Robotic arm vision collaboration system based on bionic hand

Abstract

The present invention relates to the field of robotic arm technology, specifically to a robotic arm visual coordination system based on a bionic hand, which solves the problem of low efficiency in that when a robotic arm visual coordination system transports a plurality of special objects, each time a block is transported, the robotic arm needs to be driven to rotate and move multiple times, and each block needs to be clamped and moved individually, including a support mechanism, a robotic arm mechanism is provided at the top of the support mechanism, a suction cup assembly is provided at the top of the robotic arm mechanism, a temporary material storage mechanism is provided below the suction cup assembly, and a marker block is provided at the bottom of the suction cup assembly. The present invention clamps and stores a plurality of marker blocks through a clamping plate, so that the robotic arm mechanism can temporarily place a plurality of marker blocks on the inner side of the clamping plate when performing visual inspection, thereby avoiding the need to rotate the robotic arm mechanism multiple times after each transport of a marker block, which affects the transportation efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and in particular to a robotic arm visual coordination system based on a bionic hand. Background Art

[0002] Robotic arms are the most widely used automated mechanical devices in the field of robotics technology. They can be found in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, space exploration, etc. Although they have different forms, they all have one common feature, which is the ability to receive instructions and accurately locate a point in three-dimensional (or two-dimensional) space to perform operations;

[0003] Machine vision is a rapidly developing branch of artificial intelligence. Machine vision is to use machines to replace human eyes to do measurement and judgment work. The machine vision system converts the captured target into an image signal through machine vision products, transmits it to a dedicated image processing system, and obtains the morphological information of the captured target. According to the pixel distribution, brightness, color and other information, it is converted into a digital signal, and the image system extracts the characteristics of the target, and then controls the action of the equipment on site according to the judgment results.

[0004] When the existing robotic arm visual collaboration system transports multiple special objects, it needs to drive the robotic arm to rotate and move multiple times for each object to be transported, and the object must be clamped and moved individually each time, which is inefficient. Therefore, it does not meet the existing needs. In this regard, we propose a robotic arm visual collaboration system based on a bionic hand. Summary of the invention

[0005] The purpose of the present invention is to provide a robotic arm visual coordination system based on a bionic hand to solve the problem that the robotic arm visual coordination system proposed in the above background technology needs to drive the robotic arm to rotate and move multiple times for each transport of a plurality of special objects, and each time the objects are clamped and moved individually, resulting in low efficiency.

[0006] To achieve the above object, the present invention provides the following technical solution: a robot arm visual collaborative system based on a bionic hand, comprising a support mechanism, a robot arm mechanism is provided at the top of the support mechanism, a suction cup assembly is provided at the top of the robot arm mechanism, a temporary material storage mechanism is provided below the suction cup assembly, and a marker block is provided at the bottom of the suction cup assembly;

[0007] The temporary material storage mechanism includes a connecting frame, a guide rail rod, a sliding table, a clamping plate and a clamping bottom plate. The connecting frame is fixedly installed on the outer surface of the mechanical arm mechanism, and guide rail rods are fixedly installed on both sides of the bottom end of the connecting frame. A sliding table is slidably installed on one side surface of the guide rail rod. Both ends of the sliding table are movably clamped on the surface of the guide rail rod. Two clamping plates are slidably installed on the outer surface of the sliding table, and the clamping bottom plates are fixedly installed on the bottom ends of the clamping plates.

[0008] Preferably, the temporary material storage mechanism also includes a sliding groove, a spring groove and a compression spring. A sliding groove is provided on the surface of one side of the sliding table close to the clamping plate, and spring grooves are provided at both ends of the sliding groove. One end of the clamping plate is slidably inserted into the interior of the sliding groove, and a compression spring is movably installed between one end of the clamping plate located in the sliding groove and the interior of the spring groove.

