CN115055934A

CN115055934A - Intelligent scissor mounting system

Info

Publication number: CN115055934A
Application number: CN202210862404.6A
Authority: CN
Inventors: 刘春华
Original assignee: Chongqing Taimei Automation Technology Co ltd
Current assignee: Chongqing Taimei Automation Technology Co ltd
Priority date: 2022-07-20
Filing date: 2022-07-20
Publication date: 2022-09-16
Anticipated expiration: 2042-07-20
Also published as: CN115055934B

Abstract

The invention relates to the field of automatic assembly of scissor legs, in particular to an intelligent scissor leg mounting system, which comprises a rack, wherein a feeding device, a feeding device and a clamping and pressing device are respectively arranged on the rack; the feeding device comprises a vibrating disc, a material conveying plate is fixed on the side wall of the vibrating disc, and a plurality of material conveying grooves are formed in the material conveying plate; the feeding device comprises an installation frame, the installation frame is horizontally connected to the rack in a sliding mode, and a plurality of negative pressure devices used for adsorbing scissor feet are arranged at the bottom of the installation frame; the clamping and pressing device comprises a travelling mechanism and a clamping mechanism. The invention provides an intelligent scissor mounting system, which aims to solve the problem that scissor legs are unstable in mounting and easy to break and scrap.

Description

Intelligent scissor mounting system

Technical Field

The invention relates to the field of automatic assembly of scissor legs, in particular to an intelligent scissor leg mounting system.

Background

The scissor-foot keyboard uses the scissor-foot key switch as the name suggests. Has a scissor-shaped structure, and two groups of plastic wiping arms are arranged below each key. The working principle of the scissor is similar to the operation of scissors, the key stroke of the scissor keyboard is much shorter than that of a common rubber dome keyboard, and due to the fact that the key tops of the keys are arranged in a crossed mode and are short in stroke, the heights of the key caps of the keys are low, the keys are mostly used for a notebook computer, the keys of the keyboard are quite silent, the touch force is a little larger than that of the common film keyboard, and the hand feeling is better. The scissor legs are also provided with a front side and a back side, and when the scissor legs are installed and used, the front sides of the scissor legs need to be ensured to be upward. The early scissors feet are all assembled manually, and the assembly steps are approximately as follows: the fixed ends of the scissor legs are grabbed by a human hand, the sliding ends of the scissor legs are aligned to the buckles on the keyboard, and the sliding ends of the scissor legs are embedded in the buckles on the keyboard; then the fixed end of the scissor leg is aligned with the other buckle on the scissor leg, and the fixed end of the scissor leg is embedded and installed in the buckle on the keyboard; in order to ensure that the two ends of the scissor feet are completely pressed into the buckle, the scissor feet are pushed forwards with a little force by fingers, so that the two ends of the scissor feet are completely pressed into the buckle. The manual assembly mode is high in labor cost and production cost of enterprises, high in unqualified rate in the manual assembly process and low in production efficiency. Automatic assembly is developed at the later stage, the scissor legs are clamped through the clamping device, the fixed ends and the sliding ends of the scissor legs correspond to the buckles on the keyboard respectively, then the fixed ends and the sliding ends of the scissor legs are pressed into the buckles of the keyboard at one time, and the scissor legs are installed in the mode, but the qualification rate of the scissor legs installed in the mode is low, once the scissor legs are installed in failure, the scissor legs are directly scrapped, the damage rate of the scissor legs is high, and the cost expenditure is high.

The chinese patent CN102360976B discloses an automatic assembling machine for keyboard scissors, which comprises a machine table, wherein the machine table is provided with a material pipe frame, material pipes are inserted into the material pipe frame, a material distribution track is arranged below the material pipe frame and corresponds to each material pipe, the front end of the material distribution track is provided with a scissors foot placing groove, and the rear end of the material distribution track is provided with a material pushing seat driven by an air cylinder; and a material taking module connected to the X axis and the Y axis is arranged near the material pipe rack.

Above-mentioned scheme mainly solves the technical problem that current manual equipment mode of keyboard scissors foot will consume a large amount of time, energy and manpower, and it makes the equipment of scissors foot not only improve the production efficiency of work, has reduced the waste of manpower moreover greatly. However, in the process of specifically installing the scissor pins, the scissor pins are conveyed to the material distribution track from the material pipe, then the material taking module starts material distribution vacuum material suction and the air cylinder to descend, pressing action is carried out, the scissor pins are sent to a designated area by the material taking module after the completion of pressing action, and finally power is applied by the air cylinder, so that the ejector pins in the material taking module press the scissor pins downwards at the same time, and the assembly is completed. Above-mentioned scheme is at the in-process of installation scissors foot, and the material pipe is at the in-process of carrying the scissors foot, and scissors foot and horizontal plane are in parallel relation all the time, and when unable to reach manual installation, certain contained angle is personally submitted to scissors foot and horizontal plane, and then advances the effect of fixed scissors foot, on the operating link of advancing fixed scissors foot one end, easy misoperation, scissors foot still are damaged by other parts on the keyboard easily, lead to the scissors foot to scrap easily.

Disclosure of Invention

The invention provides an intelligent scissor mounting system, which aims to solve the problem that scissor legs are unstable in mounting and easy to break and scrap.

In order to solve the technical problem, the present application provides the following technical solutions: an intelligent scissor mounting system comprises a rack, wherein a feeding device, a feeding device and a clamping and pressing device are respectively arranged on the rack;

the feeding device comprises a vibrating disk, a material conveying plate is fixed on the side wall of the vibrating disk, and a plurality of material conveying grooves are formed in the material conveying plate;

the feeding device comprises an installation frame, the installation frame is horizontally connected to the rack in a sliding mode, and a plurality of negative pressure devices used for adsorbing scissor feet are arranged at the bottom of the installation frame;

the clamping and pressing device comprises a travelling mechanism and a clamping mechanism, the travelling mechanism comprises a plurality of sliding rails, the sliding rails are horizontally and fixedly connected to the top of the rack, sliding plates are connected onto the sliding rails in a sliding mode, and the bottoms of the sliding plates are fixedly connected with a sliding seat and a second guide plate respectively; a guide rail is vertically arranged on the side wall of the second guide plate and is connected with a support bar in a sliding manner; the sliding plate is fixedly connected with a traveling telescopic cylinder which is telescopic in the vertical direction; the rack is horizontally and rotatably connected with a third lead screw matched with the sliding seat, and the axial direction of the third lead screw is parallel to the sliding rail; a fourth driving motor is fixedly connected to the rack, and an output shaft of the fourth driving motor is coaxially and fixedly connected with a third lead screw; the top of the clamping mechanism is respectively and fixedly connected with the telescopic end of the advancing telescopic cylinder, the second guide plate and the sliding seat;

the clamping mechanism comprises a first pressing supporting seat, the first supporting seat is hinged with a second pressing supporting seat, and the side wall of the second pressing supporting seat is fixedly connected with a plurality of clamping groups;

the clamping group comprises a third pressing support seat, the third pressing support seat is fixedly connected to the second pressing support seat, one side of the third pressing support seat is connected with a fourth pressing support seat in a sliding mode, the fourth pressing support seat is hinged to a lower clamping block, the side wall of the fourth pressing support seat is connected with an upper clamping block in a sliding mode, and the lower clamping block and the upper clamping block can be used for clamping scissors feet.

