CN115055934B

CN115055934B - Intelligent scissor leg mounting system

Info

Publication number: CN115055934B
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: 2024-05-03
Anticipated expiration: 2042-07-20
Also published as: CN115055934A

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 frame, wherein a feeding device, a feeding device and a clamping and pressing device are respectively arranged on the frame; 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 a mounting frame which is horizontally and slidably connected to the frame, and a plurality of negative pressure devices for adsorbing scissor legs are arranged at the bottom of the mounting frame; the clamping pressing device comprises a travelling mechanism and a clamping mechanism. The invention provides an intelligent mounting system for scissor legs, which aims to solve the problems that the scissor legs are unstable to mount and are easy to break and discard.

Description

Intelligent scissor leg 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

As the name implies, a scissor key switch is used. Has a scissors-shaped structure, and two groups of plastic rubbing arms are arranged below each key. The operating principle of the scissor legs is similar to that of the operation of the scissors, the key stroke of the scissor leg keyboard is much shorter than that of a common rubber dome keyboard, the heights of key caps of keys are lower due to the crossed arrangement and the shorter stroke below the keys, and the scissor legs are more used for notebook computers, so that the keys of the keyboard are quite silent, the touch feeling force is larger than that of the common film keyboard, and the hand feeling is better. The scissor legs are also provided with front and back sides, and when the scissor legs are installed and used, the front sides of the scissor legs are required to be ensured to face upwards. The early scissors feet are assembled manually, and the assembly steps are approximately as follows: the fixed end of the scissor leg is grasped by a human hand, the sliding end of the scissor leg is aligned with the buckle on the keyboard, and the sliding end of the scissor leg is embedded and installed in the buckle on the keyboard; then the fixed end of the scissor is aligned with the other buckle on the scissor, and the fixed end of the scissor is embedded and installed in the buckle on the keyboard; in order to confirm that the two ends of the scissor legs are completely pressed into the buckle, the fingers are slightly forced to push forwards, so that the two ends of the scissor legs are completely pressed into the buckle. The manual assembly mode is high in labor cost, production cost of enterprises and reject ratio in the manual assembly process, and production efficiency is low. Later stage has developed automatic assembly again, presss from both sides the device through pressing from both sides and gets the scissors foot to with the stiff end and the slip end of scissors foot respectively with the buckle on the keyboard corresponding, then once only with scissors foot stiff end and slip end press into the buckle of keyboard on, with this installation of accomplishing the scissors foot, but the scissors foot qualification rate of this mode installation is low, in case scissors foot installation failure, this scissors foot just directly discards, causes scissors foot damage rate 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 a material pipe rack is arranged on the machine table, a material pipe is inserted on the material pipe rack, a material distributing rail is arranged below the material pipe rack, the positions of the material distributing rails respectively correspond to the material pipes, the front ends of the material distributing rails are respectively provided with a scissors foot placing groove, and the rear ends of the material distributing rails are provided with a material pushing seat driven by a cylinder; and a material taking module connected to the X axis and the Y axis is arranged near the material pipe frame.

The technical problems that a great deal of time, effort and manpower are consumed in the manual assembly mode of the scissors legs of the existing keyboard are mainly solved, and the assembly of the scissors legs not only improves the working production efficiency, but also greatly reduces the manpower waste. But in the process of specifically installing the scissors foot, the scissors foot is conveyed to the distributing track from the material pipe, then the material taking module starts the distributing vacuum material sucking and the air cylinder to descend, the pressing action is executed, the material taking module sends the scissors foot into the appointed area after the pressing action is completed, and finally the air cylinder is utilized to apply power, so that the thimble in the material taking module simultaneously presses the scissors foot downwards, and the assembly is completed. Above-mentioned scheme is at the in-process of installation scissors foot, and the material pipe is in parallel relation throughout at the in-process of carrying the scissors foot, and when can not reach manual installation, the scissors foot personally submits certain contained angle with the level, and then advances the effect of fixed scissors foot, on advancing the operation link of fixed scissors foot one end, easy misoperation, scissors foot still are broken by other parts on the keyboard easily, lead to the scissors foot to scrap easily.

Disclosure of Invention

The invention provides an intelligent mounting system for scissor legs, which aims to solve the problems that the scissor legs are unstable to mount and are easy to break and discard.

In order to solve the technical problems, the application provides the following technical scheme: an intelligent mounting system for scissors 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 a mounting frame which is horizontally and slidably connected to the frame, and a plurality of negative pressure devices for adsorbing scissor legs are arranged at the bottom of the mounting frame;

The clamping pressing device comprises a travelling mechanism and a clamping mechanism, wherein the travelling mechanism comprises a plurality of sliding rails which are horizontally and fixedly connected to the top of the frame, sliding plates are connected to the sliding rails in a sliding manner, and sliding seats and second guide plates are respectively and fixedly connected to the bottoms of the sliding plates; the side wall of the second guide plate is vertically provided with a guide rail which is connected with a support bar in a sliding way; the sliding plate is fixedly connected with a traveling telescopic cylinder which stretches in the vertical direction; the rack is horizontally and rotatably connected with a third screw rod matched with the sliding seat, and the axial direction of the third screw rod is parallel to the sliding rail; the frame is also fixedly connected with a fourth driving motor, 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 fixedly connected with the telescopic end of the travelling telescopic cylinder, the second guide plate and the sliding seat respectively;

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

The basic scheme principle and the beneficial effects are as follows: according to the technical scheme, the feeding mechanism is used for feeding scattered scissors in batches, and the scissors are sequentially arranged by utilizing the vibration action of the vibration disc in the feeding process.

