CN107262381A - A kind of oil nozzle needle-valve dimension automatic measuring device based on machine vision - Google Patents

Abstract

The invention provides an automatic measurement device for the size of a nozzle needle valve based on machine vision, which includes a control system, a feeding mechanism, a positioning and clamping mechanism, a visual measurement mechanism and a sorting mechanism; the feeding mechanism includes a conveyor stand, Workpiece conveyor, feeding pipe, sequence block, first cylinder, second cylinder, workpiece pressing block, workpiece blocking block, proximity sensor and electrical cabinet; the positioning and clamping mechanism includes guide sleeve base, manipulator cylinder, Work piece supporting block, the 3rd air cylinder, optical fiber sensor and sensor base; Described sorting mechanism comprises guide trough, guide trough support, counting sensor, sensor support, sorting trough, sliding translational mechanism and receiving tray; Said The control system includes a PC and a PLC control module; the invention can realize high-efficiency and high-precision non-contact measurement and sorting of needle valves, and can collect measurement data in time.

Description

An automatic measurement device for the size of the nozzle and needle valve based on machine vision

technical field

The invention relates to the technical field of measurement and testing, in particular to an automatic measuring device for the size of a nozzle needle valve based on machine vision.

Background technique

As the downward pressure on the domestic economy continues to increase, the pressure on production costs of enterprises is also increasing. Many enterprises respond by reducing labor force and compressing production cost. While reducing labor force, it is necessary to change the production mode and realize the automation of production lines. Production and testing. Among them, the detection link is very important. As a new non-contact measurement technology, machine vision inspection technology is gradually applied to industrial production.

The needle valve assembly of the fuel injector is one of the three precision assemblies of the diesel engine fuel system. The material of the needle valve is W6Mo5Cr4V2, and the heat treatment hardness is 60-66HRC. The demand for diesel engines continues to increase, and the complete sets of fuel injection systems are also increasing. Correspondingly, needle valve parts have been mass-produced, with a daily output of up to 30,000 pieces. This requires continuous improvement in the efficiency and accuracy of the measurement system. The structure of the needle valve can be divided into three parts, the needle tip, the outer circle of the size, and the tail. Usually, after each process is processed, the size of the tail of the outer circle needs to be measured, including diameter, angle, distance, etc. The traditional measurement method is mostly manual. Take the needle valve parts and measure manually with a pneumatic measuring instrument, which is a serious waste of manpower and low production efficiency. With the standardization and legalization of product quality management, the calls for online testing, full testing, and real-time monitoring are getting louder.

The so-called machine vision inspection technology, that is, computerized light measurement. It uses cameras and lenses to simulate human vision for identification, measurement and judgment. It has the advantages of high speed, high precision and real time. Based on this, the application of machine vision measurement technology is becoming more and more extensive. The Chinese patent application number 200810124374.9 proposes a large-scale measuring device based on machine vision, which places a large-scale workpiece on the stage, obtains each local area of the workpiece through a camera, and compensates each local image through an algorithm. And, to obtain the overall part size; the Chinese patent application number 200810243973.2 proposes a non-contact visual measurement device for the geometric dimensions of ships. The device uses 4 industrial cameras to measure the geometric dimensions of the hull, which is specific; the application number A Chinese patent of 201310698709.9 proposes a visual measurement device for the limit curve of sheet metal forming. The device uses a visual camera to analyze the image of the deformed material, calculates the degree of edge bending, and then obtains the limit curve of material forming. The method is simple and easy to use; The Chinese patent No. 201410275227.7 proposes a complete imaging visual measurement device, which also uses the stage-type measurement method to complete the measurement of the coaxiality, radial runout, cylindricity, etc. of shaft parts; the application No. 201510395713.7 The Chinese patent proposes a method for measuring the radius of a cylindrical surface based on 3D vision. The method obtains the 3D point cloud data of the cylindrical surface through a 3D vision measurement system, and then expands it into 2D plane data, and then sorts the 2D point cloud data based on the angle. Expand into a one-dimensional point sequence, and perform ellipse fitting and circle fitting according to the one-dimensional point sequence to obtain the radius. This method has strong anti-noise ability and high precision. The above inventions all use visual measurement technology as a measurement method. Although the measurement of the target is completed, they cannot realize online real-time detection and statistical analysis, cannot monitor and feedback process capabilities, and cannot adapt to mass production.

