in particular to a smart assembly equipment for utility knives based on machine vision. Background Technology

[0002] A utility knife generally includes components such as a blade, a blade holder, and a blade housing. The blade and the blade holder are movably connected and assembled into the inner cavity of the blade housing. The user can extend or retract the blade within the blade housing by pushing or pulling the blade holder.

[0003] Traditional tool knife assembly relies on manual operation, resulting in low assembly efficiency, poor positioning accuracy, and a high rate of defective products. During manual assembly, the alignment of the connecting holes on the blade with the connecting posts on the tool holder is entirely manual, leading to low assembly efficiency.

[0004] Therefore, it is necessary to propose a new technical solution to overcome the shortcomings of existing technologies. Utility Model Content

[0005] To address the aforementioned problems, this utility model provides an intelligent tool knife assembly device based on machine vision, which improves the assembly efficiency of tool knives.

[0006] This utility model provides a machine vision-based intelligent assembly device for utility knives, wherein the utility knife includes a blade and a blade holder; the intelligent assembly device for utility knives includes: A tool holder acquisition device configured to acquire the tool holder; A blade feed container, which has a storage compartment and a discharge port located at the bottom of the storage compartment; A pusher component configured to push the blades within the placement chamber out of the discharge port; and A tool holder lifting device is configured to move the tool holder vertically from a first position to a second position. The pushing component pushes the blade in the placement chamber from the discharge port to above the blade holder. Then, the blade holder lifting device moves the blade holder upward to a second position so that the connecting post on the blade holder extends into the connecting hole of the blade, so that the blade is assembled into the blade holder.

[0007] Several alternative methods are provided below, but they are not intended as additional limitations on the overall solution above. They are merely further additions or optimizations. Provided there are no technical or logical contradictions, each alternative method can be combined individually with respect to the overall solution above, or multiple alternative methods can be combined with each other.

[0008] Optionally, the blades are stacked in a storage compartment; The discharge port is located at the bottom of the placement chamber, so that the pushing component pushes the bottommost blade in the placement chamber out of the discharge port.

[0009] Optionally, the height of the discharge port is higher than or equal to the thickness of a single blade; The height of the discharge port is lower than the thickness of the two blades.

[0010] Optionally, the pusher component includes: A pusher, movably disposed at the bottom of the placement chamber, is capable of pushing the bottommost blade within the placement chamber out of the discharge port; and The first output component is used to drive the pusher.

[0011] Optionally, the blade container also has a groove for the pusher to slide, the groove being located at the bottom of the placement container; The width of the groove is less than the length of the blade.

[0012] Optionally, the pusher abuts against the side of the bottommost blade in the placement chamber to push the blade out of the placement chamber; The placement chamber has a clearance area to avoid the pusher.

[0013] Optionally, the intelligent tool assembly device further includes: A fixed base having a receiving area and an assembly area, the receiving area being configured to receive a tool holder acquired by the tool holder acquiring device, and the assembly area having a channel for the tool holder lifting device to extend out. A movable seat, movably configured on the fixed seat, is capable of moving the tool holder in the receiving area to the assembly area; and The second output component is used to drive the movable seat to move.

[0014] Optionally, the tool holder lifting device includes: A lifting component, which is movably disposed within the channel, is located below the tool holder in the assembly area; The third output component is used to drive the lifting component.

[0015] Optionally, the intelligent tool assembly device further includes: A blade casing acquisition device, configured to acquire a blade casing; An assembly actuator configured to assemble the assembled blade and the blade holder into the blade housing; and A machine vision device is used to acquire the position information of the blade housing in order to guide the assembly execution device to assemble the blade and the blade holder into the blade housing.

[0016] Optionally, the intelligent tool assembly device further includes: frame; A clamp is movably mounted on the frame, the clamp being configured to hold the blade shell acquired by the blade shell acquiring device; A blade tail acquisition device, configured to acquire the blade tail; A blade tail assembly device configured to assemble a blade tail acquired by the blade tail acquisition device into the blade housing; and A material handling device configured to remove the assembled tool knife from the fixture.