According to the technical scheme, the feeding mechanism is used for achieving uniform feeding of the scissor legs, and the plurality of arranged negative pressure devices are used for achieving uniform adsorption and fixation of the scissor legs at one time. Compared with the existing feeding mode, the technical scheme can simultaneously feed the plurality of scissor legs at one time, and effectively improves the feeding efficiency. The technical scheme utilizes the frame to realize the supporting and bearing function of the whole structure. And the sliding connection relationship between the mounting frame and the frame is utilized to realize free movement of the mounting frame in the horizontal direction. So as to realize the technical effect of batch conveying and mounting of the scissor legs.

The technical scheme utilizes the advancing mechanism to realize the free movement of the clamping mechanism on the frame. Wherein the free movement in the horizontal transverse direction in space is realized by the sliding of the sliding plate on the sliding rail. 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 technical effect of the fixture displacement position on the free control sliding plate in the horizontal direction, be convenient for carry out accurate to the scissors foot and carry out material loading or unloading.

The technical scheme also utilizes the advancing telescopic cylinder as a power source and utilizes the sliding guiding function of the guide rail and the sliding plate to realize the technical effect that the cylinder drives to freely stretch up and down in the vertical direction. Because the flexible end fixed connection in fixture of flexible cylinder marches, consequently technicians can be through the flexible of control flexible cylinder marches, realize the technical effect of the free adjustment fixture height position in vertical direction.

Compared with the prior art, the clamping mechanism is installed and fixed in a single mode, the technical scheme can realize automatic control on the clamping mechanism by utilizing the driving action of the advancing telescopic cylinder and the fourth driving motor, and the technical effect of freely moving the clamping mechanism in the horizontal direction and the vertical direction is realized. The flexibility of scissors foot installation is effectively improved, the problem that the scissors foot is damaged due to position deviation caused by single fixed installation position is effectively avoided, the production efficiency is greatly improved, and the production cost is effectively reduced.

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

The beneficial effects are that: according to the technical scheme, the material conveying plate is additionally arranged on the material conveying plate, so that a plurality of scissor legs are carried and accommodated simultaneously. So that the mechanism for clamping the scissor legs can simultaneously clamp and transfer a plurality of scissor legs in batches during the subsequent conveying process of the scissor legs. According to the technical scheme, the feeding plates are provided with the feeding grooves, so that the requirement for mounting multiple rows of scissor legs on the keyboard is met. Because the scissors foot installation station of current keyboard is the linear arrangement of multirow, consequently in the in-service use, operating personnel can directly carry out the clamp simultaneously with a plurality of scissors feet in the multirow feed tank and get to it can to install fixedly to directly be in the corresponding range position on the keyboard. The feeding procedure of the scissors foot is greatly simplified, the installation rate of the scissors foot is effectively improved, and the installation time of the scissors foot on the keyboard is shortened. Compared with the prior art, the scissors are conveyed one by one, and the technical scheme can be used for arranging the scissors into a certain number of the scissors in a plurality of rows one by one on the basis of linear arrangement of the scissors. The certain quantity of scissors foot of a plurality of rows of quantity of this scheme can be direct presss from both sides it to install the scissors foot of same row directly, this technical scheme's scissors foot carries the material to say that the structure has realized improving the technological effect of the material loading efficiency of scissors foot, is convenient for follow-up to dress scissors foot and carries out batch installation, effectively reduces production time cost.

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

The beneficial effects are that: according to the technical scheme, the technical effect of simultaneously adsorbing and fixing the plurality of scissor legs is achieved by utilizing the plurality of negative pressure mechanisms, the negative pressure mechanisms utilize the sliding of the mounting frame relative to the frame, and then the technical effect of simultaneously extracting and transferring the plurality of scissor legs is achieved. According to the technical scheme, the second driving mechanism is utilized to realize the horizontal driving movement effect on the first guide plate. 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, along with the horizontal sliding of the first guide plate, the negative pressure mechanism horizontally and transversely moves on the fixed rod under the guide action of the sliding hole. When the first guide plate moves to enable the guide post to move to the folding direction of the sliding hole, the distance between 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 achieves the technical effect of freely controlling and adjusting the interval between the adjacent negative pressure mechanisms. When installing the scissors foot, a plurality of negative pressure mechanisms can adsorb simultaneously and draw fixedly a plurality of closely arranged scissors feet to utilize the slip of first deflector, make closely arranged scissors foot disperse to can wait to install the interval of station with the keyboard work piece and carry out the interval the same, and then finally realize once only accomplishing the process of transversely arranging the scissors foot on the keyboard.

Compared with the prior art, the technical scheme can freely adjust adjacent intervals of the scissor legs, can directly spread the scissor legs which are tightly arranged in the feeding process into the adaptive intervals which can be matched with the keyboard workpiece. Realize the synchronous installation of the same arrangement scissors foot of keyboard fast, effectively improved the installation effectiveness of scissors foot.