Therefore, realizing online real-time detection and monitoring of needle valve parts has become an urgent problem for enterprises to solve. In this context, based on machine vision measurement technology, the present invention realizes high-efficiency, high-precision non-contact measurement and sorting of needle valves, enables timely statistics of measurement data, timely feedback on machine tools, and later assembly of injectors and safety are of great importance.

Contents of the invention

Aiming at the deficiencies in the prior art, the present invention provides an automatic measurement device for nozzle needle valve size based on machine vision, which realizes efficient and high-precision non-contact measurement and sorting of needle valves, and can collect measurement data in time, It is of great significance for the timely feedback of the machine tool, as well as the assembly and safety of the injector in the later stage.

The present invention achieves the above-mentioned technical purpose through the following technical means.

An automatic measurement device for the size of a nozzle needle valve based on machine vision, including a control system, a feeding mechanism, a positioning and clamping mechanism, a visual measurement mechanism and a sorting mechanism; the feeding mechanism includes a conveyor platform, a workpiece conveyor, Delivery pipe, sequence block, first mounting plate, first support, first cylinder, second cylinder, workpiece pressing block, workpiece blocking block, proximity sensor and electrical cabinet; the workpiece conveyor is fixed on the conveyor table On the frame, the workpiece conveyor is a vibrating discharge device, and the parts are sent to the discharge port of the workpiece conveyor through the vibrator installed inside the workpiece conveyor; the sequence block is connected with the first mounting plate, through the first The mounting plate is fixed on the first bracket; the first bracket is fixedly installed on the electrical cabinet; the sequence block is connected to the discharge port of the workpiece conveyor through the material delivery pipe, and is used to transport the parts to the through hole in the sequence block middle; the sequence block is provided with a first groove and a second groove, and are respectively perpendicular to the through hole of the sequence block; the first cylinder and the second cylinder are fixed on the first mounting plate, and the first cylinder passes through the air pipe It is connected with the first solenoid valve, and the second cylinder is connected with the second solenoid valve through the air pipe; the stretching rod of the first cylinder is equipped with a workpiece pressing block, and the first cylinder is controlled by the first solenoid valve to stretch and compress the workpiece The block enters the first groove; the second cylinder stretching rod installs the workpiece blocking block, and the second cylinder is controlled by the second solenoid valve to stretch to make the workpiece blocking block enter the second groove; the proximity sensor is inserted into the inner hole of the sequential block Among them, it is used for sensing parts; the first cylinder is equipped with a first magnetic switch and a second magnetic switch on the stroke, which is used to detect whether the first cylinder is stretched or retracted in place; the second cylinder is equipped with a third magnetic switch on the stroke and the fourth magnetic switch are used to detect whether the second cylinder is stretched or shrunk in place; the positioning clamping mechanism includes a second mounting plate, a second bracket, a guide sleeve base, a manipulator cylinder, a workpiece support block, and a third cylinder , an optical fiber sensor and a sensor base; the guide sleeve base is connected to the second mounting plate, and is fixed on the second bracket through the second mounting plate, and the second bracket is fixedly installed on the electrical cabinet; the guide sleeve base There is a guide hole on it, the guide hole is located directly below the through hole of the sequence block, and is coaxial with the through hole of the sequence block; the manipulator cylinder is installed on the second mounting plate, and the manipulator cylinder is connected to the fourth through the air pipe. The electromagnetic valve is connected, and the manipulator cylinder is controlled by the fourth solenoid valve to clamp the parts falling from the guide hole; the third cylinder is fixed on the second mounting plate and is located below the manipulator cylinder, and the third cylinder is connected to the manipulator through the air pipe. The third solenoid valve is connected; the third cylinder stretch rod is installed with a workpiece support block, and the third cylinder is controlled by the third solenoid valve to stretch the workpiece support block to support parts; the optical fiber sensor is fixed on the The second bracket is used to sense whether the manipulator cylinder is clamping parts; the third cylinder is provided with a fifth magnetic switch and a sixth magnetic switch on the stroke, which is used to detect whether the third cylinder is stretched or shrunk in place; the visual measuring device It includes a plane light source, a light source support frame, a light source controller, a telecentric lens, an industrial camera, a camera connecting angle plate and a camera support frame; one end of the plane light source is connected to the The upper end of the light source support frame is connected, and the lower end of the light source support frame is fixed on the electrical cabinet; the light source controller is electrically connected to the plane light source, the telecentric lens is connected to the lens interface of the industrial camera, and the camera connection angle plate is respectively connected to the industrial One end of the camera and the camera bracket is fixed by bolts, and the other end of the camera bracket is fixed on the platform above the electrical cabinet; the plane light source, the telecentric lens and the parts clamped on the manipulator cylinder are located on the same straight line; the sorting mechanism It includes a material guide trough, a material guide trough bracket, a counting sensor, a sensor bracket, a sorting trough, a sliding translation mechanism and a material receiving tray; the material guide trough is connected with the material guide trough bracket, and is fixed on the electrical cabinet through the material guide trough bracket; One end of the guide trough is located below the workpiece support block, and the other end is placed above the feed port of the sorting trough; a counting sensor is installed on the guide trough; the receiving tray is provided with at least two feed bins, so The receiving tray is placed on the electrical cabinet platform, located below the outlet of the sorting trough; the sorting trough is fixed on the sliding translation mechanism, and the parts enter the receiving tray through the sorting trough by controlling the sliding translation mechanism. feed bin; the control system includes a PC and a PLC control module; the PLC control module is connected to a workpiece conveyor, a proximity sensor, an optical fiber sensor, a light source controller, an industrial camera, a counting sensor, a sliding translation mechanism, a first solenoid valve, The second solenoid valve, the third solenoid valve, the fourth solenoid valve, the first magnetic switch, the second magnetic switch, the third magnetic switch, the fourth magnetic switch, the fifth magnetic switch and the sixth magnetic switch are connected; the PC machine It is connected with the PLC control module through a serial port, and is used for user input instructions, calibration parameters, real-time display of captured images and measurement results, and data storage and statistical analysis.