[0009] Preferably, the temporary material storage mechanism also includes a blocking plate, a shrinkage groove, an extrusion spring and an electromagnet. A plurality of blocking plates are slidably installed on the outer surface of the clamping plate. Shrinkage grooves are provided on the surface of the clamping plate near the blocking plate. The blocking plates are slidably inserted into the interior of the shrinkage groove. Extrusion springs are movably installed between the blocking plates and the interior of the shrinkage groove. Electromagnets are provided inside the clamping plate near the shrinkage groove, and pressure sensors are provided on the outer surfaces of the blocking plates.

[0010] Preferably, the supporting mechanism includes a base, a pedestal, a servo motor, a rotating shaft, a driving gear, a supporting frame, a transport turntable and a driven gear. The base is fixedly installed at the center of the top of the base, and rotating shafts are rotatably installed on both sides of the top of the base. A servo motor is provided at the top of the servo motor near the rotating shaft, and the output end of the servo motor is connected to the bottom end of the rotating shaft through a coupling. A driving gear is fixedly installed at the top of the rotating shaft, and supporting frames are fixedly installed on both sides of the base. The top of the supporting frame is rotatably installed with the transport turntable, and a driven gear is fixedly installed at the center of the bottom end of the transport turntable, and the driving gear is meshed with the driven gear.

[0011] Preferably, the robotic arm mechanism includes a bottom rotating seat, a lower rotating bracket, a first U-shaped frame, a second U-shaped frame, an upper rotating bracket and a pushing cylinder, the bottom rotating seat is rotatably mounted on the top surface of the base, the end of the bottom rotating seat is rotatably connected to the lower rotating bracket, the end of the lower rotating bracket is rotatably mounted with the first U-shaped frame, the end of the first U-shaped frame is rotatably mounted with the second U-shaped frame, the end of the second U-shaped frame is rotatably mounted with the upper rotating bracket, and the end of the upper rotating bracket is fixedly mounted with a pushing cylinder.

[0012] Preferably, the suction cup assembly includes a fixed seat, a pushing rod, a lifting groove, a screw rod, a connecting bearing, an exhaust groove, a movable seat and a suction cup, the output end of the pushing cylinder is fixedly installed with the pushing rod, the outer end of the pushing rod is fixedly connected with the fixed seat, the bottom end of the fixed seat is provided with a lifting groove, the top end of the lifting groove is provided with a connecting bearing, the bottom end of the connecting bearing is rotatably connected with a screw rod, the outer surface of the screw rod is movably installed with a movable seat, the bottom end of the movable seat is fixedly installed with a suction cup, the screw rod and the movable seat are threadedly connected, and the surface of the screw rod is provided with an exhaust groove.

[0013] Preferably, a marker block is adsorbed on the bottom end of the vacuum groove, a plurality of marker blocks are clamped between the two clamping plates, and surfaces of the marker blocks located on the inner side of the clamping plates are in contact with the surface of the blocking plate.

[0014] Preferably, a pressure sensor is provided at the center of a surface of one side of the sliding platform close to the sliding groove, and each of the pressure sensors is electrically connected to each electromagnet in sequence from front to back.

[0015] Preferably, the top end of the connecting frame is fixedly connected to the bottom end of the pushing cylinder, and the outer ends of the guide rods are provided with cylinders.

[0016] Preferably, an air pump is connected to the outer side of the fixed seat, the output port of the air pump is through-connected with the screw rod, an identification camera is provided at the bottom end of the fixed seat, a reduction motor is provided at the top end of the connecting bearing, and the output end of the reduction motor is connected to the connecting bearing through a coupling.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The present invention cooperates with the sliding table and the clamping plate, so that when the device is in use, the marker block adsorbed by the suction cup can be placed at a height consistent with the clamping plate, and then the sliding table is driven by the cylinder to move on the surface of the guide rail rod, so that the sliding table pushes the clamping plate to move to the position of the marker block. At this time, the marker block will hit the inclined surface of the clamping plate surface, so that the two clamping plates are pushed in the directions of both sides of the sliding groove, so that the clamping plate clamps the marker block in the middle, thereby clamping and storing multiple marker blocks, which is convenient for the mechanical arm mechanism to temporarily place multiple marker blocks on the inner side of the clamping plate when performing visual inspection, thereby avoiding the need to rotate the mechanical arm mechanism multiple times after each transport of a marker block, which affects the transportation efficiency;

