Single-column rotating variable-diameter polar coordinate robot for machine vision
Through the design of a single column rotary polar coordinate robot, the rotation and horizontal diameter control units are used to solve the problems of high equipment costs and large vibrations under large-scale mobile needs in the prior art, and efficient and accurate visual acquisition is achieved. Reduces vibration and space consumption of the device.
Patent Information
- Application Number
- CN202210728978.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-06-24
- Publication Date
- 2024-12-17
- Estimated Expiration
- 2042-06-24
AI Technical Summary
When handling large-scale mobile needs, existing machine vision acquisition devices require complex and costly loading devices, which can easily lead to excessive vibration and affect acquisition accuracy.
A single column rotary polar coordinate robot is designed, and the rotation and horizontal diameter variable control units are used to cooperate with the operation, and a driving device is used to achieve full coverage of large-scale plane polar coordinates of the visual acquisition device, reducing equipment costs and reducing vibration. The robot includes a rotating column, a drive arm, a middle arm and an end arm, and uses a parallelogram connecting rod mechanism and a retractable drive push rod to ensure that the acquisition device is stable and accurate during movement.
The large-scale movement and precise coverage of the visual acquisition device are achieved, which reduces equipment costs and vibrations, ensures acquisition accuracy, and through the design of the parallelogram linkage mechanism, the device always faces directly below when moving, saving space.
Smart Images
Figure CN115070742B_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of machine vision, in particular to a single-column rotating variable-diameter polar coordinate robot oriented to machine vision. Background Art
[0002] Machine vision is to use machines to replace human eyes for measurement and judgment. It converts the captured target into image signals through machine vision information acquisition devices (usually industrial cameras) and transmits them to the upstream image processing system, thereby obtaining the key reference information of the captured target and converting it into digital signals. After that, various operations are performed on these signals to extract the characteristics of the target, and then the next action of the on-site equipment is controlled according to the judgment results. In some dangerous working environments that are not suitable for manual operations or occasions where artificial vision cannot meet the requirements, it is very suitable to use machine vision to replace artificial vision. At the same time, in large-scale repetitive industrial production processes, the use of machine vision detection methods can greatly improve production efficiency and automation.
[0003] According to the size of the object to be measured, machine vision can usually be divided into two forms. One is for small and light objects to be measured. Usually, the visual acquisition device is fixed and the object to be measured is moved. The other is for large and heavy objects to be measured. Usually, the object to be measured needs to be kept still, and the visual acquisition device moves to ensure that the collected information is comprehensive and without omission. The carrier that drives the visual acquisition device must ensure that the collection object is fully covered as required, and that the vibration during the movement is small enough to avoid affecting the collection accuracy. If the collection object is large, then the effective moving range of the end of the carrier that drives the visual acquisition device must also be large.
[0004] In general, in order to meet the requirement of a large end-movement range, the carrying device usually needs to arrange multiple floor-standing columns to ensure the safety and stability of the entire device. A plane rectangular coordinate robot is such a device. Although it can meet the requirement of a large range of motion, if such a solution is adopted, a set of complex and large auxiliary devices need to be set up on the work site. This is not only costly, but also has a great impact on other processes in the original work site, seriously affecting the use effect. In addition, there are some retractable mechanical arm structures in the prior art, but they are usually driven by multiple drive motors, which is costly and easily causes excessive vibration. For example, the Chinese invention patent with the authorization announcement number CN208729830U discloses a foldable and retractable mechanical arm, each of which is equipped with a hydraulic pump, and the rotating joints are equipped with a rotating motor to drive the rotation. Summary of the invention
[0005] The purpose of the present invention is to provide a single-column rotating variable diameter polar coordinate robot for machine vision, which utilizes the coordinated actions of two control units, rotation and horizontal variable diameter, to achieve full coverage of a large range of plane polar coordinates of a visual acquisition device, and only utilizes one drive device to control the horizontal variable diameter, thereby reducing equipment costs and effectively reducing vibration to ensure the acquisition accuracy of the visual acquisition device.