Further, a guide sleeve is installed in the guide hole, and the guide sleeve is in interference fit with the guide hole.

Further, positioning and clamping blocks are respectively installed on the inner sides of the two jaws of the manipulator cylinder, and V-shaped grooves are provided on the positioning and clamping blocks.

Further, the sliding translation mechanism includes a sorting cylinder, a slider and a chute; the sorting cylinder and the slider are fixed on the base, and the base is installed on the electrical cabinet; the slider and the sorting cylinder pull The extension rod is connected, the slider is installed in the chute, and the slider is reciprocated in the chute through the sorting cylinder; at least two magnetic switches are installed on the sorting cylinder, and the magnetic switch is connected with the PLC control module ; The number of bins of the magnetic switch is the same as that of the receiving tray.

Further, the chute and the slider are T-shaped grooves or dovetail groove structures.

Further, the sorting chute is provided with 3 troughs; the receiving tray is provided with 3 hoppers, and corresponds to the 3 outlets of the hoppers one by one, and the entrance of the chute is connected to The trough runs through.

The beneficial effects of the present invention are:

1. The machine vision-based automatic measuring device for nozzle needle valve size of the present invention provides feedback through the measured data and judgment results of the visual measuring equipment, and controls the action by the control module, and finally divides the measured needle valve parts into qualified products and repaired products and scrap.

2. According to the machine vision-based automatic measuring device for nozzle needle valve size of the present invention, the needle valve parts are sent to the positioning and clamping mechanism through the workpiece conveyor through the workpiece conveyor for clamping and positioning, and then the visual measuring equipment receives the control signal Take pictures and measure, analyze, judge and give feedback. Under the function of the sorting cylinder, sorting is automatically completed, which improves production efficiency and reduces production costs.