[0017] This invention relates to an intelligent tool knife assembly device based on machine vision. A tool holder acquisition device acquires the tool holder; a blade hopper releases single blades through a discharge port; a pushing component pushes the blades from the hopper from the discharge port to above the tool holder; a tool holder lifting device raises the tool holder vertically from a first position to a second position, allowing the connecting post at the top of the tool holder to insert into the connecting hole of the blade, completing the assembly of the blade and the tool holder. This achieves fully automated docking of the tool holder and blade, significantly improving the assembly efficiency and accuracy of the tool knife. Attached Figure Description

[0018] Figure 1 A schematic diagram of the structure of a machine vision-based intelligent assembly device for utility knives is provided as an embodiment of this utility model. Figure 2 for Figure 1 Another structural diagram of the intelligent assembly equipment for medium-sized utility knives; Figure 3 for Figure 1 Schematic diagram of the structure of a medium-sized tool; Figure 4 for Figure 1 A partial structural diagram of a smart assembly equipment for medium-sized cutting tools; Figure 5 for Figure 1 A partial structural diagram of a smart assembly equipment for medium-sized cutting tools; Figure 6 for Figure 5 A schematic diagram of a local structure in the image; Figure 7 for Figure 6 The structural sectional view in the middle; Figure 8 for Figure 5 A schematic diagram of a local structure in the image; Figure 9 for Figure 8 Structural sectional view; Figure 10 for Figure 9 A magnified structural diagram of part A in the diagram; Figure 11 for Figure 8 Structural sectional view; Figure 12 for Figure 11 A magnified structural diagram of part B in the diagram; Figure 13 for Figure 1 A schematic diagram of the middle cutter tail acquisition device and the cutter tail assembly device; Figure 14 for Figure 13 A schematic diagram of the omitted part of the structure; Figure 15 for Figure 1 A schematic diagram of the material handling device.

[0019] The annotations in the figure are explained as follows: 100. Intelligent assembly equipment for utility knives; 101. Frame; 102. Fixture; 103. Transmission belt; 10. Utility knife; 11. Knife housing; 12. Blade; 121. Connecting hole; 13. Knife holder; 131. Connecting post; 14. Knife tail; 20. Blade casing acquisition device; 21. Blade casing waiting assembly; 211. Blade casing gripper; 22. Blade casing clamping claw; 30. Tool holder acquisition device; 31. Tool holder vibrating plate; 32. Tool holder conveyor line; 33. Fixed seat; 34. Movable seat; 341. Receiving cavity; 35. Second output component; 36. Tool holder lifting device; 361. Lifting component; 362. Third output component; 40. Blade hopper; 41. Blade holder; 42. Placement section; 421. Placement slot; 43. Placement bin; 431. Discharge port; 432. Clearance area; 50. Pushing component; 51. Pushing part; 52. First output component; 60. Equipped with an actuator; 61. Push rod; 62. Fourth output component; 70. Blade tail acquisition device; 71. Blade tail vibrating plate; 72. Blade tail conveyor line; 80. Blade tail assembly device; 81. Blade tail assembly seat; 82. Blade tail transfer seat; 83. Blade tail drive rod; 84. Blade tail drive component; 841. Fifth output component; 842. Sixth output component; 90. Material handling device; 91. Material handling gripper. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] It should be noted that when a component is said to be "connected" to another component, it can be directly connected to the other component or it can be connected to a component in between. When a component is said to be "set on" another component, it can be directly set on the other component or it may be set to a component in between.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0023] like Figures 1 to 15 As shown, this utility model provides a machine vision-based intelligent tool knife assembly device 100. The tool knife 10 includes a blade 12 and a tool holder 13. The intelligent tool knife assembly device 100 includes a tool holder acquisition device 30, a blade storage bin 40, a pushing component 50, and a tool holder lifting device 36. The blade acquisition device 30 is configured to acquire the tool holder 13. The blade storage bin 40 has a placement bin 43 and a discharge port 431 located at the bottom of the placement bin 43. The pushing component 50 is configured to push the blade 12 in the placement bin 43 out of the discharge port 431. The tool holder lifting device 36 is configured to move the tool holder 13 vertically from a first position to a second position. Specifically, the pushing component 50 pushes the blade 12 in the placement bin 43 from the discharge port 431 to above the tool holder 13, and then the tool holder lifting device 36 moves the tool holder 13 upward to the second position so that the connecting post 131 on the tool holder 13 extends into the connecting hole 121 of the blade 12, so that the blade 12 is assembled into the tool holder 13.