Further, the device also comprises a camera module, wherein the camera module is used for shooting the images of the scissors feet and generating image information for output;

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

the image recognition module is also used for carrying out pixel aggregation on pixel points in the image information to obtain characteristic points, obtaining 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 the depth data of the image information, calculating the depth value of the scissors foot distance photographing module and outputting the depth value;

The advancing mechanism is used for moving to a mark point and receiving the length, the width, the coordinates, the front and back information of the scissor legs 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 legs; the clamping mechanism is used for generating a touch signal after contacting the clamped scissor legs after moving to the positions of the corresponding scissor legs, clamping the edge parts of the scissor legs is completed, and the advancing mechanism conveys the scissor legs meeting preset information to the preset positions according to the movement control instruction.

The beneficial effects are that: the image pickup module is used for shooting a scissor image and generating image information for output, the image recognition module scans and recognizes the image information output by the image pickup module, the outline of the scissor in the image information is marked as an effective area, then the length, the width and the coordinates of the scissor are calculated according to the range that the effective area occupies pixels of the image information, the image recognition module can also carry out pixel aggregation on the pixels in the image information to obtain characteristic points, the front and back information of the scissor is obtained according to the difference of the characteristic points, the measuring module is used for carrying out depth extraction on depth data in the image information, the depth value of the scissor from the image pickup module is calculated according to a calculation formula, the pressing clamping device is used for receiving the length, the width, the coordinates, the front and back information of the scissor output by the image recognition module and the depth value output by the measuring module, judging whether the scissor which accords with preset information exists or not according to preset information, and finally the scissor which accords with preset information is transported to a preset position according to a movement control instruction. Importantly, the specification of the scissors foot and the coordinate of the scissors foot are judged according to the length and the width of the pixel point occupied by the effective area of the image recognition module, depth data in image information are counted to obtain a depth value, whether the scissors foot is overlapped or not is judged, and finally the scissors feet with different specifications are accurately moved to different installation areas. And through adding the mark points, the zero clearing of the error each time is realized, and the occurrence of accumulated errors is avoided. And through the collection of depth value, can make the centre gripping module realize higher probability, efficient centre gripping. Compared with the traditional scissor screening system, the scheme can be used for screening and sorting the scissor with different specifications which are mixed together and transferring the scissor to the designated position.

Further, 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 angle of the vertical view field of the camera is 1/2 of the angle of the vertical view field of the camera, and the camera and the shot object are vertically arranged, if the camera and the shot object are horizontally arranged, the angle of the horizontal view field of the camera is adopted for calculating the depth value conveniently, so that the angle of the camera can be correspondingly adjusted according to actual requirements.

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

The beneficial effects are that: according to the technical scheme, the counting sensor is additionally arranged, so that an operator can grasp the feeding condition in each trough in real time by utilizing the technical sensor.

Further, the top of the feeding plate is fixedly connected with a base, a cavity is formed in the bottom of the base, the inner wall of the cavity is rotationally 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; the feeding wheel is characterized in that a driving motor is fixedly connected to the base, and an output shaft of the driving motor drives the feeding wheel to circumferentially rotate.

The beneficial effects are that: according to the technical scheme, the feeding wheels and the driving motor are additionally arranged, so that an operator can control the rotation quantity of the servo motor according to the quantity of stations of the scissors to be installed in each row of the actual keyboard, and the aim of controlling the quantity of the scissors to be entered is finally achieved.

Further, the frame is fixedly connected with a feeding guide rail, and the mounting frame is slidably connected with the feeding guide rail.

The beneficial effects are that: according to the technical scheme, the feeding guide rail is additionally arranged, so that the guiding effect between the rack and the mounting frame is realized, and the mounting frame is ensured to stably and directionally slide relative to the rack.

Further, the first driving mechanism comprises a first lead screw, the first lead screw is rotationally connected to the frame, the first lead screw is axially parallel to the feeding guide rail, and the frame is also fixedly provided with a second servo motor for driving the first lead screw to rotate; the first screw is provided with a first ball seat in a sliding fit mode, and the first ball seat is fixedly connected to the mounting frame.

The beneficial effects are that: according to the technical scheme, the first servo motor is used for driving, and the first lead screw is driven to circumferentially rotate. And driving the first ball seat to horizontally and linearly move in the process of rotating the first screw. Because the fixed connection of mounting bracket and first ball seat, and then finally realize utilizing first servo motor to realize the motion control to the mounting bracket horizontal direction.

Further, the second guide rail is horizontally fixed at the bottom of the mounting frame, and the first guide plate is slidably connected to the second guide rail.

The beneficial effects are that: according to the technical scheme, the second guide rail is additionally arranged, so that the guide effect between the first guide plate and the mounting frame is realized, and the first guide plate can stably and directionally slide relative to the frame.