[0006] The objective of the present invention is achieved through the following technical solutions:
[0007] A single-column rotating variable-diameter polar coordinate robot for machine vision comprises a rotating column, a driving arm, an intermediate arm and an end arm, wherein the driving arm, the intermediate arm and the end arm are sequentially connected in series through an intermediate joint, and a visual acquisition device is arranged at the end of the end arm; the driving arm comprises a first driving arm connecting rod and a second driving arm connecting rod, wherein the first driving arm connecting rod is hinged on the rotating column, and one end of the first driving arm connecting rod is provided with a counterweight, and the other end is hinged on the corresponding intermediate joint and provided with a driving gear, the first driving arm connecting rod is driven to swing by a driving device arranged on the rotating column, and one end of the second driving arm connecting rod is hinged on the rotating column The intermediate arm comprises two parallel intermediate arm connecting rods, and the two ends of the intermediate arm connecting rods are respectively hinged to the corresponding intermediate joints. The head end of the intermediate arm is provided with a driven gear, and the end end is provided with a driving gear, and the driven gear and the driving gear are respectively arranged on different intermediate arm connecting rods, the driving gear is meshed with the driven gear at the head end of the adjacent intermediate arm, and the driving gear at the end of the intermediate arm is meshed with the driven gear at the head end of the adjacent intermediate arm. The head end of the end arm is arranged on the corresponding intermediate joint and is provided with an end arm gear, and the end arm gear is meshed with the driving gear at the end of the adjacent intermediate arm.
[0008] The first driving arm link is hinged to the rotating column through a first hinge shaft, one end of the second driving arm link is hinged to the rotating column through a hinge shaft A, and the other end of the second driving arm link is hinged to the corresponding intermediate joint through a hinge shaft B, and the first hinge shaft and hinge shaft A are located on the same vertical line, and the center of the driving gear and the hinge shaft B are located on the same vertical line.
[0009] The rear end of the driving device is hinged on the rotating column by installing a hinge shaft, and the head end of the driving device is provided with a retractable driving push rod, and the driving push rod is hinged with a second hinge shaft arranged on the first driving arm connecting rod.
[0010] L represents the distance from the first hinge shaft to the center of the driving gear on the first driving arm connecting rod, a represents the distance between the first hinge shaft and the second hinge shaft, b represents the distance between the first hinge shaft and the installation hinge shaft, c represents the length of the driving device when the driving push rod is fully retracted, d represents the effective length of the driving arm in the horizontal direction, e represents the extension of the driving push rod of the driving device, and W represents the distance between the center of the driving gear and the center of the adjacent driven gear 141. The relationship between the total effective arm length R in the horizontal direction of each arm and the extension e of the driving push rod (502) of the driving device (5) is obtained:
[0011]
[0012] The extension and contraction amount e of the driving push rod (502) is controlled according to the above formula, thereby controlling the total effective arm length R in the horizontal direction of each arm.
[0013] The intermediate arm includes a first intermediate arm link and a second intermediate arm link, wherein the first intermediate arm link is provided with a driven gear at one end and a first intermediate hinge shaft at the other end, wherein the second intermediate arm link is provided with a second intermediate hinge shaft at one end and a driving gear at the other end, and the driven gear and the second intermediate hinge shaft are provided on corresponding intermediate joints and on the same vertical line, and the driving gear and the first intermediate hinge shaft are provided on corresponding intermediate joints and on the same vertical line.
[0014] The end of the end arm is provided with an end joint, and the visual acquisition device is installed on the lower side of the end joint.
[0015] The end arm includes a first end arm link and a second end arm link, and the head end of the first end arm link is arranged on the corresponding intermediate joint and is provided with the end arm gear, the end of the first end arm link is hinged to the end joint through a first end hinge shaft, one end of the second end arm link is hinged to the corresponding intermediate joint through a hinge shaft C, and the other end is hinged to the end joint through a hinge shaft D, and the center of the end arm gear is on the same vertical line with the hinge shaft C, and the first end hinge shaft and the hinge shaft D are on the same vertical line.
[0016] The rotating column is rotatably mounted on a base, a rotating motor and a reduction transmission mechanism are arranged on the base, and the rotating column is driven to rotate by the rotating motor, and the rotating motor transmits torque through the reduction transmission mechanism.
[0017] The advantages and positive effects of the present invention are:
[0018] 1. The present invention utilizes the extension, expansion, folding and contraction actions of the robotic arm and the rotation action of the rotating column to realize a large-range movement of the visual acquisition device, thereby utilizing the coordinated actions of the rotation and horizontal diameter change control units to realize a large-range plane polar coordinate full coverage of the visual acquisition device.
[0019] 2. The robot arm of the present invention is driven by only one driving device to achieve horizontal diameter change, which not only reduces the equipment cost, but also effectively reduces the vibration during the movement of the equipment. The counterweight at one end of the first driving arm connecting rod can keep its swing stable, thereby further reducing vibration and ensuring the collection accuracy requirements of the visual collection device.