[0024] The tool holder acquisition device 30 acquires the tool holder 13; the blade storage bin 40 releases a single blade 12 through the discharge port 431, and the pushing component 50 pushes the blade 12 from the storage bin 43 through the discharge port 431 to above the tool holder 13; the tool holder lifting device 36 drives the tool holder 13 to rise vertically from the first position to the second position, so that the connecting post 131 at the top of the tool holder 13 is inserted into the connecting hole 121 of the blade 12, completing the assembly of the blade 12 and the tool holder 13. This achieves fully automated docking of the tool holder 13 and the blade 12, significantly improving the assembly efficiency and accuracy of the tool 10.

[0025] In this embodiment, as Figures 1 to 2As shown, the utility knife 10 includes a blade 12, a blade holder 13, and a blade housing 11. The blade 12 and the blade holder 13 are movably connected and assembled into the inner cavity of the blade housing 11. The user can extend or retract the blade 12 within the blade housing 11 by pushing or pulling the blade holder 13. Of course, in some embodiments, the utility knife 10 also includes a blade tail 14, which is disposed at the tail of the blade housing 11.

[0026] In this embodiment, as Figures 1 to 2 As shown, the intelligent tool knife assembly equipment 100 also includes a frame 101; the frame 101 is the core support structure of the intelligent tool knife assembly equipment 100. Among them, the tool holder acquisition device 30, the blade material bin 40, the material pushing component 50, and the tool holder lifting device 36 are all configured on the frame 101.

[0027] In this embodiment, as Figures 1 to 2 As shown, the intelligent tool knife assembly equipment 100 also includes a clamp 102, which is movably configured on the frame 101 and is arranged to fix the tool shell 11 acquired by the tool shell acquisition device 20. During the assembly of the tool knife 10, the clamp 102 can fix the tool shell 11 to prevent the tool shell 11 from shifting or being damaged during the assembly process; after the tool knife 10 is assembled, the intelligent tool knife assembly equipment 100 can separate from the tool shell 11 to facilitate the removal of the assembled tool knife 10.

[0028] In this embodiment, as Figures 1 to 2 As shown, the structure of the fixture 102 is not strictly limited; it only needs to be able to fix and release the tool housing 11. There are multiple fixtures 102. The intelligent tool assembly equipment 100 also includes a transmission belt 103 configured on the frame 101. The fixtures 102 are sequentially spaced on the transmission belt 103, which can drive the fixtures 102 to move, facilitating the assembly of the tool 10. Through the configuration of the transmission belt 103 and the fixtures 102, the assembly process of the tool 10 is automated, efficient, and scalable, significantly improving the flexible manufacturing capability and assembly consistency of the production line.

[0029] In this embodiment, as Figures 1 to 4 As shown, the intelligent tool assembly equipment 100 also includes a tool shell acquisition device 20, which is configured to acquire tool shells 11. The tool shell acquisition device 20 is disposed on the frame 101; the tool shell acquisition device 20 can place the acquired tool shells 11 on a fixture 102, and the fixture 102 is moved to the next station for assembly by the transmission belt 103.

[0030] In this embodiment, as Figure 4As shown, the blade shell acquisition device 20 includes a blade shell waiting assembly 21 and a blade shell gripper 22. The blade shell gripper 22 grasps the blade shell 11 at the blade shell waiting assembly 21 and then transfers the blade shell 11 to the fixture 102. The blade shell waiting assembly 21 includes two blade shell grippers 211, which grip both ends of the blade shell 11 to form initial positioning and stable support for the blade shell 11. The blade shell gripper 22 grips the middle position of the blade shell 11 to smoothly transfer the blade shell 11 from the blade shell waiting assembly 21 to the fixture 102 on the conveyor belt. Both the blade shell grippers 211 and the blade shell gripper 22 can adopt existing technologies, which will not be further described here; for example, both the blade shell grippers 211 and the blade shell gripper 22 are pneumatic grippers.