[0019] 2. The present invention cooperates with the compression spring and the clamping plate, so that when the device is in use, the two clamping plates can be slid inside the sliding groove, so that the clamping plates can adjust the distance between the two clamping plates according to the size of the marker block, so as to facilitate the clamping of marker blocks of different sizes;

[0020] 3. The present invention cooperates with the blocking plate and the electromagnet. When the clamping plate stores the first marker block to the innermost position, the marker block will hit the pressure sensor on the surface of the sliding table, causing it to transmit an electrical signal to the first electromagnet, causing the electromagnet to close. At this time, the first blocking plate will pop out due to the elastic potential energy of the extrusion spring to block the next marker block. When the next marker block is clamped, this step is repeated to separately clamp each marker block to prevent the marker blocks from colliding with each other and wearing out. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 It is a structural schematic diagram of the mechanical arm part of the present invention;

[0023] Figure 3 A cross-sectional bottom view of the mechanical arm of the present invention;

[0024] Figure 4 A sectional side view of the present invention as a whole;

[0025] Figure 5 For the present invention Figure 3 Schematic diagram of the local structure of part A;

[0026] Figure 6 For the present invention Figure 3 Schematic diagram of the local structure of part B;

[0027] Figure 7 For the present invention Figure 4 Schematic diagram of the local structure of part C;

[0028] Figure 8 This is a logical schematic diagram of the present invention when it is running;.

[0029] In the figure: 1. Support mechanism; 101. Base; 102. Base; 103. Servo motor; 104. Rotating shaft; 105. Driving gear; 106. Support frame; 107. Transport turntable; 108. Driven gear; 2. Robotic arm mechanism; 201. Bottom rotating seat; 202. Lower rotating bracket; 203. First U-shaped bracket; 204. Second U-shaped bracket; 205. Upper rotating bracket; 206. Pushing cylinder; 3. Temporary material storage mechanism; 301. Connecting frame; 302. Guide Rail rod; 303, sliding table; 304, clamping plate; 305, blocking plate; 306, clamping base plate; 307, sliding groove; 308, spring groove; 309, compression spring; 310, contraction groove; 311, extrusion spring; 312, electromagnet; 4, suction cup assembly; 401, fixed seat; 402, push rod; 403, lifting groove; 404, screw rod; 405, connecting bearing; 406, exhaust groove; 407, movable seat; 408, suction cup; 5, marking block. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0031] See also Figures 1 to 8 The present invention provides an embodiment: a robot arm visual collaborative system based on a bionic hand, comprising a support mechanism 1, a robot arm mechanism 2 is provided at the top of the support mechanism 1, a suction cup assembly 4 is provided at the top of the robot arm mechanism 2, a temporary material storage mechanism 3 is provided below the suction cup assembly 4, and a marker block 5 is provided at the bottom of the suction cup assembly 4;

[0032] The temporary material storage mechanism 3 includes a connecting frame 301, a guide rod 302, a sliding table 303, a clamping plate 304 and a clamping base plate 306. The connecting frame 301 is fixedly installed on the outer surface of the robotic arm mechanism 2, and the guide rods 302 are fixedly installed on both sides of the bottom end of the connecting frame 301. The sliding table 303 is slidably installed on the surface of one side of the guide rod 302. Both ends of the sliding table 303 are movably clamped on the surface of the guide rod 302. Two clamping plates 304 are slidably installed on the outer surface of the sliding table 303, and the bottom ends of the clamping plates 304 are fixedly installed with clamping base plates 306.