3. The machine vision-based automatic measuring device for the size of the nozzle and needle valve of the present invention prevents the material from being stuck during transportation or that the number of materials dropped at one time is more than one through the sequential block.

Description of drawings

Fig. 1 is the general assembly drawing of the machine vision-based automatic measuring device for the size of the nozzle needle valve according to the present invention;

Fig. 2 is the structural diagram of the sequence block in the feeding mechanism of the present invention;

Fig. 3 is a structural diagram of the positioning and clamping mechanism of the present invention;

Fig. 4 is a system structure diagram of the visual measurement device of the present invention;

Fig. 5 is a structural diagram of the sorting mechanism of the present invention;

Figure 6 is an exploded view of the structure of the sorting mechanism of the present invention;

Fig. 7 is a working flow chart of the machine vision-based automatic measuring device for the size of the nozzle needle valve according to the present invention;

In the picture:

1-Electrical cabinet; 2-PC machine; 3-Conveyor stand; 4-Workpiece conveyor; 1 cylinder; 10-second cylinder; 11-workpiece pressing block; 12-workpiece blocking block; 13-proximity sensor; 14-second mounting plate; 15-second bracket; 16-guiding sleeve; 17-guiding sleeve Base; 18-manipulator cylinder; 19-location clamping block; 20-workpiece support block; 21-third cylinder; 22-fiber optic sensor; 23-sensor base; 24-plane light source; 25-base; 26- Material receiving tray; 27-light source support frame; 28-light source controller; 29-telecentric lens; 30-industrial camera; 31-camera connection angle plate; 32-camera support frame; Groove bracket; 35-counting sensor; 36-sensor bracket; 37-sorting tank; 38-slider; 39-chute; 40-sorting cylinder.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

As shown in Figure 1, it is an embodiment of the machine vision-based automatic measuring device for the size of the oil nozzle needle valve of the present invention. The machine vision-based automatic measuring device for the size of the oil nozzle needle valve includes a control system, a feeding mechanism, a positioning Clamping mechanism, vision measuring mechanism and sorting mechanism.

As shown in Figure 2, the feeding mechanism includes a conveyor stand 3, a workpiece conveyor 4, a feeding pipe 5, a sequence block 6, a first mounting plate 7, a first bracket 8, a first cylinder 9, a second Cylinder 10, workpiece pressing block 11, workpiece blocking block 12, proximity sensor 13 and electrical cabinet 1; described workpiece conveyor 4 is fixed on the conveyor platform 3, and described workpiece conveyor 4 is a vibration discharging device, Through the vibrator installed inside the workpiece conveyor 4, the parts are sent to the discharge port of the workpiece conveyor 4; the working principle of the workpiece conveyor 4 is to arrange the needle valve parts through the vibrating hopper, which can make the workpiece conveyor 4 vibrate in the vertical direction, and at the same time Also make the workpiece conveyor 4 perform torsional vibration around its vertical axis. The parts in the workpiece conveyor 4 are subjected to this vibration, so as to rise along the spiral track, arrange the parts in a certain direction and order until they are sent to the discharge port, and pass through the conveyor belt. The feed tubes 5 are sent into the sequence block 6 one by one. The sequence block 6 is connected with the first mounting plate 7, and is fixed on the first bracket 8 through the first mounting plate 7; the first bracket 8 is fixedly installed on the electrical cabinet 1; the sequence block 6 passes through the feeding pipe 5 is connected to the discharge port of the workpiece conveyor 4, and is used to transport the parts into the through hole in the sequence block 6; the sequence block 6 is provided with a first groove and a second groove, and is connected to the sequence block 6 respectively. The hole is vertical; the first cylinder 9 and the second cylinder 10 are fixed on the first mounting plate 7, the first cylinder 9 is connected with the first electromagnetic valve through the air pipe, and the second cylinder 10 is connected with the second electromagnetic valve through the air pipe. Valve connection; the first cylinder 9 is stretched to install the workpiece compression block 11, and the first cylinder 9 is controlled by the first solenoid valve to stretch so that the workpiece compression block 11 enters the first groove; the second cylinder 10 stretches The workpiece blocking block 12 is installed on the rod, and the second cylinder 10 is controlled by the second solenoid valve to stretch to make the workpiece blocking block 12 enter the second groove; the proximity sensor 13 is inserted into the inner hole of the sequence block 6 for sensing parts; the second A cylinder 9 is provided with a first magnetic switch and a second magnetic switch on the stroke to detect whether the first cylinder 9 is stretched or retracted in place; the second cylinder 10 is provided with a third magnetic switch and a fourth magnetic switch on the stroke , used to detect whether the second cylinder 10 is stretched or shrunk in place.