[0020] 3. Each arm of the present invention adopts a parallelogram linkage mechanism, which is easy to deform, and the two ends of the two connecting rods of each arm are respectively on the same vertical line. This can ensure that each arm of the present invention is in a horizontal state when fully unfolded, which can ensure the collection coverage area, and is in a vertical state when fully retracted, which will not take up too much space. At the same time, it can ensure that the visual collection device is always facing directly downward during the movement.
[0021] 4. Each arm of the present invention adopts a parallelogram linkage mechanism, which can conveniently calculate and realize the control of the total length of each arm in the horizontal direction, thereby being able to accurately control the position of the visual acquisition device. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 It is a structural schematic diagram of the present invention,
[0023] Figure 2 This is a schematic diagram of the control analysis of the total length of each arm in the horizontal direction of the present invention.
[0024] Figure 3 for Figure 2 The enlarged schematic diagram of the drive arm in
[0025] Figure 4 This is a schematic diagram of the state of the present invention when it is fully unfolded.
[0026] Figure 5 This is a schematic diagram of the state of the present invention when it is fully folded.
[0027] Figure 6 for Figure 5 The enlarged view of point I in the figure,
[0028] Figure 7 It is a top view of the working state of the present invention.
[0029] Among them, 1 is a base, 101 is a rotating column, 102 is a mounting seat, 2 is a rotating motor, 3 is a reduction transmission mechanism, 4 is a counterweight, 5 is a driving device, 501 is an installation hinge shaft, 502 is a driving push rod, 6 is a driving arm, 7 is a first driving arm connecting rod, 701 is a first hinge shaft, 702 is a driving gear, 703 is a second hinge shaft, 8 is a second driving arm connecting rod, 9 is a first intermediate arm connecting rod, 10 is an intermediate joint, 11 is a second intermediate arm connecting rod, 12 is a first end arm connecting rod, 13 is a second end arm connecting rod, 14 is an intermediate arm, 141 is a driven gear, 142 is a driving gear, 15 is an end arm, 151 is an end arm gear, 16 is an end joint, and 17 is a visual acquisition device. DETAILED DESCRIPTION
[0030] The present invention will be further described below in conjunction with the accompanying drawings.
[0031] like Figures 1 to 7 As shown, the present invention includes a rotating column 101, a driving arm 6, an intermediate arm 14 and an end arm 15, wherein the driving arm 6, the intermediate arm 14 and the end arm 15 are connected in series via an intermediate joint 10 in sequence, and the driving arm 6 is swingably disposed on the rotating column 101, and a visual acquisition device 17 is disposed at the end of the end arm 15.
[0032] like Figures 1-2 As shown, the driving arm 6 includes a first driving arm link 7 and a second driving arm link 8 arranged in parallel, wherein the first driving arm link 7 is hinged on the rotating column 101, and one end of the first driving arm link 7 is provided with a counterweight 4, and the other end is hinged on the corresponding middle joint 10 and is provided with a driving gear 702. The first driving arm link 7 is driven to swing by a driving device 5 arranged on the rotating column 101, and one end of the second driving arm link 8 is hinged on the rotating column 101, and the other end is hinged on the corresponding middle joint 10. The first driving arm link 7 and the second driving arm link 8 form a parallelogram linkage mechanism. The driving device 5 drives the first driving arm link 7 to swing, that is, drives the entire driving arm 6 to swing, and the counterweight 4 can cooperate with the first driving arm link 7 to swing and keep its swing stable.
[0033] like Figures 1-2 As shown, the first driving arm link 7 is hinged to the rotating column 101 through the first hinge shaft 701, one end of the second driving arm link 8 is hinged to the rotating column 101 through the hinge shaft A, and the other end of the second driving arm link 8 is hinged to the corresponding intermediate joint 10 through the hinge shaft B, and the first hinge shaft 701 and the hinge shaft A are located on the same vertical line, and the center of the driving gear 702 and the hinge shaft B are located on the same vertical line, as shown in FIG. Figures 4-5As shown, this ensures that the driving arm 6 is in a horizontal state when fully extended and in a vertical state when fully retracted.