Drawings

FIG. 1 is a schematic view of a scissor intelligent mounting system according to a first embodiment of the invention;

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

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

FIG. 4 is an enlarged partial schematic view at B in FIG. 3;

fig. 5 is a schematic structural diagram of a feeding device in the embodiment;

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

fig. 7 is a schematic view showing a bottom view of the feeding plate in the mated state of the present embodiment;

fig. 8 is a schematic top view of the two feeding boards in the present embodiment in a mated state;

FIG. 9 is a schematic view of the feeding device in the present embodiment;

FIG. 10 is a schematic view of a part of the material distributing device in the embodiment;

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

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

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

fig. 14 is a schematic structural view of a clamping mechanism in the present embodiment;

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

Fig. 16 is a schematic structural view of the fourth pressing support seat in a state of being matched with the lower clamping block;

fig. 17 is a schematic structural view of a fourth pressing support seat;

FIG. 18 is a schematic view of the structure of the lower clamp block;

FIG. 19 is a flow chart of the clamping system in the present embodiment;

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

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

Detailed Description

The following is a further detailed description of the embodiments:

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

The intelligent scissor leg installing system comprises a feeding device, a feeding device and a clamping and pressing device.

The feeding device shown in the accompanying drawings 1,3 and 5 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 plate 2 is welded and fixed with a material conveying plate 3 at a position close to the top. The top of the vibration plate 2 is coplanar with the top of the material conveying plate 3, and the outer wall of the material conveying plate 3 is tangent with the outer wall of the vibration plate 2. The material conveying plate 3 is of an L-shaped plate-shaped structure, 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 fixedly arranged on the top thread of the material conveying plate 3, and the partition plate 5 is located right above the material conveying grooves 4. The distance between the baffle plate 5 and the material conveying groove 4 is larger than the height of a single scissor leg and smaller than the heights of two scissor legs.

One side of the adjacent feeding frame 1 is provided with a frame 6, two groups of supporting pieces are vertically fixed on the frame 6 in a threaded manner, each group of supporting pieces comprises two supporting blocks 7, and a feeding plate 8 is fixedly connected to the top bolts of the two supporting blocks 7. 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 legs. The feeding plate 8 is provided with a key hole 10 between two feeding grooves 9, 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 feeding plates 3 respectively, the shape and structure of the longitudinal section of the feeding groove 9 are the same as those of the feeding groove 4, and each feeding groove 9 is communicated with the corresponding feeding groove 4. The tops of the two feed plates 8 are coplanar, and the side walls between the two feed plates 8 are mutually abutted and face opposite. In the abutting state of the two feed plates 8, the two keyways 11 abut against each other to form a cavity, the shape of which corresponds to the shape of the keyhole 10.

The top of the frame 6 is also fixedly connected with four feeding telescopic cylinders 12 which are of the same type and can freely stretch horizontally through bolts, and the stretching direction of the feeding telescopic cylinders 12 is mutually perpendicular to the feeding direction of the feeding groove 9. The top of each feeding plate 8 is slidably connected with two guide strips 13, the guide strips 13 are parallel to the feeding direction of the feeding groove 9, and the guide strips 13 are arranged on one side of the adjacent feeding groove 9. The two keyholes 10, the exposed keyways 11 and the space formed by the two keyways 11 are respectively and horizontally connected with a connecting plate 14 in a sliding manner, and the sliding direction of the connecting plate 14 is parallel to the sliding direction of the material guiding strip 13. The top of the connecting plate 14 is in threaded fixation with the material guiding strip 13, and the bottom of the connecting plate 14 is in threaded fixation with the telescopic end of the corresponding feeding telescopic cylinder 12.

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

Three counting sensors 16 are fixedly arranged on the tops of each part of the material conveying plate 3, which is close to the material conveying groove 4, and the detection part of each counting sensor 16 is positioned right above the material conveying groove 4. The counting sensor 16 counts the number of the scissors passing through the feed chute 4.

As shown in fig. 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 connected to the left side and the right side of the inner wall of the cavity in a rotating mode, and the feeding wheels 18 are used for extruding and feeding the scissor legs. Each feed wheel 18 is located directly above a corresponding feed chute 9. The opposite two ends of the base 17 are fixedly connected with a first servo motor 19 through bolts respectively, and an output shaft of the first servo motor 19 drives a feeding wheel 18 to circumferentially rotate. 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 pressing device are respectively arranged on the frame 6.

As shown in fig. 10, 11 and 12, the feeding device comprises two feeding guide rails 20 parallel to each other, and the feeding guide rails 20 are fixedly connected to the top of the frame 6 by horizontal bolts. A mounting bracket is slidably connected below between the two feed guide rails 20.

A first driving mechanism is also arranged between the mounting frame and the frame 6. The first driving mechanism comprises a first ball seat 21, a second servo motor 22 and a first 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 frame 6 through bolts. The first ball seat 21 is also slidably fitted with a first screw rod 23, and the central axis of the first screw rod 23 is parallel to the horizontal plane. The output shaft of the second servo motor 22 is used for driving the first screw 23 to perform circumferential rotation.

The mounting frame 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. The first mounting plate 24 is fixedly connected with a feeding telescopic cylinder which stretches freely in the vertical direction, and the telescopic end of the feeding telescopic cylinder faces downwards vertically. 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 also fixedly connected with a slide seat 27 on the left and right sides by bolts respectively, and the slide seat 27 is provided with a through hole in the vertical direction. A slide bar 28 is vertically welded and fixed on the top of the second mounting plate 25, and the slide bar 28 is slidably connected in the through hole of the slide base 27. Two parallel baffle plates 29 are respectively bolted on the left side and the right side of the bottom of the second mounting plate 25, and two fixing rods 30 are horizontally screwed between the two baffle plates 29. The fixed rod 30 is horizontally and slidably connected with thirteen negative pressure devices 31 with the same structure, the bottom end of each negative pressure device 31 is provided with a negative pressure port, and the negative pressure devices 31 adsorb and fix 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 to the top of each negative pressure device 31.