As shown in Figure 3, the positioning and clamping mechanism includes a second mounting plate 14, a second bracket 15, a guide sleeve base 17, a manipulator cylinder 18, a workpiece support block 20, a third cylinder 21, an optical fiber sensor 22 and a sensor base 23. The guide sleeve base 17 is connected to the second mounting plate 14, and is fixed on the second bracket 15 through the second mounting plate 14, and the second bracket 15 is fixedly installed on the electrical cabinet 1; the guide sleeve base Seat 17 is provided with guide hole, and described guide hole is positioned at the through hole of sequence block 6 directly below, and is coaxial with the through hole of sequence block 6; Described manipulator cylinder 18 is installed on the second mounting plate 14, and described manipulator The air cylinder 18 is connected with the fourth electromagnetic valve through the air pipe, and the fourth electromagnetic valve controls the manipulator air cylinder 18 to clamp the parts falling from the guide hole; the third air cylinder 21 is fixed on the second mounting plate 14, and is located 18 below, the third cylinder 21 is connected with the third solenoid valve through the air pipe; the third cylinder 21 stretches the rod to install the workpiece support block 20, and the third cylinder 21 is controlled by the third solenoid valve to stretch the workpiece support block 20. For supporting parts; the optical fiber sensor 13 is fixed on the second bracket 15 through the sensor base 23, and is used to sense whether the manipulator cylinder 18 is clamping parts; the third cylinder 21 is provided with the fifth magnetic switch and the sixth magnetic switch on the stroke. The magnetic switch is used to detect whether the third cylinder 21 is stretched or shrunk in place.

As shown in Fig. 4, described vision measuring equipment comprises planar light source 24, light source support frame 27, light source controller 28, telecentric lens 29, industrial camera 30, camera connection angle plate 31 and camera support frame 32; Described planar light source 24 One end of one end is connected with the upper end of light source support frame 27, and the lower end of light source support frame 27 is fixed on the electric cabinet 1; Described light source controller 28 is electrically connected with planar light source 24, and described telecentric lens 29 is connected with the lens interface of industrial camera 30 Connected, the camera connection angle plate 31 is respectively connected and fixed with one end of the industrial camera 30 and the camera bracket 32 by bolts, and the other end of the camera bracket 32 is fixed on the platform above the electrical cabinet 1; the plane light source 24, the telecentric lens 29 Be located on the same straight line with the parts clamped on the manipulator cylinder 18.

As shown in Fig. 5 and Fig. 6, the sorting mechanism includes a material guide trough 33, a material guide trough support 34, a counting sensor 35, a sensor support 36, a sorting trough 37, a sliding translation mechanism and a receiving tray 26; The material trough 33 is connected with the material guide trough support 34, and is fixed on the electrical cabinet 1 by the material guide trough support 34; one end of the material guide trough 33 is located under the workpiece support block 20, and the other end is placed on the feed port of the sorting trough 37 above; the counting sensor 35 is installed on the guide trough 33; the receiving tray 26 is provided with at least two feed bins, and the receiving tray 26 is placed on the platform of the electrical cabinet 1 and is positioned at the sorting trough 37 for discharging The bottom of the mouth; the sorting trough 37 is fixed on the sliding translation mechanism, and the parts enter the different bins of the receiving tray 26 through the sorting trough 37 by controlling the sliding translation mechanism.