[0034] like Figures 1-2 As shown, the intermediate arm 14 includes two parallel intermediate arm connecting rods, and the two ends of the intermediate arm connecting rods are respectively hinged to the corresponding intermediate joints 10. The head end of the intermediate arm 14 is provided with a driven gear 141, and the end end is provided with a driving gear 142, and the driven gear 141 and the driving gear 142 are respectively provided on different intermediate arm connecting rods, the driving gear 702 on the driving arm 6 is meshed with the driven gear 141 at the head end of the adjacent intermediate arm 14, and the driving gear 142 at the end of the intermediate arm 14 is meshed with the driven gear 141 at the head end of the adjacent intermediate arm 14, the head end of the end arm 15 is provided on the corresponding intermediate joint 10 and is provided with an end arm gear 151, and the end arm gear 151 is meshed with the driving gear 142 at the end of the adjacent intermediate arm 14. The two parallel intermediate arm connecting rods of the intermediate arm 14 also form a parallelogram connecting rod mechanism. When the driving arm 6 swings, it drives the driving gear 702 to rotate, and the driving gear 702 further drives the driven gear 141 on the head end of the adjacent intermediate arm 14 meshing with it to rotate. The rotation of the driven gear 141 drives the intermediate arm 14 to swing, and the swing of the intermediate arm 14 drives the driving gear 142 at its end to rotate, and then drives the next intermediate arm 14 to swing. The above process is repeated in sequence to realize the extension and retraction of each intermediate arm 14.
[0035] like Figures 1-2 As shown, the intermediate arm 14 includes a first intermediate arm link 9 and a second intermediate arm link 11, one end of the first intermediate arm link 9 is provided with a driven gear 141, and the other end is provided with a first intermediate hinge shaft, one end of the second intermediate arm link 11 is provided with a second intermediate hinge shaft, and the other end is provided with a driving gear 142, and the driven gear 141 and the second intermediate hinge shaft are provided on the corresponding intermediate joint 10 and are provided on the same vertical line, and the driving gear 142 and the first intermediate hinge shaft are provided on the corresponding intermediate joint 10 and are provided on the same vertical line, as shown in FIG. Figures 4-5 As shown, this ensures that each intermediate arm 14 is in a horizontal state when fully extended and in a vertical state when fully retracted.
[0036] like Figures 1-2As shown, the end of the terminal arm 15 is provided with a terminal joint 16, and the visual acquisition device 17 is installed on the lower side of the terminal joint 16, and the visual acquisition device 17 is always facing directly downward during the movement. The terminal arm 15 includes a first terminal arm link 12 and a second terminal arm link 13, and the head end of the first terminal arm link 12 is arranged on the corresponding intermediate joint 10 and is provided with the terminal arm gear 151, the end of the first terminal arm link 12 is hinged to the terminal joint 16 through a first terminal hinge shaft, one end of the second terminal arm link 13 is hinged to the corresponding intermediate joint 10 through a hinge shaft C, and the other end is hinged to the terminal joint 16 through a hinge shaft D, and the center of the terminal arm gear 151 is on the same vertical line with the hinge shaft C, and the first terminal hinge shaft and the hinge shaft D are on the same vertical line, as shown in FIG. Figures 4-5 As shown, this ensures that the end arm 15 is in a horizontal state when fully extended and in a vertical state when fully retracted.
[0037] like Figures 1-2 As shown, in this embodiment, the driving device 5 can adopt a linear output device such as an oil cylinder or a pneumatic cylinder, wherein the rear end of the driving device 5 is hinged to the rotating column 101 by installing a hinge shaft 501, and the head end of the driving device 5 is provided with a retractable driving push rod 502, and the driving push rod 502 is hinged to a second hinge shaft 703 provided on the first driving arm connecting rod 7.
[0038] like Figures 1-2 As shown, in this embodiment, the rotating column 101 is rotatably mounted on a base 1, and a rotating motor 102 and a reduction transmission mechanism 3 are provided on the base 1, and the rotating column 101 is driven to rotate by the rotating motor 102, and the rotating motor 102 transmits torque through the reduction transmission mechanism 3, and the reduction transmission mechanism 3 can adopt a gear transmission mechanism, wherein each gear in the gear transmission mechanism is meshed in sequence, and the head end gear is mounted on the output shaft of the rotating motor 102, and the end gear is sleeved on the rotating column 101.
[0039] like Figures 1-2 As shown, a mounting seat 102 is provided on one side of the upper end of the base 1 , and the rotating motor 2 is fixed on the mounting seat 102 .