[0033] The temporary material storage mechanism 3 also includes a sliding groove 307, a spring groove 308 and a compression spring 309. A sliding groove 307 is provided on the surface of one side of the sliding table 303 close to the clamping plate 304. Spring grooves 308 are provided at both ends of the sliding groove 307. One end of the clamping plate 304 is slidably inserted into the interior of the sliding groove 307. A compression spring 309 is movably installed between one end of the clamping plate 304 located in the sliding groove 307 and the interior of the spring groove 308.

[0034] Through the cooperation between the sliding table 303 and the clamping plate 304, when the device is in use, the marker block 5 adsorbed by the suction cup 408 can be placed at a height consistent with the clamping plate 304, and then the sliding table 303 is driven by the cylinder to move on the surface of the guide rod 302, so that the sliding table 303 pushes the clamping plate 304 to move to the position of the marker block 5. At this time, the marker block 5 will hit the inclined position on the surface of the clamping plate 304, so that the two clamping plates 304 are pushed in the directions of both sides of the sliding groove 307, so that the clamping plate 304 clamps the marker block 5 in the middle, thereby clamping and storing multiple marker blocks 5, which is convenient for the robot arm mechanism 2 to temporarily place multiple marker blocks 5 on the inner side of the clamping plate 304 when performing visual inspection, thereby avoiding the need to rotate the robot arm mechanism 2 multiple times after each transportation of a marker block 5, which affects the transportation efficiency.

[0035] The temporary material storage mechanism 3 also includes a blocking plate 305, a contraction groove 310, an extrusion spring 311 and an electromagnet 312. A plurality of blocking plates 305 are slidably installed on the outer surface of the clamping plate 304. Contraction grooves 310 are provided on the surface of the clamping plate 304 near the blocking plate 305. The blocking plates 305 are slidably inserted into the interior of the contraction groove 310. Extrusion springs 311 are movably installed between the blocking plates 305 and the interior of the contraction groove 310. Electromagnets 312 are provided inside the clamping plate 304 near the contraction groove 310. Pressure sensors are provided on the outer surfaces of the blocking plates 305.

[0036] By cooperating with the compression spring 309 and the clamping plate 304, when the device is in use, the two clamping plates 304 can be slid inside the sliding groove 307, so that the clamping plates 304 can adjust the distance between the two clamping plates 304 according to the size of the marker block 5, thereby facilitating the clamping of marker blocks 5 of different sizes.

[0037] The supporting mechanism 1 includes a base 101, a pedestal 102, a servo motor 103, a rotating shaft 104, a driving gear 105, a supporting frame 106, a transport turntable 107 and a driven gear 108. The base 102 is fixedly installed at the center of the top of the base 101, and the rotating shaft 104 is rotatably installed on both sides of the top of the base 101. The servo motor 103 is provided at the top of the servo motor 103 near the rotating shaft 104, and the output end of the servo motor 103 is connected to the bottom end of the rotating shaft 104 through a coupling. The top of the rotating shaft 104 is fixedly installed with a driving gear 105, and the supporting frames 106 are fixedly installed on both sides of the base 101. The top of the supporting frames 106 is rotatably installed with the transport turntable 107, and the driven gear 108 is fixedly installed at the center of the bottom end of the transport turntable 107, and the driving gear 105 is meshed and connected with the driven gear 108.

[0038] The robotic arm mechanism 2 includes a bottom rotating seat 201, a lower rotating bracket 202, a first U-shaped frame 203, a second U-shaped frame 204, an upper rotating bracket 205 and a pushing cylinder 206. The bottom rotating seat 201 is rotatably installed on the top surface of the base 102, the end of the bottom rotating seat 201 is rotatably connected to the lower rotating bracket 202, the end of the lower rotating bracket 202 is rotatably installed with the first U-shaped frame 203, the end of the first U-shaped frame 203 is rotatably installed with the second U-shaped frame 204, the end of the second U-shaped frame 204 is rotatably installed with the upper rotating bracket 205, and the end of the upper rotating bracket 205 is fixedly installed with the pushing cylinder 206.