Described control system comprises PC machine 2 and PLC control module; Described PLC control module and workpiece conveyor 4, proximity sensor 13, optical fiber sensor 22, light source controller 28, industrial camera 30, counting sensor 35, sliding translation mechanism, the first A solenoid valve, a second solenoid valve, a third solenoid valve, a fourth solenoid valve, a first magnetic switch, a second magnetic switch, a third magnetic switch, a fourth magnetic switch, a fifth magnetic switch and a sixth magnetic switch are connected; The PC 2 and the PLC control module are connected to each other through a serial port, and are used for the user to input instructions, calibrate parameters, display captured images and measurement results in real time, and perform data storage and statistical analysis.

Working process: first, the needle valve part is loaded into the workpiece conveyor 4, and the device is started. Among them, the feeding mechanism automatically completes the alignment and delivery of the head and tail direction of the needle valve parts, controls the needle valve parts to enter the sequence block 6 in sequence, and the proximity sensor 13 senses that the needle valve parts are in place, and outputs signals to the control module. The valve controls the extension of the first cylinder 9. After the first cylinder 9 is in place, the first magnetic switch sensor senses the signal and transmits the signal to the control module. The second solenoid valve controls the retraction of the second cylinder 10. At this time, it enters first. The needle valve part of the sequence block 6 falls freely through the guide hole under the action of gravity, and stops when it is blocked by the workpiece support block 20. The optical fiber sensor 22 detects the signal of the needle valve part being in place and transmits it to the control module. The control module sends an instruction to the industrial camera 30 , to quickly take pictures of the workpiece, PC 2 is used to analyze, measure and judge, and input the measured data to the storage device, and at the same time feed back the judgment results to the control module, the control module controls the movement of the sliding translation mechanism, and the movement of the sliding translation mechanism is in place Finally, the third solenoid valve control module controls the retraction action of the third cylinder 21, and the sixth magnetic switch sensor senses and transmits the signal after it is in place, and controls the manipulator cylinder 18 to release the movement through the fourth solenoid valve control module, and controls the second cylinder 10. The first cylinder 9 completes the reset action. After the manipulator cylinder 18 is unclamped, the measured needle valve part falls freely, and enters in the material receiving tray 43 through the material guide groove and the sorting groove. During the falling process of the needle valve part, the counting sensor 35 counts and senses and transmits a signal to the control module, and the control module controls the third cylinder 21 to reset. At this moment, one cycle work is completed, and the next cycle work can be carried out automatically.

A guide sleeve 16 is installed in the guide hole, and the guide sleeve 16 is in interference fit with the guide hole. In order to prevent the long-term wear and tear of the guide hole, the needle valve part cannot fall into the center of the manipulator cylinder 18.

In order to ensure the accuracy of the manipulator cylinder 18, positioning and clamping blocks 19 are respectively installed on the inner sides of the two jaws of the manipulator cylinder 18, and V-shaped grooves are arranged on the positioning and clamping blocks 19.

The sliding translation mechanism includes a sorting cylinder 40, a slider 38 and a chute 39; the sorting cylinder 40 and the slider 38 are fixed on the base 25, and the base 25 is installed on the electrical cabinet 1; Slider 38 is connected with sorting cylinder 40 stretching rods, and described slider 38 is installed in the chute 39, makes described slider 38 reciprocate in chute 39 by sorting cylinder 40; Said sorting cylinder 40 At least two magnetic switches are installed on the top, and the magnetic switches are connected with the PLC control module; The chute 39 and the slider 38 are T-shaped grooves or dovetail groove structures.

According to the actual production situation, the sorting trough 37 is provided with 3 hoppers; the receiving tray 26 is provided with 3 hoppers, which can be recorded as the qualified product area, the reworked product area and the scrapped product area respectively and are related to The three trough outlets are in one-to-one correspondence, and the trough inlet is connected with the trough 33 through a sliding translation mechanism.