The basic scheme principle and the beneficial effects are as follows: this technical scheme utilizes feed mechanism to realize carrying out the material loading to the scattered scissors foot in batches, and the in-process at material loading utilizes the vibration effect of vibration dish to realize arranging in proper order to the scissors foot.

According to the technical scheme, the feeding mechanism is used for uniformly feeding the scissor legs, and the negative pressure devices arranged in a plurality of rows are used for uniformly adsorbing and fixing the scissor legs at one time. Compare in current material loading mode, this technical scheme can once only carry out material loading simultaneously to a plurality of scissors feet, effectively improves material loading efficiency. The technical scheme utilizes the rack to realize the supporting and bearing effect on the whole structure. And the mounting frame can freely move in the horizontal direction by utilizing the sliding connection relation between the mounting frame and the rack. So as to realize the technical effect of batch conveying and mounting of the scissor feet.

The technical scheme utilizes the advancing mechanism to realize the free movement of the clamping mechanism on the frame. Wherein the sliding of the sliding plate on the sliding rail is utilized to realize the free movement in the horizontal and transverse directions in space. Because sliding seat and lead screw cooperation, consequently operating personnel can rotate through utilizing first motor control lead screw to the horizontal migration of control sliding seat, and then realize the fixture on the free control sliding plate at the technological effect of horizontal direction displacement position, be convenient for carry out accurate material loading or unloading to the scissors foot.

The technical scheme also utilizes the advancing telescopic cylinder as a power source and utilizes the sliding guide function of the guide rail and the sliding plate to realize the technical effect that the cylinder is driven to freely stretch up and down in the vertical direction. Because the telescopic end of the advancing telescopic cylinder is fixedly connected to the clamping mechanism, a technician can freely adjust the height position of the clamping mechanism in the vertical direction by controlling the extension and retraction of the advancing telescopic cylinder.

Compare in the fixed single mode of prior art installation, this technical scheme can utilize under telescopic cylinder and fourth driving motor's of marcing the drive effect, realizes the automatic control to fixture, realizes the fixture at the technological effect of horizontal direction and the free removal of vertical direction. Effectively improve the flexibility of scissors foot installation, effectively avoided because the fixed single problem emergence that damages the scissors foot appears in the offset that leads to of mounted position, greatly improve production efficiency, effective reduction in production cost.

Furthermore, a feeding plate is fixedly connected to one end, away from the vibration disc, of the material conveying plate, a plurality of feeding grooves are formed in the feeding plate, the feeding grooves can accommodate a plurality of linearly arranged scissor legs, and each feeding groove is sequentially communicated with the material conveying groove correspondingly; the feeding plates are parallel to each other, and the adjacent feeding plates are fixedly connected.

Has the advantages that: this technical scheme is through the defeated material board of addding at the delivery sheet to the realization bears the weight of holding a plurality of scissors foot simultaneously. So that the mechanism for clamping the scissors feet can simultaneously clamp and transfer a plurality of scissors feet in batches during the subsequent process of conveying the scissors feet. According to the technical scheme, the feeding plate is provided with the plurality of feeding grooves, so that the requirement for installing the plurality of rows of scissor legs on the keyboard simultaneously is met. Because the scissors foot installation station of current keyboard is multirow linear arrangement, consequently at the in-service use in-process, operating personnel can directly carry out the clamp simultaneously with a plurality of scissors feet in the multirow chute feeder and get in the lump to it can directly to install fixedly at the corresponding range position on the keyboard. The feeding process of the scissor legs is greatly simplified, the mounting speed of the scissor legs is effectively improved, and the mounting time of the scissor legs on the keyboard is shortened. Compare and carry the scissors foot one by one among the prior art, on this technical scheme can realize arranging scissors foot linear arrangement's basis, can also arrange the scissors foot one by one into a plurality of rows's a certain amount of scissors foot. The scissors foot of a certain quantity of a plurality of rows quantity of this scheme can be directly press from both sides it and get to directly install the scissors foot of same row, this technical scheme's scissors foot is carried the material and is said the technical effect that the structure has realized the material loading efficiency who improves the scissors foot, is convenient for follow-up carry out batch installation to dress scissors foot, effectively reduces the production time cost.

Furthermore, the bottom of the mounting frame is fixedly connected with a fixed rod, the negative pressure devices are horizontally connected to the fixed rod in a sliding manner, and the top of each negative pressure device is fixedly provided with a guide post; a first driving mechanism for driving the mounting rack to slide is fixed on the rack; the rack is connected with a first guide plate between the mounting frame and the fixed rod in a sliding manner, the sliding direction of the first guide plate is perpendicular to the central axis of the guide column, the first guide plate is provided with a plurality of sliding holes in sliding fit with the guide column, and the plurality of sliding holes are radially distributed on the first guide plate; and the rack is also fixedly provided with a second driving mechanism for driving the first guide plate to slide.

Has the advantages that: this technical scheme utilizes a plurality of negative pressure mechanism to realize adsorbing fixed technological effect to a plurality of scissors feet simultaneously, and negative pressure mechanism utilizes the slip of the relative frame of mounting bracket, and then reaches the technological effect who draws the transfer to a plurality of scissors feet simultaneously. This technical scheme utilizes second actuating mechanism to realize the horizontal drive removal effect to first deflector. Because the guide post at the top of the negative pressure mechanism is connected in the sliding hole of the first guide plate in a sliding way, and the sliding hole is radial. Therefore, with the horizontal sliding of the first guide plate, the negative pressure mechanism also horizontally and transversely moves on the fixed rod under the guiding action of the sliding hole. When the first guide plate moves to enable the guide post to move to the closing direction of the sliding hole, the distance between the adjacent negative pressure mechanisms is shortest. When the first guide plate moves to enable the guide post to move to the radial direction of the sliding hole, the distance between the adjacent negative pressure mechanisms is the largest. And finally, the technical effect of freely controlling and adjusting the distance between the adjacent negative pressure mechanisms is achieved. When the scissors feet are installed, the negative pressure mechanisms can adsorb, extract and fix a plurality of closely arranged scissors feet at the same time, and the scissors feet are dispersed to be capable of carrying out spacing with the same spacing of a keyboard workpiece to be installed on a station by utilizing the sliding of the first guide plate, so that the process of installing one row of scissors feet on the keyboard in the transverse direction is finally completed.

Compared with the prior art, the technical scheme can freely adjust the adjacent distance between the scissors feet, and can directly diffuse the scissors feet which are closely arranged in the feeding process into the adaptive distance matched with the keyboard workpiece. The synchronous installation of the scissor legs arranged on the same row of the keyboard is realized, and the installation efficiency of the scissor legs is effectively improved.