[0031] In this embodiment, as Figures 5 to 7 As shown, the tool holder acquisition device 30 includes a tool holder vibrating plate 31 and a tool holder conveying line 32; the tool holder vibrating plate 31 realizes automatic sorting and directional conveying of the tool holders 13 through vibration, ensuring that each tool holder 13 enters the subsequent process in a uniform posture; the tool holder conveying line 32 has a tool holder 13 conveying channel, which is connected to the discharge port 431 of the tool holder vibrating plate 31, forming a continuous and stable conveying path.

[0032] In this embodiment, as Figures 5 to 7 As shown, the intelligent tool assembly device 100 also includes a fixed base 33, a movable base 34, and a second output component 35. The fixed base 33 has a receiving area and an assembly area. The receiving area is configured to receive the tool holder 13 acquired by the tool holder acquisition device 30, and the assembly area has a channel for the tool holder lifting device 36 to extend. The movable base 34 is movably configured on the fixed base 33 so as to push the tool holder 13 in the receiving area to the assembly area. The second output component 35 is used to drive the movable base 34 to move. First, the tool holder acquisition device 30 transports the tool holder 13 to the receiving area of ​​the fixed seat 33; then, the second output component 35 is activated, driving the movable seat 34 to move, and the movable seat 34 moves the tool holder 13 in the receiving area to the assembly area; when the tool holder 13 reaches the designated position in the assembly area, the tool holder lifting device 36 extends through the channel, driving the tool holder 13 to rise vertically from the first position to the second position, so that the connecting post 131 of the tool holder 13 extends into the connecting hole 121 of the blade 12 to complete the insertion; finally, the movable seat 34 retracts to the initial position, waiting for the next round of tool holder 13 input.

[0033] In this embodiment, as Figures 5 to 7 As shown, the position of the fixed base 33 is fixed relative to the position of the tool holder conveyor line 32 and is connected to the tool holder conveyor line 32 so that the tool holder 13 output from the tool holder conveyor line 32 enters the receiving area. The fixed base 33 has a horizontal area, and both the receiving area and the assembly area are located in the horizontal area so that they are at the same level.

[0034] In this embodiment, as Figures 5 to 7 As shown, the structure of the movable seat 34 is not strictly limited; for example, the movable seat 34 is generally a block structure. The movable seat 34 is located above the fixed seat 33; the fixed seat 33 has a groove to guide the movable seat 34 so as to guide the movement path of the movable seat 34. The bottom of the movable seat 34 has a receiving cavity 341; the receiving cavity 341 is open at the bottom and on both sides of the movable seat 34. When the receiving area receives the tool holder 13 acquired by the tool holder acquisition device 30, the tool holder 13 will be located in the receiving cavity 341; when the tool holder lifting device 36 moves the tool holder 13 upward to the second position, the receiving cavity 341 can guide the movement of the tool holder 13.

[0035] In this embodiment, as Figures 5 to 7 As shown, the second output component 35 is a cylinder or a push rod 61 motor. Specifically, the cylinder body of the second output component 35 is fixed to the fixed seat 33 by means of bolts or the like; the piston rod of the second output component 35 is connected to the movable seat 34 by means of bolts or the like.

[0036] In this embodiment, as Figures 5 to 7 As shown, the tool holder lifting device 36 includes a lifting member 361 and a third output member 362. The lifting member 361 is movably disposed within the channel and is located below the tool holder 13 in the assembly area. The third output member 362 is used to drive the lifting member 361. When the tool holder 13 is transferred to the assembly area by the movable seat 34, the third output member 362 drives the lifting member 361 to rise vertically from the bottom of the channel. After the top of the lifting member 361 contacts the bottom of the tool holder 13, it continuously applies force to push the tool holder 13 upward, causing the connecting post 131 of the tool holder 13 to extend into the connecting hole 121 of the blade 12. After assembly, the third output member 362 reverses its action, causing the lifting member 361 to descend to the initial position.