The described embodiment is a preferred implementation of the present invention, but the present invention is not limited to the above-mentioned implementation, without departing from the essential content of the present invention, any obvious improvement-replacement or improvement that those skilled in the art can make Modifications all belong to the protection scope of the present invention.

Claims (6)

1. An automatic measuring device for the size of the nozzle needle valve based on machine vision, characterized in that it includes a control system, a feeding mechanism, a positioning and clamping mechanism, a visual measuring mechanism and a sorting mechanism; The feeding mechanism includes a conveyor platform (3), a workpiece conveyor (4), a feeding pipe (5), a sequence block (6), a first mounting plate (7), a first bracket (8), a first A cylinder (9), a second cylinder (10), a workpiece pressing block (11), a workpiece blocking block (12), a proximity sensor (13) and an electrical cabinet (1); the workpiece conveyor (4) is fixed On the conveyor platform (3); the sequence block (6) is connected with the first mounting plate (7), and fixed on the upper end of the first support (8) by the first mounting plate (7); the first The lower end of the bracket (8) is fixedly installed on the electrical cabinet (1); the sequence block (6) is connected with the discharge port of the workpiece conveyor (4) through the feed pipe (5), and is used to transport the parts to the sequence In the through hole in the block (6); the first groove and the second groove are provided on the sequential block (6), and are perpendicular to the through hole of the sequential block (6) respectively; the first cylinder (9) and the second The two cylinders (10) are respectively fixed on the first mounting plate (7), the first cylinder (9) is connected with the first electromagnetic valve through the air pipe, and the second air cylinder (10) is connected with the second electromagnetic valve through the air pipe ; The first cylinder (9) stretching rod installs the workpiece compression block (11), and the first cylinder (9) is controlled by the first solenoid valve to stretch so that the workpiece compression block (11) enters the first groove; The second cylinder (10) stretching rod installs the workpiece blocking block (12), and the second cylinder (10) is controlled by the second solenoid valve to stretch to make the workpiece blocking block (12) enter the second groove; the proximity sensor ( 13) Insert into the inner hole of the sequence block (6) for sensing parts; the first cylinder (9) is provided with a first magnetic switch and a second magnetic switch on the stroke to detect whether the first cylinder (9) is stretched Or shrink in place; the second cylinder (10) is provided with a third magnetic switch and a fourth magnetic switch on the stroke, for detecting whether the second cylinder (10) stretches or shrinks in place; The positioning and clamping mechanism includes a second mounting plate (14), a second support (15), a guide sleeve base (17), a manipulator cylinder (18), a workpiece support block (20), a third cylinder (21), An optical fiber sensor (22) and a sensor base (23); the guide sleeve base (17) is connected with the second mounting plate (14), and is fixed on the upper end of the second support (15) by the second mounting plate (14) , the lower end of the second bracket (15) is fixedly installed on the electrical cabinet (1); the guide sleeve base (17) is provided with a guide hole, and the guide hole is located at the front of the through hole of the sequence block (6). Below, and coaxial with the through hole of sequence block (6); Described manipulator cylinder (18) is installed on the second mounting plate (14), and described manipulator cylinder (18) is connected with the 4th electromagnetic valve through air pipe, by The fourth electromagnetic valve controls the manipulator cylinder (18) to clamp the parts falling from the guide hole; the third cylinder (21) is fixed on the second mounting plate (14) and is positioned below the manipulator cylinder (18), so The third cylinder (21) is connected with the third solenoid valve through the air pipe; the stretching rod of the third cylinder (21) is equipped with a workpiece support block (20), and the third cylinder (21) is controlled by the third solenoid valve to stretch the workpiece The support block (20) is used to support the parts; the optical fiber sensor (13) is fixed on the second support (15) by the sensor base (23), and is used to sense whether the manipulator cylinder (18) clamps the parts; the third The cylinder (21) is provided with a fifth magnetic switch and a sixth magnetic switch on the stroke for detecting whether the third cylinder (21) is stretched or shrunk in place; The visual measuring device comprises