The system further comprises a camera module, wherein the camera module is used for shooting the scissor images and generating image information for output;

the image recognition module is used for receiving the image information output by the photographing module, marking the edge of the image as a mark point, marking the outline of the scissor leg in the image as an effective area, taking the mark point as an original point as a plane rectangular coordinate system, calculating the length, the width and the coordinates of the scissor leg according to the range of the effective area occupying the pixel point of the image information, and outputting the length, the width and the coordinates of the scissor leg;

the image identification module is also used for carrying out pixel aggregation on pixel points in the image information to obtain characteristic points, obtaining the front and back information of the scissor legs according to the difference of the characteristic points, and outputting the front and back information of the scissor legs;

the measuring module is used for receiving the image information output by the photographing module, extracting depth according to depth-of-field data of the image information, calculating a depth value of the scissor foot from the photographing module and outputting the depth value;

the advancing mechanism is used for moving to the mark point, receiving the length, the width, the coordinate, the front and back information of the scissor feet output by the image recognition module and the depth value output by the measurement module, generating a movement control instruction, and then moving to the position of the corresponding scissor foot; the clamping mechanism is used for generating a touch signal after contacting the clamped scissors foot after moving to the position where the corresponding scissors foot is located, clamping the edge part of the scissors foot is completed, and the advancing mechanism conveys the scissors foot which accords with preset information to a preset position according to a movement control instruction.

Has the advantages that: the image recognition module can also carry out pixel aggregation on pixel points in the image information to obtain characteristic points and obtain front and back information of the scissor according to the difference of the characteristic points, the measurement module is used for carrying out depth extraction on depth-of-field data in the image information and calculating the depth value of the scissor from the image pickup module by matching with a calculation formula, the pressing and clamping device is used for receiving the length, the width, the coordinate, the front and back information of the scissor output by the image recognition module and the depth value output by the measurement module and judging whether the scissor according with preset information exists or not according to the preset information, and finally, conveying the scissor legs which accord with the preset information to a preset position according to the movement control instruction. Importantly, the specification of the scissor feet and the coordinates of the scissor feet are judged according to the length and the width of the pixel points occupied by the effective area of the image recognition module, the depth value is obtained by counting the depth-of-field data in the image information, so that whether the scissor feet are overlapped or not is judged, and finally the scissor feet with different specifications are accurately moved to different installation areas. By adding the mark points, the error is reset every time, and the occurrence of accumulated errors is avoided. And through the collection of the depth value, the clamping module can realize clamping with higher probability and high efficiency. Compared with the traditional scissor foot screening system, the scheme can complete screening and sorting of scissor feet of different specifications mixed together and transfer the scissor feet to a specified position.

Further, the depth value is calculated by d = b/tan α, where d is the depth value, b is the height value of the upper portion of the effective area, and α is 1/2 of the vertical view angle of the camera; the alpha is 1/2 of the vertical view field angle of the camera, because the camera and the shot object are vertically placed, if the camera and the shot object are horizontally placed, the alpha adopts the horizontal view field angle to facilitate the calculation of the depth value, and therefore how the alpha is selected can be correspondingly adjusted according to the actual requirement.

Furthermore, the top fixedly connected with of defeated flitch is used for carrying out the count sensor of count to the scissors foot, the count sensor is located directly over defeated silo.

Has the advantages that: this technical scheme is through addding the count sensor to operating personnel can utilize the technical sensor to master the pay-off condition in every silo in real time.

Further, the top of the feeding plate is fixedly connected with a base, the bottom of the base is provided with a cavity, the inner wall of the cavity is rotatably connected with a feeding wheel, the feeding wheel is used for extruding and feeding the scissor legs, and the feeding wheel is positioned right above the feeding groove; and a driving motor is fixedly connected to the base, and an output shaft of the driving motor drives the feeding wheel to rotate circumferentially.

Has the advantages that: this technical scheme is through addding feeding wheel and driving motor to operating personnel treats the quantity of scissors foot station according to the installation of every row of actual keyboard, controls servo motor's rotation volume, with the purpose that finally reaches the control and gets into scissors quantity.

Further, fixedly connected with pay-off guided way in the frame, mounting bracket sliding connection in pay-off guided way.

Has the advantages that: this technical scheme is through addding the pay-off guided way to realize the guide effect between frame and the mounting bracket, ensure that the mounting bracket can carry out stable directional slip relatively the frame.

Further, the first driving mechanism comprises a first lead screw which is rotationally connected to the rack, the first lead screw is axially parallel to the feeding guide rail, and a second servo motor for driving the first lead screw to rotate is fixed on the rack; sliding fit has first ball seat on the first lead screw, first ball seat fixed connection in the mounting bracket.

Has the advantages that: this technical scheme drives through utilizing first servo motor, and the first lead screw of drive carries out circumferential direction. And the first ball seat is driven to horizontally and linearly move in the rotating process of the first lead screw. Because the mounting bracket and the fixed connection of first ball seat, and then finally realize utilizing first servo motor to realize the motion control to the mounting bracket ascending in the horizontal direction.

Further, a second guide rail is horizontally fixed to the bottom of the mounting frame, and the first guide plate is connected to the second guide rail in a sliding mode.

Has the advantages that: this technical scheme is through addding the second guided way to realize the guide effect between first deflector and the mounting bracket, ensure that first deflector can stabilize directional slip relative to the frame.

Drawings

Fig. 1 is a schematic structural diagram of an intelligent scissor mounting system according to an embodiment of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

FIG. 3 is a schematic front view of FIG. 1;

FIG. 4 is an enlarged view of a portion of FIG. 3 at B;

FIG. 5 is a schematic structural diagram of a loading device in this embodiment;

FIG. 6 is an enlarged partial view of FIG. 5 at C;

FIG. 7 is a schematic bottom view of the feeding plate of the present embodiment;

FIG. 8 is a schematic top view of the two feeding plates in this embodiment;

FIG. 9 is a schematic structural diagram of the feeding device in this embodiment;

FIG. 10 is a schematic structural view of a part of the feeding device in this embodiment;

FIG. 11 is a bottom schematic view of FIG. 10;

FIG. 12 is a schematic view of a negative pressure device;

FIG. 13 is a schematic structural view of a traveling mechanism in the present embodiment;

FIG. 14 is a schematic structural diagram of a clamping mechanism according to the present embodiment;

FIG. 15 is a rear view of the structure of FIG. 14;

FIG. 16 is a schematic structural view of the fourth press support base in a state of being engaged with the lower clamping block;

FIG. 17 is a schematic view of a fourth press support;

FIG. 18 is a schematic structural view of a lower clamping block;

FIG. 19 is a flowchart of the clamping system of the present embodiment;

FIG. 20 is a schematic view of data coordinates in the present embodiment;

fig. 21 is a measurement schematic diagram of the measurement module in this embodiment.