[0040] The working principle of the present invention is:
[0041] When the present invention is working, the first driving arm link 7 and the second driving arm link 8 form a parallelogram linkage mechanism, and the driving device 5 drives the first driving arm link 7 to swing, that is, drives the entire driving arm 6 to swing, and the counterweight 4 can cooperate with the first driving arm link 7 to swing and keep its swing stable, and the intermediate arm 14 and the terminal arm 15 also form a parallelogram linkage mechanism. When the driving arm 6 swings, it drives the driving gear 702 to rotate, and the driving gear 702 then drives the driven gear 141 on the head end of the adjacent intermediate arm 14 meshing with it to rotate, and the rotation of the driven gear 141 drives the intermediate arm 14 to swing, and the swing of the intermediate arm 14 drives the driving gear 142 at its end to rotate, and then drives the next intermediate arm 14 to swing, and the above process is repeated in sequence to realize the extension and retraction of each intermediate arm 14, and the driving gear 142 at the end of the last intermediate arm 14 drives the end arm gear 151 at the head end of the terminal arm 15 to rotate, and then drives the terminal arm 15 to swing.
[0042] like Figure 7 As shown, the present invention utilizes the extension and expansion and folding and contraction actions of each arm and the rotation action of the rotating column 101 to realize the wide range movement of the visual acquisition device 17, thereby utilizing the coordinated actions of the two control units of rotation and horizontal diameter reduction to realize the wide range plane polar coordinate full coverage of the visual acquisition device 17. In the present invention, each arm is driven by only one driving device 5, which not only reduces the equipment cost, but also effectively reduces the vibration during the movement of the equipment, and the counterweight 4 at one end of the first driving arm connecting rod 7 can keep its swing stable, thereby further reducing the vibration, and can ensure the collection accuracy requirements of the visual acquisition device 17.
[0043] In addition, Figures 4-5 As shown, the two ends of the two connecting rods of each arm of the present invention are respectively on the same vertical line, so that it can be ensured that each arm of the present invention is in a horizontal state when fully extended, and in a vertical state when fully retracted. Therefore, the present invention can ensure the collection coverage area when extended, and will not occupy too much space when retracted, and can ensure that the visual collection device 17 is always facing directly downward during the movement.
[0044] The parallelogram linkage of each arm of the present invention can not only be easily deformed to ensure extension and retraction, but also can conveniently calculate and control the total length of each arm in the horizontal direction, thereby being able to accurately control the position of the visual acquisition device 17.
[0045] like Figures 2-3 and Figures 5-6As shown, R represents the effective arm length in the horizontal direction of each arm of the present invention, L represents the distance from the first hinge shaft 701 to the center of the driving gear 702 on the first driving arm connecting rod 7, a represents the distance between the first hinge shaft 701 and the second hinge shaft 703, b represents the distance between the first hinge shaft 701 and the installation hinge shaft 501, c represents the length of the driving device 5 when the driving push rod 502 is fully retracted, d represents the effective length in the horizontal direction of the single-section arm (driving arm 6), e represents the extension of the driving push rod 502 of the driving device 5, and W represents the distance between the center of the driving gear 702 and the center of the adjacent driven gear 141. The following calculation relationship can be obtained based on various parameters:
[0046]
[0047]
[0048] d = sinβ × L (3);
[0049] R = 4d + 3W (4);
[0050] According to the above formulas (1), (2), (3) and (4), the relationship between the total effective arm length R in the horizontal direction and the extension amount e of the driving push rod 502 of the driving device 5 can be obtained:
[0051]
[0052] The equipment control system of the present invention can control the total horizontal arm length R of each arm in real time by controlling the extension and contraction amount e of the driving push rod 502 according to the above formula (5), thereby ensuring the accurate position of the visual acquisition device 17.