The bottom end of the second mounting plate 25 is fixedly connected with two second guide rails 33 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 slide holes 35 distributed radially are formed on the surface of the first guide plate 34, and each guide post 32 is slidably connected in the corresponding slide hole 35. The top bolt of the second mounting plate 25 is fixedly connected with a bearing seat 36, 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. A third servo motor 38 is fixedly connected to the top bolt of the second mounting plate 25, and an output shaft of the third servo motor 38 is used for driving the second screw rod 37 to circumferentially rotate. The second screw 37 is slidably fitted with a second ball seat 39. 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 in the top of the conveying plate 40. Both ends are open about the guide way 41, and the left end bottom that the 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 communicate each other with outside down. The bottom of one end of the guide groove 41, which is close to the clamping and pressing device, is embedded and fixed with a pressure sensitive element.

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

As shown in fig. 13, the travelling mechanism comprises two parallel sliding rails 42, the sliding rails 42 are fixedly connected to the top of the frame 6 through bolts, a sliding plate 43 is slidably connected between the two sliding rails 42, and a travelling telescopic cylinder 44 is vertically and fixedly bolted to the center of the top of the sliding plate 43. The traveling telescopic cylinder 44 is freely telescopic in the vertical direction, and the 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 traveling telescopic cylinder 44 is fixedly connected with the clamping and pressing device through bolts.

Two parallel second guide plates 45 are screwed on the bottom of the sliding plate 43, and guide rails 46 are respectively arranged on the opposite surfaces of the two second guide plates 45. Each guide rail 46 is vertically and slidably connected with a supporting bar 47, and the bottom ends of the two supporting bars 47 are fixedly connected with a clamping and pressing device.

A third threaded spindle 48 is also rotatably connected to the top of the frame 6 between the two slide rails 42, the axis of the third threaded spindle 48 being parallel to the direction of extension of the guide rail 46. A fourth servo motor 49 is fixedly connected to the side wall of the frame 6 through bolts, and a driving shaft of the fourth servo motor 49 is coaxially connected with the end of a third screw rod 48 through a key. The third screw 48 is fitted with a ball slide seat 50, and the ball slide seat 50 is linearly movable in the axial direction of the third screw 48. The top end of the ball sliding seat 50 is fixedly connected to the bottom end of the sliding plate 43 by a bolt.

The side wall screw of the frame 6 is fixedly connected with a slide bar 51, the slide bar 51 horizontally slides and is provided with a groove type photoelectric sensor counter 52, and the counter 52 is fixed on the slide bar 51 by bolts. The side wall bolt of the sliding plate 43 is fixedly connected with a shielding plate 53, and the shielding plate 53 is used for being matched with the counter 52. The shielding plate 53 has an L-shaped structure, and a traveling path of the shielding plate 53 can pass through a counting sensing portion of the counter 52.

The clamping mechanism shown in fig. 4, 14 and 15 comprises a first pressing support seat 54, and the top end of the first pressing support seat 54 is fixed to the bottom end of the support table through bolts. A first connecting member 55 having an L-shaped longitudinal section is screw-fixed to the top of the first pressing support 54. The bottom of the first supporting seat 54 is rotationally connected with the second supporting seat 57 in a horizontally threaded fixedly connected mode at the right end of the first connecting piece 55, the second connecting piece 58 is fixedly welded to the right side wall of the second supporting seat 57, a key-shaped hole is vertically formed in the right end of the second connecting piece 58, the left end of the first telescopic cylinder 26 is hinged to the key-shaped hole of the second connecting piece 58, and the hinged portion of the first telescopic cylinder 26 can freely slide in the key-shaped hole.

The second pressing support base 57 is fixedly connected with thirteen clamping groups. The clamping group comprises a third pressing supporting seat 59, and the right end bolt of the third pressing supporting seat 59 is fixedly connected to the left end of the second pressing supporting seat 57. The top end bolt of the second pressing support base 57 is fixedly connected with a second telescopic cylinder 60, the second telescopic cylinder 60 stretches freely along the vertical direction, and the telescopic end bolt of the second telescopic cylinder 60 is fixedly connected to the top end of the third pressing support base 59. The left end of the third pressing support seat 59 is vertically opened with a first slide 61.

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

As shown in fig. 16, 17 and 18, a blind groove 68 is formed at the right end of the fourth pressing support seat 62, and a lower clamping block 69 is rotatably connected to the blind groove 68. The lower clamping block 69 comprises an upper section 70 and a lower section 71, the upper section 70 and the lower section 71 are integrally formed, an obtuse included angle is formed between the upper section 70 and the lower section 71, and the lower section 71 is located under 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 seat 62. The right side wall of the upper section 70 is vertically perforated with key-shaped holes. The fourth presses the flexible cylinder 72 of fourth compression support 62 right side wall bolt fixedly connected with, the flexible cylinder 72 of fourth is along the free flexible of horizontal direction, and the free end of flexible cylinder 72 of fourth articulates in the key-shaped hole of upper end, and the pin joint of flexible cylinder 72 of fourth can freely slide in the key-shaped hole.