Detailed Description

The following is further detailed by way of specific embodiments:

the reference numbers in the drawings of the specification include: the device comprises a feeding frame 1, a vibration disc 2, a material conveying plate 3, a material conveying groove 4, a partition plate 5, a rack 6, a supporting block 7, a feeding plate 8, a feeding groove 9, a keyhole 10, a key groove 11, a feeding telescopic cylinder 12, a material guide strip 13, a connecting plate 14, a stopper 15, a counting sensor 16, a base 17, a feeding wheel 18, a first servo motor 19, a feeding guide rail 20, a first ball seat 21, a second servo motor 22, a first lead screw 23, a first mounting plate 24, a second mounting plate 25, a first telescopic cylinder 26, a slide seat 27, a slide rod 28, a baffle plate 29, a fixed rod 30, a negative pressure device 31, a guide post 32, a second guide rail 33, a first guide plate 34, a slide hole 35, a bearing seat 36, a second lead screw 37, a third servo motor 38, a second ball seat 39, a conveying plate 40, a guide groove 41, a slide rail 42, a slide plate 43, a traveling telescopic cylinder 44, a second guide plate 45, a guide rail 46, a supporting strip 47, a, The device comprises a third lead screw 48, a fourth servo motor 49, a ball sliding seat 50, a slide bar 51, a counter 52, a shielding plate 53, a first pressing support seat 54, a first connecting piece 55, a first telescopic cylinder 56, a second pressing support seat 57, a second connecting piece 58, a third pressing support seat 59, a second telescopic cylinder 60, a first slide way 61, a fourth pressing support seat 62, a wedge block 63, a second slide way 64, a movable block 65, an upper clamping block 66, a third telescopic cylinder 67, a blind groove 68, a lower clamping block 69, an upper section 70, a lower section 71 and a fourth telescopic cylinder 72.

An intelligent scissor mounting system comprises a feeding device, a feeding device and a clamping and pressing device.

As shown in attached

drawings

1, 3 and 5, the feeding device comprises a feeding frame 1, and two vibrating discs 2 with the same model are respectively welded and fixed on the feeding frame 1. The side wall of the vibration disk 2 is welded and fixed with a material conveying plate 3 at a position close to the top. The top of the vibration disc 2 is coplanar with the top of the material conveying plate 3, and the outer wall of the material conveying plate 3 is tangent to the outer wall of the vibration disc 2. The material conveying plates 3 are of L-shaped plate structures, and the two material conveying plates 3 are symmetrically arranged on the outer wall of the vibration disc 2 respectively.

Two parallel material conveying grooves 4 are formed in the material conveying plate 3, a partition plate 5 is fixed to the top of the material conveying plate 3 through threads, and the partition plate 5 is located right above the material conveying grooves 4. The distance between the partition plate 5 and the material conveying groove 4 is larger than the height of a single scissor leg and smaller than the height of two scissor legs.

One side of the adjacent material loading frame 1 is provided with a rack 6, two groups of supporting pieces are fixed on the rack 6 through vertical threads, each group of supporting pieces comprises two supporting blocks 7, and a feeding plate 8 is fixedly connected to the tops of the two supporting blocks 7 through bolts. Two feeding grooves 9 are formed in the feeding plate 8, the width of each feeding groove 9 can only accommodate placement of one scissor leg, and the depth of each feeding groove 9 is smaller than the height of one scissor leg. The length of the material conveying groove 4 can accommodate the linear arrangement of thirteen scissor feet. The key hole 10 is arranged between the two feeding grooves 9 of the feeding plate 8, the side wall of the feeding plate 8 is provided with a key groove 11, and the depth of the key groove 11 is half of the width of the key hole 10.

As shown in fig. 6, 7 and 8, the two feeding plates 8 are welded and fixed with the two material conveying plates 3, the shape and structure of the longitudinal section of each feeding chute 9 are the same as those of the material conveying chutes 4, and each feeding chute 9 is communicated with the corresponding material conveying chute 4. The tops of the two feed plates 8 are coplanar and the side walls between the two feed plates 8 abut each other and face in opposite directions. In the abutting state of the two feeding plates 8, the two key grooves 11 abut against each other to form a cavity, and the shape of the cavity is consistent with that of the key hole 10.

The top of the frame 6 is also respectively fixedly connected with four feeding telescopic cylinders 12 which have the same type and can freely extend and retract horizontally, and the extension direction of the feeding telescopic cylinders 12 is vertical to the feeding direction of the feeding groove 9. The top of each feeding plate 8 is connected with two material guiding strips 13 in a sliding mode, the material guiding strips 13 are parallel to the feeding direction of the feeding grooves 9, and the material guiding strips 13 are arranged on one side of each adjacent feeding groove 9. The spaces formed by the two key holes 10, the exposed key grooves 11 and the two key grooves 11 are respectively connected with a connecting plate 14 in a horizontal sliding mode, and the sliding direction of the connecting plate 14 is parallel to that of the material guide strips 13. The top of the connecting plate 14 is fixed with the guide strip 13 through screw threads, and the bottom of the connecting plate 14 is fixed with the telescopic end of the corresponding feeding telescopic cylinder 12 through screw threads.

The end part of the feeding plate 8 is also provided with a stop block 15, the stop block 15 is in a U-shaped plate structure, and the width of the stop block 15 in the U-shaped structure is smaller than that of the feeding groove 9. Two ends of the U-shaped structure check block 15 are respectively fixedly connected in the material conveying groove 4 by screw threads. The top height position of the block 15 is higher than the bottom height position of the material guiding strip 13, and the top height position of the block 15 is lower than the top height position of the material guiding strip 13. The width of the end of the block 15 is equal to the width of the scissor feet.

Three counting sensors 16 are fixed on the top of each material conveying plate 3 close to the material conveying chute 4 through bolts, and the detection position of each counting sensor 16 is positioned right above the material conveying chute 4. The counting sensor 16 is used for counting the number of the scissor legs passing through the material conveying chute 4.

As shown in the attached figure 2, a base 17 is fixed on the top of the feeding plate 8 through bolts, a cavity is formed in the bottom of the base 17, feeding wheels 18 are respectively and rotatably connected to the left side and the right side of the inner wall of the cavity, and the feeding wheels 18 are used for extruding and feeding scissors. Each feed wheel 18 is located directly above a corresponding feed chute 9. Two opposite ends of the base 17 are respectively fixedly connected with a first servo motor 19 through bolts, and an output shaft of the first servo motor 19 drives the feeding wheel 18 to rotate circumferentially. The outer wall of the feeding wheel 18 is provided with an annular groove along the circumferential direction, and a rubber ring made of flexible materials is embedded in the annular groove.

The feeding device and the clamping and pressing device are respectively arranged on the frame 6.

As shown in fig. 10, fig. 11 and fig. 12, the feeding device includes two parallel feeding guide rails 20, and the feeding guide rails 20 are horizontally and fixedly connected to the top of the frame 6 by bolts. A mounting frame is connected in a sliding manner below the two feeding guide rails 20.