[0037] In this embodiment, as Figures 5 to 7 As shown, the structure of the lifting member 361 is not strictly limited; for example, the lifting member 361 is generally a block structure. The top of the lifting member 361 can contact the tool holder 13 so that the lifting member 361 can drive the tool holder 13 to move in the vertical direction.

[0038] In this embodiment, as Figures 5 to 7 As shown, the third output component 362 is a cylinder or a push rod 61 motor. Specifically, the cylinder body of the third output component 362 is fixed to the frame 101 by means of bolts or the like; the piston rod of the third output component 362 is connected to the lifting component 361 by means of bolts or the like.

[0039] In this embodiment, as Figure 5 as well as Figures 8 to 12As shown, the blade storage bin 40 includes a blade holder 41 and two placement portions 42; the two placement portions 42 are fixed side by side on the blade holder 41. Each placement portion 42 has a placement groove 421, and the placement grooves 421 on the two placement portions 42 are arranged opposite each other to form a placement bin 43; both ends of the blade 12 are placed in their respective placement grooves 421. The placement portions 42 are generally rod-shaped and are fixed to the blade holder 41 by welding, bonding, or bolting.

[0040] In this embodiment, as Figure 5 as well as Figures 8 to 12 As shown, the blades 12 are stacked in the placement chamber 43; the discharge port 431 is located at the bottom of the placement chamber 43, so that the pushing member 50 pushes the bottommost blade 12 in the placement chamber 43 out of the discharge port 431. After the pushing member 50 pushes the bottommost blade 12 out of the discharge port 431, the upper blades 12 automatically fall down to fill the gap due to gravity, ensuring that each pushing action can accurately push the current bottommost blade 12, improving the continuity and stability of the blade 12 feeding.

[0041] In this embodiment, as Figure 5 as well as Figures 8 to 12 As shown, the height of the discharge port 431 is higher than or equal to the thickness of a single blade 12; the height of the discharge port 431 is lower than the thickness of two blades 12. When the pushing member 50 applies a pushing force, only the bottommost single blade 12 can pass through the discharge port 431, while the stacked blades 12 above cannot be pushed out simultaneously due to the height limitation of the discharge port 431. This ensures that the pushing member 50 can accurately push the single blade 12 with each pushing action, ensuring compatibility with subsequent assembly processes.

[0042] In this embodiment, as Figure 5 as well as Figures 8 to 12 As shown, the pushing component includes a pushing member 51 and a first output member 52; the pushing member 51 is movably disposed at the bottom of the placement chamber 43 to push the bottommost blade 12 in the placement chamber 43 out of the discharge port 431; the first output member 52 is used to drive the pushing member 51. The first output member 52 drives the pushing member 51 to move from the initial position; after the pushing member 51 contacts the bottommost blade 12, it continuously applies a pushing force to push the blade 12 out of the discharge port 431.

[0043] In this embodiment, as Figure 5 as well as Figures 8 to 12 As shown, the pusher 51 is generally block-shaped. The pusher 51 abuts against one side of the bottommost blade 12 within the placement chamber 43 to push the blade 12 out of the placement chamber 43. The blade storage chamber 40 also has a groove for the pusher 51 to slide along; the groove is located at the bottom of the placement chamber 43 to guide the movement path of the pusher 51. The groove is formed on the base of the blade 12.

[0044] In this embodiment, as Figure 5 as well as Figures 8 to 12 As shown, the width of the groove is less than the length of the blade 12 to prevent the blade 12 from falling into the groove. The placement chamber 43 has a clearance area 432 to avoid the pusher 51, ensuring that the pusher 51 does not interfere with the blade 12 when it is horizontally pushing it. The clearance area 432 is formed by the distance between the two placement parts 42.