As shown in fig. 19, the device further comprises an image pickup module, wherein the image pickup module is used for picking up the images of the scissors feet 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 standard color images, the camera module is a binocular camera (more convenient to acquire 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 legs in the transfer plate 40, while facilitating the calculation of the distance between the scissor legs and the camera.

The image recognition module is used for receiving the image information output by the photographing module, marking the outline of the scissor in the image as an effective area by marking the edge of the image as a mark point, taking the mark point as an origin as a plane rectangular coordinate system, calculating the length, width and coordinates of the scissor according to the range of the pixel point of the image information occupied by the effective area, and outputting the length, width and coordinates of the scissor; the image recognition module is also used for carrying out pixel aggregation on pixel points in the image information to obtain characteristic points, obtaining 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 Kui 7 12700KF, receives and processes the image information output by the photographic module, can use the Windows10 operating system to create a PC platform application program, adopts python and C++ to carry out algorithm programming, and can develop a language recognition function recognition voice so as to improve the possibility of remote operation of operators; as shown in fig. 20, the pixel value of the image information is 1024×768. The 1024×768 base pixel value is selected because the resolution is comfortable for eyes of people, the display screen cannot shake, and the display meeting the resolution is low in price and can meet the use requirement, so that the cost is saved as a whole; the feature points are that in the image information, at least 140 more pixels are arranged on the front side of the scissor leg than on the back side of the scissor leg. The front surface of the scissor leg and the back surface of the scissor leg have different characteristics, all the pixels formed in the image information are displayed to form different characteristics, and the front surface and the back surface of the scissor leg are distinguished by judging the difference of the pixels.

The measuring module is used for receiving the image information output by the photographing module, extracting depth according to the depth data of the image information, calculating the depth value of the scissors foot distance photographing module and outputting the depth value; in the graphics, the depth data is also called a depth image, in which, in three-dimensional computation, the depth image is a distance image in which the information contained in the image is related to the distance between the object surface of the scene and the information contained in the image, and if the change direction of the depth value of the image (the shooting direction of the camera) is the same as the field direction of the scene to be described (the Z direction), it is simpler to describe the whole scene, therefore, the depth image is also called a distance image, the measurement module selects Intel cool i7 12700KF, receives the image information output by the shooting 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, wherein the moving unit is used for moving to a marking point (the pressure sensitive element is arranged at the marking point, namely, when the scissor leg moves to the pressure sensitive element, the pressure sensitive element can realize feedback, namely, the feedback is fed back to the image recognition module, a light emitting diode is added in other embodiments, the information of the marking point is conveniently obtained by a binocular camera), the length, the width, the coordinates, the front and back information and the depth value output by the measuring module of the scissor leg output by the image recognition module are received, a movement control instruction is generated, the moving unit is used for moving to the position of the corresponding scissor leg, the clamping unit is used for generating a touch signal after contacting the clamped scissor leg after moving to the position of the corresponding scissor leg, the clamping of the edge part of the scissor leg is completed, and then the moving unit conveys the scissor leg which accords with preset information to the preset position according to the movement 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 part of the effective area, and α is 1/2 of the vertical field angle of the camera; the angle of the vertical view field of the camera is 1/2 of that of the camera, and as the camera and the shot object are vertically arranged, if the camera and the shot object are horizontally arranged, the angle of the horizontal view field of the camera is adopted for calculating the depth value, so that the angle of the camera can be correspondingly adjusted according to actual requirements;

Since each camera has a field of view, the length of the focal length and the size of the camera sensor determine the angle of view, and a 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 image and the height calculation principle, the scissor visual identification screening system is designed and realized, the scissor with different specifications can be screened simultaneously, the speed is high, the performance is good, and the production efficiency is improved.

The scissors legs are arranged in preset information with the right side facing upwards, so that the selected scissors legs can be subjected to subsequent installation procedures, the scissors legs of any specification are arranged for more accurately screening out the scissors legs suitable for keys of a keyboard, the preset position is an installation area, and the screened scissors legs are directly transferred to the installation area through the clamping module, so that the processing and production efficiency can be conveniently improved; the clamping module adopts a programmable intelligent manipulator, and can control the manipulator to carry out clamping operation according to a movement control instruction sent by the control module, and the control instruction can be sent out by programming, so that the system automation is further enhanced; because the same keyboard is provided with keys with different sizes, the sizes of scissor legs used by the keys with different sizes are different; the keyboard of different sizes is also provided, the keys on the keyboard of different sizes are also different in size, and the used scissors are also different in size, so that when the scissors of different sizes are transferred, the clamping structure of the manipulator is also different, the function can be realized by arranging the adjustable manipulator clamping structure, and when the specifications of the scissors output by the receiving image recognition module and the measuring module are different from those of the scissors clamped last time, the clamping structure is automatically adjusted to adapt to the specifications of the other scissors.

The specific implementation mode is as follows: first the operator activates the vibration plate 2 and then tips a number of scissor legs into the vibration plate 2. Under the action of the vibration plate 2, the scissor feet are vibrated into the material conveying groove 4 in the material conveying plate 3 along the inner wall of the vibration plate 2. In the process that the vibrating plate 2 vibrates the scissor legs to the material conveying plate 3, the directions of the scissor legs are unified. Then, along with the continuous vibration of the vibration disc 2 and the sequential 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 material conveying groove 4.