A first driving mechanism is also arranged between the mounting frame and the frame 6. The first driving mechanism includes a first ball seat 21, a second servo motor 22 and a first lead screw 23. The first ball seat 21 is fixedly connected to the top of the mounting frame through bolts, and the second servo motor 22 is fixedly connected to the top of the rack 6 through bolts. The first ball seat 21 is further slidably fitted with a first lead screw 23, and a central axis of the first lead screw 23 is parallel to a horizontal plane. An output shaft of the second servo motor 22 is used for driving the first lead screw 23 to rotate circumferentially.

The mounting bracket comprises a first mounting plate 24 and a second mounting plate 25, and the first mounting plate 24 and the second mounting plate 25 are parallel to each other. Bolt fixedly connected with freely flexible feed telescopic cylinder in the vertical direction on the first mounting panel 24, the flexible end of feed telescopic cylinder is vertical downwards. The telescopic end bolt of the feeding telescopic cylinder is fixedly connected to the top end of the second mounting plate 25. The first mounting plate 24 is further fixedly connected with sliding seats 27 on the left side and the right side through bolts respectively, and through holes are formed in the sliding seats 27 in the vertical direction. A sliding rod 28 is vertically welded and fixed on the top of the second mounting plate 25, and the sliding rod 28 is slidably connected in the through hole of the sliding seat 27. Two parallel baffles 29 are respectively fixed at the left side and the right side of the bottom of the second mounting plate 25 through bolts, and two fixed rods 30 are horizontally fixed between the two baffles 29 through threads. Thirteen negative pressure devices 31 with the same structure are horizontally connected to the fixed rod 30 in a sliding mode, negative pressure ports are formed in the bottom ends of the negative pressure devices 31, and the negative pressure devices 31 are used for adsorbing and fixing the scissor-leg workpieces through the negative pressure ports under the action of negative pressure. A guide post 32 with a cylindrical structure is welded and fixed on the top of each negative pressure device 31.

Two second guide rails 33 are fixedly connected to the bottom end of the second mounting plate 25 at the left end and the right end through bolts, and the second guide rails 33 are parallel to the feeding guide rail 20. A first guide plate 34 is slidably connected between the two second guide rails 33. Thirteen sliding holes 35 distributed in a radial shape are formed in the surface of the first guide plate 34, and each guide column 32 is connected in the corresponding sliding hole 35 in a sliding mode. The top of the second mounting plate 25 is fixedly connected with a bearing seat 36 through a bolt, a second lead screw 37 is rotatably connected to the bearing seat 36, and the axial direction of the second lead screw 37 is parallel to the axial direction of the first lead screw 23. The top of the second mounting plate 25 is fixedly connected with a third servo motor 38 through a bolt, and an output shaft of the third servo motor 38 is used for driving the second lead screw 37 to rotate circumferentially. A second ball seat 39 is slidably fitted on the second lead screw 37. The second mounting plate 25 is provided with a through hole for accommodating the second ball seat 39 to slide horizontally, and the bottom end of the second ball seat 39 is fixedly connected to the top end of the first guide plate 34 through a bolt.

The frame 6 is fixedly connected with a feeding mechanism below the slide rail 42, the feeding mechanism comprises a conveying plate 40, and the conveying plate 40 is of a rectangular plate-shaped structure. Thirteen parallel guide grooves 41 are formed at the top of the conveying plate 40. Both ends are uncovered about guide way 41, and the left end bottom that guide way 41 leaned on is opened flutedly, and the cross section of recess is the rectangle, and the top and the right side of recess all are interconnected mutually under the same outside. The bottom of one end of the guide groove 41 close to the clamping and pressing device is embedded and fixed with a pressure sensitive element.

The clamping and pressing device comprises a traveling mechanism and a clamping mechanism.

As shown in fig. 13, the traveling mechanism includes two parallel slide rails 42, the slide rails 42 are fixedly connected to the top of the frame 6 by bolts, a sliding plate 43 is slidably connected between the two slide rails 42, and a traveling telescopic cylinder 44 is vertically fixed to the center of the top of the sliding plate 43 by bolts. The traveling telescopic cylinder 44 is freely telescopic in the vertical direction, and a telescopic end of the traveling telescopic cylinder 44 penetrates the sliding plate 43 and is located right below the sliding plate 43. The telescopic end of the advancing telescopic cylinder 44 is fixedly connected with the clamping and pressing device through a bolt.

Two second guide plates 45 parallel to each other are fixed to the bottom of the sliding plate 43 by screw threads, and guide rails 46 are respectively opened on the facing surfaces of the two second guide plates 45. And each guide rail 46 is vertically and slidably connected with a support bar 47, and the bottom ends of the two support bars 47 are fixedly connected with a clamping and pressing device.

The top of the frame 6 is also rotatably connected with a third lead screw 48 between the two slide rails 42, and the axial direction of the third lead screw 48 is parallel to the extending direction of the guide rail 46. A fourth servo motor 49 is fixedly connected to the side wall bolt of the frame 6, and the end of the third screw rod 48 is fixed through coaxial key connection of a driving shaft of the fourth servo motor 49. A ball slide block 50 is fitted to the third screw 48, and the ball slide block 50 is linearly movable in the axial direction of the third screw 48. The top end of the ball sliding seat 50 is fixedly bolted to the bottom end of the sliding plate 43.

A slide bar 51 is fixedly connected to a side wall screw of the rack 6, a groove type photoelectric sensing counter 52 is horizontally arranged on the slide bar 51 in a sliding mode, and the counter 52 is fixed on the slide bar 51 through bolts. A shielding plate 53 is fixedly connected to the side wall of the sliding plate 43 by bolts, and the shielding plate 53 is used for matching with the counter 52. The shielding plate 53 has an L-shaped structure, and the traveling path of the shielding plate 53 can pass through the counting sensing part of the counter 52.

As shown in fig. 4, 14 and 15, the clamping mechanism includes a first press support 54, and the top end of the first press support 54 is bolted to the bottom end of the support. A first connecting member 55 having an L-shaped longitudinal section is screwed to the top of the first press support 54. The bottom that the right-hand member horizontal thread fixedly connected with first pressure supporting seat 54 of first connecting piece 55 is rotated and is connected with the second and presses supporting seat 57, and the right side wall welded fastening that the second pressed supporting seat 57 has second connecting piece 58, and the right-hand member of second connecting piece 58 is vertical to be opened there is the key shape hole, and the left end of first telescopic cylinder 26 articulates in the key shape hole of second connecting piece 58, and the articulated department of first telescopic cylinder 26 can freely slide in the key shape hole.

The second pressing support seat 57 is fixedly connected with thirteen clamping groups. The clamping set comprises a third press support base 59, and the right end of the third press support base 59 is fixedly connected to the left end of the second press support base 57 through a bolt. The top bolt fixedly connected with second telescopic cylinder 60 of supporting seat 57 is pressed to the second, and second telescopic cylinder 60 freely stretches out and draws back along vertical direction, and the flexible end bolt fixed connection of second telescopic cylinder 60 presses the top of supporting seat 59 in the third. The left end of the third pressing support base 59 is vertically provided with a first slideway 61.