[0039] The suction cup assembly 4 includes a fixed seat 401, a pushing rod 402, a lifting groove 403, a screw rod 404, a connecting bearing 405, an exhaust groove 406, a movable seat 407 and a suction cup 408. The output end of the push cylinder 206 is fixedly installed with the pushing rod 402, the outer end of the pushing rod 402 is fixedly connected with the fixed seat 401, the bottom end of the fixed seat 401 is internally provided with a lifting groove 403, the top of the lifting groove 403 is provided with a connecting bearing 405, the bottom end of the connecting bearing 405 is rotatably connected with the screw rod 404, the outer surface of the screw rod 404 is movably installed with a movable seat 407, the bottom end of the movable seat 407 is fixedly installed with a suction cup 408, the screw rod 404 and the movable seat 407 are threadedly connected, and the surface of the screw rod 404 is provided with an exhaust groove 406.

[0040] The bottom end of the vacuum groove 406 absorbs a marker block 5 , and a plurality of marker blocks 5 are clamped between the two clamping plates 304 . The surfaces of the marker blocks 5 located on the inner side of the clamping plates 304 are all in contact with the surface of the blocking plate 305 .

[0041] A pressure sensor is provided at the center of a surface of one side of the sliding platform 303 close to the sliding groove 307 , and each pressure sensor is electrically connected to each electromagnet 312 in sequence from front to back.

[0042] Through the cooperation of the blocking plate 305 and the electromagnet 312, when the clamping plate 304 stores the first marker block 5 to the innermost position, the marker block 5 will hit the pressure sensor on the surface of the sliding table 303, thereby transmitting an electrical signal to the first electromagnet 312, causing the electromagnet 312 to close. At this time, the first blocking plate 305 will pop out due to the elastic potential energy of the squeezing spring 311 and block the next marker block 5. When the next marker block 5 is clamped, this step is repeated to separately clamp each marker block 5 to prevent the marker blocks 5 from colliding with each other and wearing out.

[0043] The top end of the connecting frame 301 is fixedly connected to the bottom end of the pushing cylinder 206 , and the outer ends of the guide rail rods 302 are each provided with a cylinder.

[0044] An air pump is connected to the outside of the fixed seat 401, and the output port of the air pump is connected to the screw rod 404. An identification camera is provided at the bottom end of the fixed seat 401, and a reduction motor is provided at the top end of the connecting bearing 405. The output end of the reduction motor is connected to the connecting bearing 405 through a coupling.

[0045] When the robot arm visual coordination system based on the bionic hand is in use, a plurality of marker blocks 5 are first placed on the surface of one of the transport turntables 107, and the driving gear 105 drives the driven gear 108 to rotate, thereby driving the transport turntable 107 to rotate, so that the marker block 5 rotates on the surface of the transport turntable 107 to the position below the fixed seat 401. At this time, each marker block 5 is visually identified by the recognition camera at the bottom of the fixed seat 401. When a special marker block 5 is identified, the servo motor 103 can be stopped to stop the rotation of the transport turntable 107, and then the fixed seat 401 can be moved to the upper position of the marker block 5 by the robot arm mechanism 2. At this time, the reduction motor drives the screw rod 404 to rotate, so that the movable seat 407 descends and the suction cup 408 is close to the surface of the marker block 5. At the same time, the air pump is used to suck air to adsorb the marker block 5 on the surface of the suction cup 408. At this time:

[0046] When there is only one special marker block 5, the robot arm mechanism 2 is directly rotated to transport the marker block 5 to the surface of another transport turntable 107, and then the servo motor 103 is started to make the device repeat the detection of the remaining marker blocks 5, and transport the special marker block 5 to the discharge position through the transport turntable 107;