In the process that the scissors foot advances in the conveying chute 4, the scissors foot passes through the counting sensor 16 above the conveying chute 4, and the counting sensor 16 obtains real-time information of the number of the scissors foot passing through detection. The scissor legs then move from the feed chute 4 into the feed chute 9. The first servo motor 19 is controlled by an operator to rotate, the feeding wheel 18 is driven by the first servo motor 19 to circumferentially rotate, and the friction force between the rubber ring and the scissor legs is utilized in the rotation process of the feeding wheel 18, so that the function of assisting in conveying the scissor legs is realized. The operator controls the rotation amount of the first servo motor 19 according to the number of stations of each row of the actual keyboard, which are provided with the to-be-sheared pins, so as to finally achieve the purpose of controlling the quantity of the to-be-sheared pins. Finally, the scissor legs stop moving under the blocking effect of the stop block 15 and are linearly arranged along the feeding groove 9.

The operator then activates each feed extension cylinder 12 for horizontal extension. In the process of extending the feeding telescopic cylinder 12, the feeding telescopic cylinder 12 drives the material guide strip 13 to horizontally move towards the direction approaching the feeding groove 9 through the connecting plate 14. Due to the height position relationship of the material guiding strips 13, the scissor legs are pushed to move in the moving process of the material guiding strips 13 until the scissor legs are all abutted to one side of the feeding groove 9. Because the dog 15 can block the marcing of guide bar 13, and the width of dog 15 equals with the width of scissors foot, consequently when guide bar 13 moved to dog 15, guide bar 13 just can unify the regulation neatly with the position of scissors foot, has parked the scissors foot of specific quantity respectively in four rows of feed slots 9 at last.

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

And then starting the feeding telescopic cylinder to extend downwards, and vertically moving the second mounting plate 25 downwards relative to the first mounting plate 24 under the driving of the feeding telescopic cylinder. The second mounting plate 25 is moved vertically downward along the slide bar 28 until the negative pressure device 31 is abutted against the scissor foot work piece. Then, the negative pressure device 31 is started to adsorb and fix the scissor leg workpiece. Then the feeding telescopic cylinder is controlled to reversely contract, so that the height position of the negative pressure device 31 is lifted. Finally, the third servo motor 38 is started to rotate, and the second screw rod 37 is driven to circumferentially rotate under the rotation action of the third servo motor 38. The second 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 together in the moving process. Since the guide posts 32 on the top of each negative pressure device 31 are correspondingly and slidably connected in the sliding holes 35 connected to the first guide plates 34, the technical effect of driving the negative pressure devices 31 to horizontally slide on the fixed rods 30 is finally achieved through the cooperation of the sliding holes 35 and the guide posts 32 in the moving process of the first guide plates 34. When the first guide plate 34 moves to move the guide post 32 to the collapsing direction of the slide hole 35, the interval between adjacent negative pressure mechanisms is shortest. When the first guide plate 34 moves to move the guide post 32 to the radial direction of the slide hole 35, the interval between the adjacent negative pressure mechanisms is maximized. The purpose that the distance between adjacent scissor legs is increased is achieved.

Then the negative pressure device 31 moves the scissor legs and places the scissor legs into the corresponding guide grooves 41 of the conveying plate 40.

The operator controls the fourth servomotor 49 to rotate. The screw is driven by the fourth servo motor 49 to rotate synchronously. The sliding seat is driven to horizontally move by the rotation of the third screw rod 48. Since the slide seat and the slide plate 43 are fixedly connected, the slide plate 43 can also move in the horizontal direction under the guiding action of the slide rail 42. When the travelling 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 the first telescopic cylinder 26 drives the second pressing support base 57 to relatively rotate relative to the first pressing support base 54 through the first connecting piece 55 after extending. Finally, the first cylinder is controlled to retract until the second pressing support base 57 is restored to the position before rotation. After the scissor legs enter the lower section 71 of the lower clamping block 69, the fourth telescopic air cylinder 72 is started to extend until the upper clamping block 66 and the lower clamping block 69 clamp and fix the scissor legs.

During clamping, the upper clamping block 66 moves above the corresponding scissor leg under the guidance of the image information, and at this time, for precision reasons, the upper clamping block 66 may contact with the scissor leg or stop at a certain position above the scissor leg (because the depth value cannot reach millimeter precision). In the vertical state, the right end of the lower clamp block 69 is at the lowest position. The lower clamping block 69 performs a downward extending and then upward pulling action, so that the edge of the scissor leg is more conveniently clamped.

Before use, an operator sets preset information by himself through the control module, the preset information comprises scissors with any specification with the right side facing upwards, the scissors are sent to the conveying plate 40 through the feeding mechanism, the image information of the scissors is shot through the shooting module and is output to the image recognition module and the measuring module, then the image recognition module marks the outline of the scissors in the image as an effective area by marking the edge of the image as a marking point, the length, the width and the coordinates of the scissors are calculated according to the range of the pixel points of the image information occupied by the effective area, and the length, the width and the coordinates 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 characteristic points, obtaining front and back information of the scissor legs according to the difference of the characteristic points, outputting the front and back information of the scissor legs, then the measurement module carries out depth extraction according to depth data of the image information, calculates a depth value of the scissor legs from the camera module, outputs the depth value, and finally the clamping module receives the length, width, coordinates, front and back information of the scissor legs output by the image recognition module and the depth value output by the measurement module, judges whether the scissor legs which accord with preset information exist according to preset information, and conveys the scissor legs which accord with the preset information to a preset position according to a movement control instruction.