A fourth press support base 62 is vertically and slidably connected in the first slide way 61. A wedge 63 is integrally formed at the left end of the fourth press receiving base 62. A second slide way 64 is formed in the left inclined surface of the wedge block 63 along the inclined direction, a movable block 65 is connected in the second slide way 64 in a sliding mode, and an upper clamping block 66 is fixedly connected to the bottom end of the movable block 65 through a bolt. The top end of the wedge block 63 is fixedly connected with a third telescopic cylinder 67 through a bolt, the telescopic direction of the third telescopic cylinder 67 is parallel to the left inclined plane of the wedge block 63, and the telescopic end of the third telescopic cylinder 67 is fixedly connected with the top end of the movable block 65 through a bolt.

As shown in fig. 16, 17 and 18, a blind groove 68 is formed at the right end of the fourth pressing support base 62, and a lower clamping block 69 is rotatably connected in the blind groove 68. The lower holding block 69 includes an upper section 70 and a lower section 71, the upper section 70 and the lower section 71 are integrally formed, an included angle is formed between the upper section 70 and the lower section 71, and the lower section 71 is located right below the movable block 65. The top end of the upper section 70 is provided with a hinge hole, and the upper section 70 is rotatably connected with the fourth pressing support base 62. The right side wall of the upper section 70 is vertically provided with a key hole. The fourth is pressed supporting seat 62 right side wall bolt fixedly connected with fourth telescopic cylinder 72, and fourth telescopic cylinder 72 freely stretches out and draws back along the horizontal direction, and the free end of fourth telescopic cylinder 72 articulates in the key shape of upper end is downthehole, and the pin joint of fourth telescopic cylinder 72 can freely slide in the key shape is downthehole.

As shown in fig. 19, the device further comprises a camera module, and the camera module is used for shooting the scissor-foot images and generating image information output. The camera module is fixedly connected to the frame 6 (not shown in the figure), the camera adopted by the camera module can acquire a standard color image, the camera module is a binocular camera (more convenient for acquiring depth values), and the camera adopted by the camera module faces the conveying plate 40 and is located right above the conveying plate 40. This arrangement facilitates the image recognition module to scan and recognize the scissor feet in the conveying plate 40, and also facilitates the calculation of the distance between the scissor feet and the camera.

The image recognition module is used for receiving the image information output by the photographing module, marking the edge of the image as a mark point, marking the outline of the scissor leg in the image as an effective area, taking the mark point as an original point as a plane rectangular coordinate system, calculating the length, the width and the coordinates of the scissor leg according to the range of the effective area occupying the pixel point of the image information, and outputting the length, the width and the coordinates of the scissor leg; the image identification module is also used for carrying out pixel aggregation on pixel points in the image information to obtain characteristic points, obtaining the front and back information of the scissor legs according to the difference of the characteristic points, and outputting the front and back information of the scissor legs; the image recognition module selects Intel core i 712700 KF, receives and processes the image information output by the photographing module, and can create a PC platform application program by using a Windows10 operating system, the program is compiled by adopting python and C + + algorithm programs, and a language recognition function can be developed to recognize sound, so that the possibility of remote operation of an operator is improved; as shown in fig. 20, the pixel value of the image information is 1024 × 768. The reason why the basic pixel value of 1024 × 768 is selected is that the resolution ratio is comfortable for human eyes, the display screen does not shake, the price of the display meeting the resolution ratio is low, the use requirement can be met, and the cost is saved on the whole; the characteristic points are that in the image information, the number of pixel points on the front side of the scissor is at least 140 more than that of the pixel points on the back side of the scissor. The front side of the scissor foot and the back side of the scissor foot have different characteristics, all pixels displayed in image information form distinguishing characteristics, and the front side and the back side of the scissor foot are distinguished by judging that the pixels are different.

The measuring module is used for receiving the image information output by the photographing module, extracting depth according to depth-of-field data of the image information, calculating a depth value of the scissor foot from the photographing module and outputting the depth value; in the graphics in three-dimensional computing, a depth image refers to a distance image whose information is related to the surface distance of an object in a scene from the perspective of an observer, and if the change direction of the depth value of the image (the shooting direction of a camera) is the same as the field-of-view direction (Z direction) of the scene to be described, the description of the whole scene is relatively simple, so the depth image is also called a distance image, and the measurement module selects Intel borui i 712700 KF, receives the image information output by the camera module, and performs depth extraction according to the depth data of the image information.

The clamping module comprises a moving unit and a clamping unit, the moving unit is used for moving to a mark point (a pressure sensitive element is arranged at the mark point, namely when the scissor legs move to the pressure sensitive element, the pressure sensitive element can realize feedback, namely the pressure sensitive element feeds back to the image recognition module, and a light emitting diode is added in other embodiments to facilitate a binocular camera to acquire information of the mark point) and receiving the length, the width, the coordinate, the front and back information of the scissor legs output by the image recognition module and the depth value output by the measurement module to generate a movement control instruction, then the clamping unit is moved to the position where the corresponding scissor feet are positioned, after the clamping unit is moved to the position where the corresponding scissor feet are positioned, generating a touch signal after contacting the clamped scissor feet to finish clamping the edge parts of the scissor feet, and then the moving unit conveys the scissors feet which accord with the preset information to a preset position according to the moving control instruction.

As shown in fig. 21, the depth value is calculated by d = b/tan α, where d is the depth value, b is the height value of the upper portion of the effective area, and α is 1/2 of the vertical field angle of the camera; the alpha is 1/2 of the vertical view field angle of the camera, because the camera and the shot object are vertically arranged, if the camera and the shot object are horizontally arranged, the alpha adopts the horizontal view field angle to facilitate the calculation of the depth value, so how to select the alpha can be correspondingly adjusted according to the actual requirement;

because each camera has a view field, the length of the focal length and the size of the camera sensor determine the view field angle, and the depth value can be obtained as long as the height value of the upper part of the effective area is known; according to the depth-of-field image and height calculation principle, the scissor visual identification screening system is designed and realized, scissor feet with different specifications can be screened simultaneously, the speed is high, the performance is good, and the production efficiency is improved.

The scissors feet are arranged in the preset information with the right sides facing upwards, the scissors feet can be picked out conveniently for subsequent mounting procedures, the scissors feet of any specification are arranged to screen out the scissors feet suitable for keyboard keys more accurately, the preset position is a mounting area, and the screened scissors feet are directly transferred to the mounting area through the clamping module, so that the processing and production efficiency is improved conveniently; the clamping module adopts a programmable intelligent manipulator, the manipulator can be controlled to carry out clamping operation according to a movement control instruction sent by the control module, and the control instruction can be sent by compiling a program, so that the system automation is further enhanced; because the same keyboard is provided with keys with different sizes, the scissor feet used by the keys with different sizes have different sizes; the utility model discloses a pair of scissors, including the scissors foot, the scissors foot that uses is big or small, the keyboard of equidimension in addition, the button also is the variation in size on the keyboard of equidimension not, the size of the scissors foot that uses is also different, consequently when shifting the scissors foot of equidimension not, the clamping structure of manipulator also is different, can realize this function through setting up adjustable manipulator clamping structure, when the scissors foot specification of receiving image recognition module and measuring module output is different with the scissors foot specification of centre gripping last time, just automatically regulated clamping structure to the specification of another scissors foot of adaptation.