[0047] When there are multiple special marker blocks 5, the marker block 5 adsorbed by the suction cup 408 is placed at a height consistent with the clamping plate 304, and then the sliding table 303 is driven by the cylinder to move on the surface of the guide rod 302, so that the sliding table 303 pushes the clamping plate 304 to move to the position of the marker block 5. At this time, the marker block 5 will hit the inclined surface position of the clamping plate 304 surface, so that the two clamping plates 304 are pushed toward the two sides of the sliding groove 307, so that the clamping plates 304 clamp the marker block 5 It is held in the middle, so as to clamp and store multiple marker blocks 5, which is convenient for the robot arm mechanism 2 to temporarily place multiple marker blocks 5 on the inner side of the clamping plate 304 when performing visual inspection, and then rotate the robot arm mechanism 2 to the position of another transport turntable 107, and use the suction cup 408 to absorb each marker block 5 from the inner position of the clamping plate 304 and transport it to the surface of the transport turntable 107, thereby avoiding the need to rotate the robot arm mechanism 2 multiple times after each marker block 5 is transported, which affects the transportation efficiency.

[0048] When transporting the marker block 5, the two clamping plates 304 can be slid inside the sliding groove 307, so that the clamping plates 304 can adjust the distance between the two clamping plates 304 according to the size of the marker block 5, so as to facilitate clamping marker blocks 5 of different sizes.

[0049] When the clamping plate 304 stores the first marker block 5 to the innermost position, the marker block 5 will hit the pressure sensor on the surface of the sliding table 303, causing it to transmit an electrical signal to the first electromagnet 312, causing the electromagnet 312 to close. At this time, the first blocking plate 305 will pop out due to the elastic potential energy of the squeezing spring 311 and block the next marker block 5. When the next marker block 5 is clamped, repeat this step so that the two clamping plates 304 can hold each marker block 5 separately to avoid the marker blocks 5 colliding with each other and wearing out.

[0050] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A robot arm visual coordination system based on a bionic hand, comprising a support mechanism (1), characterized in that: A mechanical arm mechanism (2) is provided at the top of the support mechanism (1), a suction cup assembly (4) is provided at the top of the mechanical arm mechanism (2), a temporary material storage mechanism (3) is provided below the suction cup assembly (4), and a marker block (5) is provided at the bottom of the suction cup assembly (4); The temporary material storage mechanism (3) comprises a connecting frame (301), a guide rail rod (302), a sliding platform (303), a clamping plate (304) and a clamping bottom plate (306); the connecting frame (301) is fixedly mounted on the outer surface of the mechanical arm mechanism (2); the guide rail rods (302) are fixedly mounted on both sides of the bottom end of the connecting frame (301); the sliding platform (303) is slidably mounted on one side surface of the guide rail rod (302); both ends of the sliding platform (303) are movably clamped on the surface of the guide rail rod (302); two clamping plates (304) are slidably mounted on the outer surface of the sliding platform (303); and the clamping bottom plates (306) are fixedly mounted on the bottom ends of the clamping plates (304); The temporary material storage mechanism (3) further comprises a blocking plate (305), a contraction groove (310), a compression spring (311) and an electromagnet (312); a plurality of blocking plates (305) are slidably mounted on the outer surface of the clamping plate (304); a contraction groove (310) is provided on the surface of the clamping plate (304) near the blocking plate (305); the blocking plates (305) are slidably inserted into the inside of the contraction groove (310); a compression spring (311) is movably mounted between the blocking plates (305) and the inside of the contraction groove (310); an electromagnet (312) is provided on the inner part of the clamping plate (304) near the contraction groove (310); and a pressure sensor is provided on the outer surface of the blocking plates (305); The support mechanism (1) comprises a base (101), a pedestal (102), a servo motor (103), a rotating shaft (104), a driving gear (105), a support frame (106), a transport turntable (107) and a driven gear (108); the base (102) is fixedly mounted at the center of the top of the base (101); rotating shafts (104) are rotatably mounted on both sides of the top of the base (101); and a servo motor (103) is provided at a position near the rotating shaft (104) at the top of the base (101). The output end of the servo motor (103) is connected to the bottom end of the rotating shaft (104) via a coupling, a driving gear (105) is fixedly mounted on the top end of the rotating shaft (104), support frames (106) are fixedly mounted on both sides of the base (101), the top end of the support frame (106) is rotatably mounted on a transport turntable (107), a driven gear (108) is fixedly mounted at the center of the bottom end of the transport turntable (107), and the driving gear (105) is meshedly connected with the driven gear (108).