[0045] In this embodiment, as Figure 5 as well as Figures 8 to 12 As shown, the first output component 52 is a cylinder or push rod 61 motor. Specifically, the cylinder body of the first output component 52 is fixed to the blade holder 41 by means of bolts or the like; the piston rod of the first output component 52 is connected to the pusher component 51 by means of bolts or the like.

[0046] In this embodiment, as Figures 5 to 12 As shown, the intelligent tool knife assembly equipment 100 also includes an assembly execution device 60, which is configured to assemble the assembled blade 12 and the tool holder 13 into the tool housing 11, thereby enabling the pre-assembled blade 12 and the tool holder 13 to be assembled into the tool housing 11, further improving the assembly efficiency of the tool knife 10.

[0047] In this embodiment, as Figures 5 to 12 As shown, the assembly execution device 60 includes a push rod 61 and a fourth output component 62; the fourth output component 62 drives the push rod 61, and the push rod 61 drives the pre-assembled blade 12 and the tool holder 13 to move to the tool housing 11 on the corresponding fixture 102 until the pre-assembled blade 12 and the tool holder 13 are assembled into the tool housing 11.

[0048] In this embodiment, as Figures 5 to 12 As shown, the fourth output component 62 drives the push rod 61, which extends from one side of the receiving cavity 341 into the receiving cavity 341 and engages with the tool holder 13 inside the receiving cavity 341; the fourth output component 62 continuously drives the push rod 61, causing the push rod 61 to push the tool holder 13 and the blade 12 to move towards the tool housing 11 until the blade 12 and the tool holder 13 are assembled into the tool housing 11.

[0049] In this embodiment, as Figures 5 to 12 As shown, the fourth output component 62 is a cylinder or a push rod 61 motor. Specifically, the cylinder body of the fourth output component 62 is fixed to the frame 101 by means of bolts or the like; the piston rod of the fourth output component 62 is connected to the push rod 61 by means of bolts or the like.

[0050] In this embodiment, as Figures 1 to 12As shown, the intelligent tool assembly equipment 100 also includes a machine vision device. The machine vision device acquires the positional information of the tool housing 11 to guide the assembly execution device 60 in assembling the blade 12 and tool holder 13 into the tool housing 11. The machine vision device collects and analyzes the spatial positional information of the tool housing 11 in real time, generating precise positioning coordinates that are fed back to the control system. This guides the assembly execution device 60 to accurately insert the pre-assembled blade 12 and tool holder 13 components into the preset assembly positions of the tool housing 11 on the corresponding fixture 102, achieving closed-loop intelligent control and high-precision automated assembly throughout the entire process. Both the machine vision device and the control system utilize existing technologies; for example, the machine vision device is an industrial camera, and the control system is a PLC.

[0051] In this embodiment, as Figures 1 to 3 as well as Figures 13 to 14 As shown, the intelligent tool assembly equipment 100 also includes a blade tail acquisition device 70 and a blade tail assembly device 80. The blade tail acquisition device 70 is configured to acquire the blade tail 14; the blade tail assembly device 80 is configured to assemble the blade tail 14 acquired by the blade tail acquisition device 70 into the tool housing 11. Both the blade tail acquisition device 70 and the blade tail assembly device 80 are mounted on the frame 101.

[0052] The blade tail assembly device 80 consists of two sets, which are spaced apart along the conveying direction of the transmission belt 103. Correspondingly, there are two sets of blade tail acquisition devices 70, each set of which cooperates with a corresponding blade tail assembly device 80. The two sets of blade tail assembly devices 80 and the two sets of blade tail acquisition devices 70 can assemble different blade tails 14 onto the corresponding blade housing 11.

[0053] In this embodiment, as Figures 1 to 3 as well as Figures 13 to 14 As shown, the blade tail acquisition device 70 includes a blade tail vibrating plate 71 and a blade tail conveying line 72; the blade tail vibrating plate 71 realizes automatic sorting and directional conveying of the blade tails 14 through vibration, ensuring that each blade tail 14 enters the subsequent process in a uniform posture; the blade tail conveying line 72 has a blade tail 14 conveying channel, which is connected to the discharge port 431 of the blade tail vibrating plate 71, forming a continuous and stable conveying path.