The specific implementation mode is as follows: the operator first starts the vibration plate 2 and then tips a number of scissors feet into the vibration plate 2. Under the vibration action of the vibration disk 2, the scissor feet are vibrated to the material conveying groove 4 in the material conveying plate 3 along the inner wall of the vibration disk 2. In the process that the vibration disc 2 vibrates the scissor legs to the material conveying plate 3, the orientation of the scissor legs is unified. Then, with the continuous vibration of the vibration plate 2 and the one-by-one entering of the scissor legs into the material conveying groove 4, the scissor legs start to advance in the material conveying groove 4 along the direction of the material conveying groove 4.

In the advancing process of the scissor feet in the material conveying groove 4, the scissor feet pass through the counting sensor 16 above the material conveying groove 4, and the counting sensor 16 obtains real-time passing quantity information of the scissor feet through detection. The scissor legs are then moved from the feed chute 4 into the feed chute 9. An operator controls the first servo motor 19 to rotate, the feeding wheel 18 is driven by the first servo motor 19 to rotate in the circumferential direction, and the friction force between the rubber ring and the scissors feet is utilized in the rotating process of the feeding wheel 18, so that the scissors feet are conveyed in an auxiliary mode. An operator controls the rotation amount of the first servo motor 19 according to the number of the stations for installing the scissors to be cut of each row of the actual keyboard, so that the aim of controlling the number of the scissors is finally fulfilled. Finally, the scissor feet stop moving under the action of the stop block 15, and are linearly arranged along the feeding groove 9.

The operator then actuates each feed telescopic cylinder 12 to perform extension in the horizontal direction. During the extension of the feeding telescopic cylinder 12, the feeding telescopic cylinder 12 drives the guide strip 13 to horizontally move towards the feeding groove 9 through the connecting plate 14. Due to the height position relation of the material guiding strips 13, the scissor legs can be pushed to move in the moving process of the material guiding strips 13 until the scissor legs are all uniformly abutted to one side of the feeding groove 9. Because dog 15 can block advancing of guide strip 13, and the width of dog 15 equals with the width of scissors foot, consequently when guide strip 13 removed to dog 15, guide strip 13 just can be unified with the position of scissors foot and adjust neatly, has parked specific quantity's scissors foot in the last four rows of feed chute 9 respectively.

Then, the operator controls the second servo motor 22 to rotate, and the first ball seat 21 is driven by the second servo motor 22 to move freely in the horizontal direction through the transmission of the first lead screw 23. The first ball seat 21 drives the mounting rack to move horizontally in the process of sliding horizontally. Until the negative pressure device 31 is moved to be close to the position right above the scissor-foot workpiece to be clamped of the feed chute 9.

Then the feeding telescopic cylinder is started to extend downwards, and the second mounting plate 25 is driven by the feeding telescopic cylinder to move vertically downwards relative to the first mounting plate 24. The second mounting plate 25 moves vertically downward along the slide bar 28 until the negative pressure implement 31 is abutted to the scissors foot work piece. And then the negative pressure device 31 is started to adsorb and fix the scissor-leg workpiece. Then, the feed expansion cylinder is controlled to contract in the reverse direction, so that the height position of the negative pressure unit 31 is raised. Finally, the third servo motor 38 is started to rotate, and the second lead screw 37 is driven to rotate circumferentially under the rotation action of the third servo motor 38. The second lead screw 37 rotates circumferentially to drive the second ball seat 39 to move horizontally, and the second ball seat 39 drives the first guide plate 34 to move horizontally in the moving process. Since the guide posts 32 at the top of each negative pressure device 31 are respectively and correspondingly slidably connected in the slide holes 35 of the first guide plate 34, the technical effect of driving the negative pressure device 31 to horizontally slide on the fixed rod 30 is finally achieved through the cooperation of the slide holes 35 and the guide posts 32 in the moving process of the first guide plate 34. When the first guide plate 34 moves to move the guide post 32 to the closing direction of the slide hole 35, the distance between the adjacent negative pressure mechanisms is the shortest. When the first guide plate 34 is moved so that the guide post 32 is moved in the radial direction of the slide hole 35, the interval between the adjacent negative pressure mechanisms is maximized. The purpose of enlarging the distance between the adjacent scissor feet is realized.

The negative pressure unit 31 moves the scissor legs and places them in the corresponding guide grooves 41 of the conveying plate 40.

The operator controls the fourth servo motor 49 to rotate. The screw rod is driven by a fourth servo motor 49 to synchronously rotate. The third lead screw 48 rotates to drive the sliding seat to horizontally move. Since the slide base and the slide plate 43 are fixedly connected, the slide plate 43 can be moved in the horizontal direction by the guide of the slide rail 42. When the advancing mechanism moves to the position above the scissor legs in the guide groove 41, the first telescopic cylinder 26 is controlled to horizontally extend, and after the first telescopic cylinder 26 extends, the first connecting piece 55 drives the second pressing support 57 to rotate relative to the first pressing support 54. And finally, controlling the first air cylinder to contract until the second pressing support seat 57 is restored to the position before rotation. After the scissors feet enter the lower section 71 of the lower clamping block 69, the fourth telescopic cylinder 72 is started to extend until the scissors feet are clamped and fixed by the upper clamping block 66 and the lower clamping block 69.

During clamping, the upper clamping block 66 moves to above the corresponding scissor feet under the guidance of the image information, and at this time, for precision reasons, the upper clamping block 66 may contact the scissor feet or stop at a position above the scissor feet (due to the fact that the depth value cannot reach millimeter-scale precision). In the vertical state, the right end of the lower clamp block 69 is at the lowermost position. The lower holding block 69 performs a downward extending and upward scooping action, so that the edge of the scissors foot can be more conveniently held.

Before use, an operator sets preset information by himself through a control module, the preset information comprises scissors of any specification with the front face facing upwards, the scissors are sent to a conveying plate 40 through a feeding mechanism, image information of the scissors is shot through a camera module and is output to an image recognition module and a measurement module, then the image recognition module marks the edge of an image as a mark point, the outline of the scissors in the image is an effective area, the length, the width and the coordinate of the scissors are calculated according to the range of pixel points of image information occupied by the effective area, and the length, the width and the coordinate of the scissors are output; the image recognition module is also used for carrying out pixel aggregation on pixel points in the image information to obtain feature points, obtaining front and back information of the scissor feet according to the difference of the feature points and outputting the front and back information of the scissor feet, then the measuring module carries out depth extraction according to depth-of-field data of the image information, calculates the depth value of the scissor feet from the camera module and outputs the depth value, finally the clamping module receives the length, the width, the coordinates, the front and back information of the scissor feet output by the image recognition module and the depth value output by the measuring module, judges whether the scissor feet meeting the preset information exist according to the preset information or not, and conveys the scissor feet meeting the preset information to a preset position according to a movement control instruction.