a plane light source (24), a light source support frame (27), a light source controller (28), a telecentric lens (29), an industrial camera (30), a camera connection angle plate (31) and a camera support frame (32); one end of the plane light source (24) is connected with the upper end of the light source support frame (27), and the lower end of the light source support frame (27) is fixed on the electrical cabinet (1); the light source controller (28) is connected with The plane light source (24) is electrically connected, and the lens interface of the telecentric lens (29) is connected with the industrial camera (30), and the camera connection angle plate (31) is connected with the industrial camera (30) and the camera support (32) respectively. One end is fixed by bolt connection, and the other end of the camera support (32) is fixed on the platform above the electrical cabinet (1); the parts clamped on the plane light source (24), the telecentric lens (29) and the manipulator cylinder (18) lie on the same line; The sorting mechanism comprises a material guide chute (33), a material guide trough support (34), a counting sensor (35), a sensor support (36), a sorting trough (37), a sliding translation mechanism and a receiving tray (26) ; The feed chute (33) is connected with the feed chute support (34), and is fixed on the electrical cabinet (1) by the feed chute support (34); one end of the feed trough (33) is positioned at the workpiece support block ( 20), the other end is placed above the feed port of the sorting chute (37); counting sensors (35) are installed on the guide trough (33); the receiving tray (26) is provided with at least two The material receiving tray (26) is placed on the platform of the electrical cabinet (1) and is located below the outlet of the sorting tank (37); the sorting tank (37) is fixed on the sliding translation mechanism, and the Control the sliding translation mechanism to make the parts enter the different bins of the receiving tray (26) through the sorting chute (37); Described control system comprises PC machine (2) and PLC control module; Described PLC control module and workpiece conveyor (4), proximity sensor (13), optical fiber sensor (22), light source controller (28), industrial camera ( 30), counting sensor (35), sliding translation mechanism, first solenoid valve, second solenoid valve, third solenoid valve, fourth solenoid valve, first magnetic switch, second magnetic switch, third magnetic switch, fourth magnetic switch The magnetic switch, the fifth magnetic switch and the sixth magnetic switch are connected; the PC (2) is connected to the PLC control module through a serial port; the PC (2) is connected to the industrial camera (30). 2. The machine vision-based automatic measuring device for nozzle needle valve size according to claim 1, characterized in that a guide sleeve (16) is installed in the guide hole, and the guide sleeve (16) is interference fit with the guide hole . 3. The machine vision-based automatic measuring device for the size of the nozzle needle valve according to claim 1, characterized in that, the inner sides of the two jaws of the manipulator cylinder (18) are respectively equipped with positioning clamping blocks (19), so The positioning and clamping block (19) is provided with a V-shaped groove. 4. The machine vision-based automatic measuring device for nozzle needle valve size according to claim 1, characterized in that, the sliding translation mechanism comprises a sorting cylinder (40), a slider (38) and a chute (39); Described sorting cylinder (40) and slide block (38) are fixed on the base (25), and described base (25) is installed on the electrical cabinet (1); Described slide block (38) and sorting cylinder (40) stretch rod connection, described slide block (38) is installed in the chute (39), makes described slide block (38) reciprocate in chute (39) by sorting cylinder (40); At least two magnetic switches are installed on the sorting cylinder (40), and the magnetic switches are connected with the PLC control module; the number of the magnetic switches is the same as that of the feed bins of the receiving tray (26). 5. The machine vision-based automatic measuring device for the size of the nozzle needle valve according to claim 4, characterized in that, the sliding groove (39) and the sliding block (38) are T-shaped groove or dovetail groove structures. 6. The machine vision-based automatic measuring device for nozzle needle valve size according to claim 1, characterized in that, the sorting chute (37) is provided with three material troughs; the receiving tray (26) is provided with There are 3 material bins, which correspond to the 3 outlets of the material tank one by one, and the inlet of the material tank is connected with the material tank (33) through a sliding translation mechanism.