2. The robot arm visual collaboration system based on bionic hand according to claim 1, characterized in that: The temporary material storage mechanism (3) further comprises a sliding groove (307), a spring groove (308) and a compression spring (309); a sliding groove (307) is provided on a surface of a side of the sliding platform (303) close to the clamping plate (304); spring grooves (308) are provided at both ends of the sliding groove (307); one end of the clamping plate (304) is slidably inserted into the interior of the sliding groove (307); and a compression spring (309) is movably installed between one end of the clamping plate (304) located in the interior of the sliding groove (307) and the interior of the spring groove (308).

3. The robot arm visual collaboration system based on bionic hand according to claim 2, characterized in that: The mechanical arm mechanism (2) comprises a bottom rotating seat (201), a lower rotating bracket (202), a first U-shaped bracket (203), a second U-shaped bracket (204), an upper rotating bracket (205) and a pushing cylinder (206); the bottom rotating seat (201) is rotatably mounted on the top surface of the base (102); the end of the bottom rotating seat (201) is rotatably connected to the lower rotating bracket (202); the end of the lower rotating bracket (202) is rotatably mounted with the first U-shaped bracket (203); the end of the first U-shaped bracket (203) is rotatably mounted with the second U-shaped bracket (204); the end of the second U-shaped bracket (204) is rotatably mounted with the upper rotating bracket (205); and the end of the upper rotating bracket (205) is fixedly mounted with the pushing cylinder (206).

4. The robot arm visual collaboration system based on bionic hand according to claim 3, characterized in that: The suction cup assembly (4) comprises a fixed seat (401), a push rod (402), a lifting groove (403), a screw (404), a connecting bearing (405), an air extraction groove (406), a movable seat (407) and a suction cup (408). The output end of the push cylinder (206) is fixedly mounted with the push rod (402), the outer end of the push rod (402) is fixedly connected with the fixed seat (401), the bottom end of the fixed seat (401) is provided with a lifting groove (403), the top end of the lifting groove (403) is provided with a connecting bearing (405), the bottom end of the connecting bearing (405) is rotatably connected with the screw rod (404), the outer surface of the screw rod (404) is movably mounted with a movable seat (407), the bottom end of the movable seat (407) is fixedly mounted with a suction cup (408), the screw rod (404) and the movable seat (407) are threadedly connected, and the surface of the screw rod (404) is provided with an air extraction groove (406).

5. The robot arm visual collaboration system based on bionic hand according to claim 4, characterized in that: A marker block (5) is adsorbed on the bottom end of the air extraction groove (406), a plurality of marker blocks (5) are clamped between the two clamping plates (304), and the surfaces of the marker blocks (5) located on the inner side of the clamping plates (304) are in contact with the surface of the blocking plate (305).

6. The robot arm vision coordination system based on bionic hand according to claim 3, characterized in that: A pressure sensor is provided at the center of a surface of one side of the sliding platform (303) close to the sliding groove (307), and each of the pressure sensors is electrically connected to each electromagnet (312) in sequence from front to back.

7. The robot arm vision coordination system based on bionic hand according to claim 3, characterized in that: The top end of the connecting frame (301) is fixedly connected to the bottom end of the pushing cylinder (206), and the outer ends of the guide rail rods (302) are each provided with a cylinder.

8. The robot arm vision coordination system based on bionic hand according to claim 4, characterized in that: An air pump is connected to the outside of the fixing seat (401), the output port of the air pump is connected to the screw rod (404), an identification camera is provided at the bottom end of the fixing seat (401), a reduction motor is provided at the top end of the connecting bearing (405), and the output end of the reduction motor is connected to the connecting bearing (405) via a coupling.

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