Compared with the traditional scissor-foot screening system, the scissor-foot visual screening system of the scheme can finish screening and sorting the scissor-feet of different specifications which are mixed together and transfer the scissor-feet to a designated position; the scissor vision screening system is applicable Fan An, high in intelligent degree, high in screening efficiency and high in accuracy.

Then, in the feeding stage, the operator controls the fourth servo motor 49 to reversely rotate, and the clamping pressing device is moved under the rotation of the third screw 48 to the position where the scissor leg is to be mounted.

And then enters the installation phase. When the scissor legs are mounted on a specified workpiece, the second telescopic cylinder 60 is first controlled to extend, and the second telescopic cylinder 60 extends so that the scissor legs approach to the position of the workpiece in the height direction. 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 relatively to the fourth pressing support seat 62, so that the distal ends of the scissor legs can hook the designated workpiece. After the far end of the scissor leg is used for hooking the workpiece completely, the first cylinder is controlled to extend until the horizontal plane of the scissor leg is parallel to the horizontal plane of the workpiece. Finally, the third telescopic cylinder 67 is controlled to retract so as to completely separate the scissor legs from the lower clamping block 69.

The foregoing is merely an embodiment of the present application, the present application is not limited to the field of this embodiment, and the specific structures and features well known in the schemes are not described in any way herein, so that those skilled in the art will know all the prior art in the field before the application date or priority date of the present application, and will have the capability of applying the conventional experimental means before the date, and those skilled in the art may, in light of the present application, complete and implement the present scheme in combination with their own capabilities, and some typical known structures or known methods should not be an obstacle for those skilled in the art to practice the present application. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present application, and these should also be considered as the scope of the present application, which does not affect the effect of the implementation of the present application and the utility of the patent. The protection scope of the present application is subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.

Claims

1. The intelligent scissor leg mounting system 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 pressing device comprises a travelling mechanism and a clamping mechanism, wherein the travelling mechanism comprises a plurality of sliding rails which are horizontally and fixedly connected to the top of the frame, sliding plates are connected to the sliding rails in a sliding manner, and sliding seats and second guide plates are respectively and fixedly connected to the bottoms of the sliding plates; the side wall of the second guide plate is vertically provided with a guide rail, and the guide rail is connected with a support bar in a sliding manner; the sliding plate is fixedly connected with a traveling telescopic cylinder which stretches 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; the frame is also fixedly connected with a fourth driving motor, 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 group comprises a third pressing supporting seat, the third pressing supporting seat is fixedly connected with the second pressing supporting seat, one side of the third pressing supporting seat is slidably connected with a fourth pressing supporting seat, the fourth pressing supporting seat is hinged with a lower clamping block, the side wall of the fourth pressing supporting seat is slidably connected with an upper clamping block, and the lower clamping block and the upper clamping block can be used for clamping scissor legs;

The device also comprises a camera module, wherein the camera module is used for shooting the images of the scissors feet and generating image information for output;

The advancing mechanism is used for moving to a mark point and receiving the length, the width, the coordinates, the front and back information of the scissor legs 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 legs; the clamping mechanism is used for generating a touch signal after contacting the clamped scissor legs after moving to the positions of the corresponding scissor legs to finish clamping the edge parts of the scissor legs, and the advancing mechanism conveys the scissor legs meeting preset information to the preset positions according to the movement control instruction;

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 angle of the vertical view field of the camera is 1/2 of the angle of the vertical view field of the camera, and the camera and the shot object are vertically arranged, if the camera and the shot object are horizontally arranged, the angle of the horizontal view field of the camera is adopted for calculating the depth value conveniently, so that the angle of the camera can be correspondingly adjusted according to actual requirements.

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

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

4. The scissors intelligent mounting system according to 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, count sensor is located defeated silo directly over.

5. The scissors intelligent mounting system according to claim 2, wherein: the top of the feeding plate is fixedly connected with a base, a cavity is formed in the bottom of the base, the inner wall of the cavity is rotationally 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; the feeding wheel is characterized in that a driving motor is fixedly connected to the base, and an output shaft of the driving motor drives the feeding wheel to circumferentially rotate.

6. A scissor foot intelligent mounting system according to claim 3, wherein: and the frame is fixedly connected with a feeding guide rail, and the mounting frame is slidably connected with the feeding guide rail.

7. The scissors intelligent mounting system according to claim 6, wherein: the first driving mechanism comprises a first lead screw, the first lead screw is rotationally connected to the frame, the first lead screw is axially parallel to the feeding guide rail, and the frame is also fixedly provided with a second servo motor for driving the first lead screw to rotate; the first screw is provided with a first ball seat in a sliding fit mode, and the first ball seat is fixedly connected to the mounting frame.

8. The scissors intelligent mounting system according to claim 7, wherein: the mounting bracket bottom level is fixed with the second guided way, first deflector sliding connection in the second guided way.