[0054] In this embodiment, as Figures 1 to 3 as well as Figures 13 to 15As shown, the tail assembly device 80 includes a tail assembly base 81, a tail transfer base 82, a tail drive rod 83, and a tail drive component 84. The tail assembly base 81 is fixed to the frame 101. The tail transfer base 82 has a tail placement area for placing the tail 14. The tail drive rod 83 can drive the tail 14 in the tail placement area to be assembled into the blade housing 11. The tail drive component 84 drives the tail drive rod 83. The tail conveyor line 72 conveys the tail 14 to the placement area of ​​the tail transfer base 82. The tail drive component 84 drives the tail drive rod 83, which abuts the tail 14 until the tail 14 is pushed into the blade housing 11 to assemble the tail 14 into the blade housing 11.

[0055] In this embodiment, as Figures 13 to 15 As shown, the cutter tail assembly seat 81 is fixed to the frame 101 by welding or bolts. The structure of the cutter tail assembly seat 81 is not strictly limited, as long as the cutter tail assembly seat 81 can support the cutter tail transfer seat 82.

[0056] In this embodiment, as Figures 13 to 15 As shown, the tail transfer seat 82 is slidably disposed on the tail assembly seat 81; the tail transfer seat 82 has an initial position and an assembly position; when the tail transfer seat 82 is in the initial position, the tail conveyor line 72 conveys the tail 14 to the placement area of ​​the tail transfer seat 82; when the tail transfer seat 82 is in the assembly position, the tail drive rod 83 pushes the tail 14 into the blade housing 11.

[0057] In this embodiment, as Figures 13 to 15 As shown, the tailstock transfer seat 82 has a sliding groove for the tailstock assembly seat 81 to slide. A partial recess in the tailstock transfer seat 82 forms a placement area. The tailstock drive member 84 also includes a fifth output member 841, which drives the tailstock transfer seat 82 to move between an initial position and an assembly position.

[0058] In this embodiment, as Figures 13 to 15 As shown, the fifth output component 841 is a cylinder or a push rod 61 motor. Specifically, the cylinder body of the fifth output component 841 is fixed to the frame 101 by means of bolts or the like; the piston rod of the fifth output component 841 is connected to the cutter tail transfer seat 82 by means of bolts or the like.

[0059] In this embodiment, as Figures 13 to 15 As shown, the cutter tail drive component 84 also includes a sixth output component 842; the sixth output component 842 is a cylinder or a push rod 61 motor. Specifically, the cylinder body of the sixth output component 842 is fixed to the frame 101 by means of bolt fastening or the like; the piston rod of the sixth output component 842 is connected to the cutter tail drive rod 83 by means of bolt fastening or the like.

[0060] In this embodiment, Figures 1 to 2 as well as Figure 15 As shown, the intelligent tool assembly equipment 100 also includes a material handling device 90, configured to remove the assembled tool 10 from the fixture 102. The material handling device 90 includes a material handling gripper 91 mounted on the frame 101, capable of gripping the assembled tool 10 and removing it from the fixture 102. The material handling gripper 91 can employ existing technology; for example, it can be a pneumatic gripper.

[0061] The assembly process of the utility knife 10 is described below: The blade casing acquisition device 20 transfers the blade casing 11 to the clamp 102 on the transmission belt 103; The tool holder acquisition device 30 transports the tool holder 13 to the receiving area of ​​the fixed seat 33; the movable seat 34, driven by the second output component 35, moves the tool holder 13 horizontally from the receiving area to the assembly area. The pusher component 50 pushes out the single blade 12 from the bottom of the placement chamber 43, and the blade 12 is pushed to the top of the tool holder 13 in the assembly area; The tool holder lifting device 36 pushes the tool holder 13 vertically from the first position to the second position, so that the connecting post 131 at the top of the tool holder 13 is inserted into the connecting hole 121 of the blade 12, thus completing the pre-assembly of the blade 12 and the tool holder 13. The assembly actuator 60 pushes the pre-assembled blade 12 and blade holder 13 into the blade housing 11 on the fixture 102; The tail-getting device 70 moves the tail 14 from the initial position of the transfer seat to the assembly position and pushes it into the blade housing 11 to complete the tail assembly; The material handling device 90 picks up the assembled tool knife 10 and removes it from the fixture 102, completing the fully automated assembly process.