Compared with the traditional scissor screening system, the scissor vision screening system can screen and sort scissor feet of different specifications which are mixed together, and transfer the scissor feet to a specified position; the scissor vision screening system is wide in application range, high in intelligent degree, high in screening efficiency and high in accuracy.

And then, in the feeding stage, the operator controls the fourth servo motor 49 to rotate reversely, and the position of the scissor leg to be installed when the clamping and pressing device is moved under the rotation action of the third screw 48.

The installation phase is then entered. When the scissor legs are mounted on a designated workpiece, the second telescopic cylinder 60 is first controlled to extend, and the second telescopic cylinder 60 extends to approach the scissor legs in the height direction toward the position of the workpiece. Then, the fourth telescopic cylinder 72 is started to extend, and in the process of extending the fourth telescopic cylinder 72, the lower clamping block 69 rotates relative to the fourth pressing support base 62, so that the far ends of the scissor legs can hook the designated workpiece. And after the far ends of the scissor legs completely hook the workpiece, controlling the first air cylinder to extend until the horizontal plane of the scissor legs is parallel to the horizontal plane of the workpiece. And finally, the third telescopic air cylinder 67 is controlled to contract so as to completely separate the scissor feet from the lower clamping block 69.

The above are merely examples of the present invention, and the present invention is not limited to the field related to this embodiment, and the common general knowledge of the known specific structures and characteristics in the schemes is not described herein too much, and those skilled in the art can know all the common technical knowledge in the technical field before the application date or the priority date, can know all the prior art in this field, and have the ability to apply the conventional experimental means before this date, and those skilled in the art can combine their own ability to perfect and implement the scheme, and some typical known structures or known methods should not become barriers to the implementation of the present invention by those skilled in the art in light of the teaching provided in the present application. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims

1. The intelligent mounting system for the scissor legs is characterized by comprising a rack, wherein a feeding device, a feeding device and a clamping and pressing device are respectively arranged on the rack;

the clamping and pressing device comprises a travelling mechanism and a clamping mechanism, the travelling mechanism comprises a plurality of slide rails, the slide rails are horizontally and fixedly connected to the top of the rack, the slide rails are connected with a sliding plate in a sliding mode, and the bottom of the sliding plate is fixedly connected with a sliding seat and a second guide plate respectively; a guide rail is vertically arranged on the side wall of the second guide plate and is connected with a support bar in a sliding manner; the sliding plate is fixedly connected with a traveling telescopic cylinder which is telescopic in the vertical direction; the rack is horizontally and rotatably connected with a third lead screw matched with the sliding seat, and the axial direction of the third lead screw is parallel to the sliding rail; a fourth driving motor is fixedly connected to the rack, and an output shaft of the fourth driving motor is coaxially and fixedly connected with the third lead screw; the top of the clamping mechanism is fixedly connected with the telescopic end of the advancing telescopic cylinder, the second guide plate and the sliding seat respectively;

the clamping mechanism comprises a first pressing support seat, a second pressing support seat is hinged to the first support seat, and a plurality of clamping groups are fixedly connected to the side wall of the second pressing support seat;

the supporting seat is pressed including the third to centre gripping group, supporting seat fixed connection is pressed in the third in the supporting seat is pressed to the second, supporting seat one side sliding connection is pressed to the third has the fourth to press the supporting seat, the supporting seat is articulated to have lower grip block is pressed to the fourth, supporting seat lateral wall sliding connection is pressed to the fourth has last grip block, grip block and last grip block can be used for pressing from both sides tightly the scissors foot down.

2. The scissor intelligent mounting system of claim 1, wherein: a feeding plate is fixedly connected to one end, away from the vibration disc, of the material conveying plate, a plurality of feeding grooves are formed in the feeding plate, the feeding grooves can accommodate a plurality of linearly arranged scissor legs, and each feeding groove is sequentially communicated with the material conveying groove correspondingly; the feeding plates are parallel to each other, and the adjacent feeding plates are fixedly connected.

3. The intelligent scissor mounting system of claim 1, wherein: the bottom of the mounting frame is fixedly connected with a fixed rod, the negative pressure devices are horizontally connected to the fixed rod in a sliding mode, and a guide column is fixed to the top of each negative pressure device; a first driving mechanism for driving the mounting rack to slide is fixed on the rack; the rack is connected with a first guide plate between the mounting frame and the fixed rod in a sliding manner, the sliding direction of the first guide plate is perpendicular to the central axis of the guide column, the first guide plate is provided with a plurality of sliding holes in sliding fit with the guide column, and the plurality of sliding holes are radially distributed on the first guide plate; and the rack is also fixedly provided with a second driving mechanism for driving the first guide plate to slide.

4. The scissor intelligent mounting system of claim 1, wherein: the camera module is used for shooting scissor images and generating image information for output;

5. The scissor intelligent mounting system of claim 4, wherein: the calculation method of the depth value is d = b/tan alpha, wherein d is the depth value, b is the height value of the upper part of the effective area, and alpha is 1/2 of the vertical view field angle of the camera; the alpha is 1/2 of the vertical view field angle of the camera, because the camera and the shot object are vertically placed, if the camera and the shot object are horizontally placed, the alpha adopts the horizontal view field angle to facilitate the calculation of the depth value, and therefore how the alpha is selected can be correspondingly adjusted according to the actual requirement.

6. The scissor intelligent mounting system of claim 1, wherein: the top fixedly connected with of defeated flitch is used for carrying out the count sensor of count to the scissors foot, the count sensor is located directly over defeated silo.

7. The intelligent scissor mounting system of claim 1, wherein: the top of the feeding plate is fixedly connected with a base, the bottom of the base is provided with a cavity, the inner wall of the cavity is rotatably connected with a feeding wheel, the feeding wheel is used for extruding and feeding scissors feet, and the feeding wheel is positioned right above the feeding groove; and a driving motor is fixedly connected to the base, and an output shaft of the driving motor drives the feeding wheel to rotate circumferentially.

8. The scissor intelligent mounting system of claim 1, wherein: fixedly connected with pay-off guided way in the frame, mounting bracket sliding connection in pay-off guided way.

9. The scissor intelligent mounting system of claim 8, wherein: the first driving mechanism comprises a first lead screw which is rotationally connected to the rack, the first lead screw is axially parallel to the feeding guide rail, and a second servo motor for driving the first lead screw to rotate is further fixed on the rack; sliding fit has first ball seat on the first lead screw, first ball seat fixed connection in the mounting bracket.

10. The scissor intelligent mounting system of claim 9, wherein: a second guide rail is horizontally fixed at the bottom of the mounting frame, and the first guide plate is connected to the second guide rail in a sliding mode.