Claims
1. A single-column rotating variable-diameter polar coordinate robot for machine vision, characterized in that: The invention comprises a rotating column (101), a driving arm (6), an intermediate arm (14) and an end arm (15), wherein the driving arm (6), the intermediate arm (14) and the end arm (15) are sequentially connected in series through an intermediate joint (10), and a visual acquisition device (17) is provided at the end of the end arm (15); the driving arm (6) comprises a first driving arm connecting rod (7) and a second driving arm connecting rod (8), wherein the first driving arm connecting rod (7) is hinged to the rotating column (101), and one end of the first driving arm connecting rod (7) is provided with a counterweight (4), and the other end is hinged to the corresponding intermediate joint (10) and is provided with a driving gear (702), the first driving arm connecting rod (7) is driven to swing by a driving device (5) provided on the rotating column (101), and one end of the second driving arm connecting rod (8) is hinged to the rotating column (101), and the other end is hinged to the corresponding intermediate joint (10). The intermediate arm (14) is on a joint (10), the intermediate arm (14) comprises two intermediate arm connecting rods arranged in parallel, and the two ends of the intermediate arm connecting rods are respectively hinged to the corresponding intermediate joints (10), the head end of the intermediate arm (14) is provided with a driven gear (141), and the tail end is provided with a driving gear (142), and the driven gear (141) and the driving gear (142) are respectively arranged on different intermediate arm connecting rods, the driving gear (702) is meshed with the driven gear (141) at the head end of the adjacent intermediate arm (14), the driving gear (142) at the tail end of the intermediate arm (14) is meshed with the driven gear (141) at the head end of the adjacent intermediate arm (14), the head end of the tail arm (15) is arranged on the corresponding intermediate joint (10) and is provided with an end arm gear (151), and the end arm gear (151) is meshed with the driving gear (142) at the tail end of the adjacent intermediate arm (14); The first driving arm connecting rod (7) is hinged to the rotating column (101) through a first hinge shaft (701), one end of the second driving arm connecting rod (8) is hinged to the rotating column (101) through a hinge shaft A, and the other end of the second driving arm connecting rod (8) is hinged to the corresponding intermediate joint (10) through a hinge shaft B, and the first hinge shaft (701) and the hinge shaft A are located on the same vertical line, and the center of the driving gear (702) and the hinge shaft B are located on the same vertical line; The rear end of the driving device (5) is hinged to the rotating column (101) by installing a hinge shaft (501), and the front end of the driving device (5) is provided with a retractable driving push rod (502), and the driving push rod (502) is hinged to a second hinge shaft (703) provided on the first driving arm connecting rod (7); L represents the distance from the first hinge shaft (701) to the center of the driving gear (702) on the first driving arm connecting rod (7), a represents the distance between the first hinge shaft (701) and the second hinge shaft (703), b represents the distance between the first hinge shaft (701) and the mounting hinge shaft (501), c represents the length of the driving device (5) when the driving push rod (502) is fully retracted, d represents the effective length of the driving arm (6) in the horizontal direction, e represents the extension of the driving push rod (502) of the driving device (5), and W represents the distance between the center of the driving gear (702) and the center of the adjacent driven gear (141), and the relationship between the total effective arm length R in the horizontal direction of each arm and the extension e of the driving push rod (502) of the driving device (5) is obtained: The extension and contraction amount e of the driving push rod (502) is controlled according to the above formula, thereby controlling the total effective arm length R in the horizontal direction of each arm.
2. The single-column rotating variable-diameter polar coordinate robot for machine vision according to claim 1, characterized in that: The intermediate arm (14) comprises a first intermediate arm link (9) and a second intermediate arm link (11); one end of the first intermediate arm link (9) is provided with a driven gear (141), and the other end is provided with a first intermediate hinge shaft; one end of the second intermediate arm link (11) is provided with a second intermediate hinge shaft, and the other end is provided with a driving gear (142); the driven gear (141) and the second intermediate hinge shaft are arranged on the corresponding intermediate joint (10) and on the same vertical line; the driving gear (142) and the first intermediate hinge shaft are arranged on the corresponding intermediate joint (10) and on the same vertical line.
3. The single-column rotating variable-diameter polar coordinate robot for machine vision according to claim 1, characterized in that: The end of the end arm (15) is provided with an end joint (16), and the visual acquisition device (17) is installed on the lower side of the end joint (16).
4. The single-column rotating variable-diameter polar coordinate robot for machine vision according to claim 3, characterized in that: The end arm (15) includes a first end arm link (12) and a second end arm link (13), and the head end of the first end arm link (12) is arranged on the corresponding intermediate joint (10) and is provided with the end arm gear (151), the end of the first end arm link (12) is hinged to the end joint (16) through a first end hinge shaft, one end of the second end arm link (13) is hinged to the corresponding intermediate joint (10) through a hinge shaft C, and the other end is hinged to the end joint (16) through a hinge shaft D, and the center of the end arm gear (151) is on the same vertical line with the hinge shaft C, and the first end hinge shaft and the hinge shaft D are on the same vertical line.
5. The single-column rotating variable-diameter polar coordinate robot for machine vision according to claim 1, characterized in that: The rotating column (101) is rotatably mounted on a base (1), and a rotating motor (102) and a reduction transmission mechanism (3) are provided on the base (1). The rotating column (101) is driven to rotate by the rotating motor (102), and the rotating motor (102) transmits torque through the reduction transmission mechanism (3).