[0062] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered to be within the scope of this specification. When technical features of different embodiments are embodied in the same drawing, it can be regarded as the drawing also disclosing examples of combinations of the various embodiments involved.

[0063] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model.

Claims

1. A machine vision-based intelligent assembly device for utility knives, wherein the utility knife includes a blade and a blade holder; characterized in that, The intelligent assembly equipment for utility knives includes: A tool holder acquisition device configured to acquire the tool holder; A blade feed container, which has a storage compartment and a discharge port located at the bottom of the storage compartment; A pusher component configured to push the blades within the placement chamber out of the discharge port; and A tool holder lifting device is configured to move the tool holder vertically from a first position to a second position. The pushing component pushes the blade in the placement chamber from the discharge port to above the blade holder. Then, the blade holder lifting device moves the blade holder upward to a second position so that the connecting post on the blade holder extends into the connecting hole of the blade, so that the blade is assembled into the blade holder.

2. The intelligent assembly equipment for utility knives based on machine vision according to claim 1, characterized in that, The blades are stacked inside the storage compartment; The discharge port is located at the bottom of the placement chamber, so that the pushing component pushes the bottommost blade in the placement chamber out of the discharge port.

3. A machine vision-based intelligent assembly device for utility knives according to claim 1 or 2, characterized in that, The height of the discharge port is higher than or equal to the thickness of a single blade; The height of the discharge port is lower than the thickness of the two blades.

4. The intelligent assembly equipment for utility knives based on machine vision according to claim 2, characterized in that, The pusher component includes: A pusher, movably disposed at the bottom of the placement chamber, is capable of pushing the bottommost blade within the placement chamber out of the discharge port; and The first output component is used to drive the pusher.

5. The intelligent assembly equipment for utility knives based on machine vision according to claim 4, characterized in that, The blade feed bin also has a chute for the pusher to slide, the chute being located at the bottom of the placement bin; The width of the groove is less than the length of the blade.

6. A machine vision-based intelligent assembly device for utility knives according to claim 5 or 4, characterized in that, The pusher abuts against the side of the blade at the bottom of the placement chamber to push the blade out of the placement chamber; The placement chamber has a clearance area to avoid the pusher component.

7. The intelligent assembly equipment for utility knives based on machine vision according to claim 1, characterized in that, The intelligent assembly equipment for utility knives also includes: A fixed base having a receiving area and an assembly area, the receiving area being configured to receive a tool holder acquired by the tool holder acquiring device, and the assembly area having a channel for the tool holder lifting device to extend out. A movable seat, movably configured on the fixed seat, is capable of moving the tool holder in the receiving area to the assembly area; and The second output component is used to drive the movable seat to move.

8. The intelligent assembly equipment for utility knives based on machine vision according to claim 7, characterized in that, The tool holder lifting device includes: A lifting component, which is movably disposed within the channel, is located below the tool holder in the assembly area; The third output component is used to drive the lifting component.

9. The intelligent assembly equipment for utility knives based on machine vision according to claim 1, characterized in that, The intelligent assembly equipment for utility knives also includes: A blade casing acquisition device configured to acquire a blade casing; An assembly actuator configured to assemble the assembled blade and the blade holder into the blade housing; and A machine vision device is used to acquire the position information of the blade housing in order to guide the assembly execution device to assemble the blade and the blade holder into the blade housing.

10. A machine vision-based intelligent assembly device for utility knives according to claim 9, characterized in that, The intelligent assembly equipment for utility knives also includes: frame; A clamp is movably mounted on the frame, the clamp being configured to hold the blade shell acquired by the blade shell acquiring device; A blade tail acquisition device configured to acquire the blade tail; A blade tail assembly device configured to assemble a blade tail acquired by the blade tail acquisition device into the blade housing; and A material handling device configured to remove the assembled tool knife from the fixture.

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