High-precision positioning and grabbing device based on machine vision

Abstract

The invention relates to the technical field of machine grabbing, and provides a high-precision positioning grabbing device based on machine vision, which comprises a mounting frame, a first servo motor is welded and fixed on the mounting frame, a first turntable and a rotating rod are welded and fixed on an output shaft of the first servo motor, and a first shifting rod is welded and fixed on the rotating rod; a connecting shaft is rotationally connected to the mounting frame, a second rotating disc, a second shifting rod and a rotating cylinder are welded and fixed to the connecting shaft, and three multifunctional mechanical arms are mounted on the rotating cylinder; the three multifunctional mechanical arms are provided with a first positioning grabbing assembly, a second positioning grabbing assembly and a third positioning grabbing assembly correspondingly. By means of the technical scheme, the problems that according to a high-precision positioning grabbing device based on machine vision in the prior art, a plurality of mechanical arms are inconvenient to use in a combined mode, and the mechanical arms cannot be automatically stored and protected after work is finished are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of machine grasping, and in particular to a high-precision positioning grasping device based on machine vision. Background Art

[0002] High-precision positioning and grasping devices based on machine vision are widely used in industrial automation, robot grasping, logistics sorting, warehouse management and other fields. The core is to obtain the position information of objects through the visual system and pass this information to the grasping robot to achieve precise grasping operations. With the continuous advancement of computer vision and robotics technology, such systems will play an important role in more fields and improve production efficiency and automation levels.

[0003] However, the existing high-precision positioning and grasping devices based on machine vision have some problems in the working process. For example, a machine vision high-precision positioning and grasping device with publication number CN116749241B can realize the grasping of different types of objects through multiple manipulators, but the multiple manipulators used are in different positions. Therefore, the manipulators in different positions need to stretch and move at different distances and directions when grasping objects, which makes it inconvenient to grasp and transport objects at the same loading position. In addition, in the actual working process, the manipulators cannot automatically store and protect the manipulators after the work is completed, and the practicality and safety are poor. Moreover, in the actual working process, although it can grasp objects, it cannot automatically and stably accurately position objects of different specifications and sizes, and thus cannot ensure the stability and accuracy of subsequent grasping and transporting of objects. Therefore, it is necessary to provide a high-precision positioning and grasping device based on machine vision to meet the needs of users. Summary of the invention

[0004] The present invention proposes a high-precision positioning and grasping device based on machine vision, which solves the problems in the related art that the high-precision positioning and grasping device based on machine vision is inconvenient to use multiple manipulators in combination, cannot automatically store and protect the manipulators after work, and cannot automatically, stably and accurately position objects of different specifications and sizes.

[0005] The technical solution of the present invention is as follows:

[0006] A high-precision positioning and grasping device based on machine vision, comprising a mounting frame, a first servo motor is welded and fixed on the mounting frame, an output shaft of the first servo motor is rotatably connected to the mounting frame, a first turntable and a rotating rod are welded and fixed on the output shaft of the first servo motor, a first shifting rod is welded and fixed on the rotating rod, a connecting shaft is rotatably connected to the mounting frame, a second turntable, a second shifting rod and a rotating cylinder are welded and fixed on the connecting shaft, a multifunctional mechanical arm is installed on the rotating cylinder, three multifunctional mechanical arms are provided, a first positioning and grasping component, a second positioning and grasping component and a third positioning and grasping component are respectively installed on the three multifunctional mechanical arms, a fixing plate is welded and fixed on the bottom side end surface of the mounting frame, a depth camera and a processor are fixed on the fixing plate.

[0007] As a preferred solution of the present invention, wherein: a groove is provided on the first turntable, the direction of the groove on the first turntable is the same as the direction of the rotating rod, six second levers are arranged, and the six second levers are distributed at equal angles on the connecting shaft, the side end surface of the second turntable is arc-shaped, the side end surface of the second turntable is fitted with the side end surface of the first turntable, the cross-section of the rotating cylinder is an equilateral triangle, three multifunctional mechanical arms are distributed at equal angles on the three end surfaces of the rotating cylinder, and the connecting shaft is connected to the center of the rotating cylinder.

[0008] As a preferred solution of the present invention, the multifunctional robotic arm comprises a first storage frame, the first storage frame is welded and fixed on the rotating cylinder, a first hydraulic rod is installed and fixed in the first storage frame, the end of the first hydraulic rod is fixedly connected to the first connecting frame, a first traction rope is fixedly connected to the first connecting frame, the other end of the first traction rope is wound around a coil, a guide wheel is installed in the first storage frame, the first traction rope is limitedly slidably connected to the guide wheel, the first traction rope passes through and is slidably connected in the first storage frame, a limited position frame is welded and fixed on the outer wall of the first storage frame, a volute spring is welded and fixed in the limited frame, and a first traction rope is welded and fixed on the coil. A one-way threaded rod is fixed to the one-way threaded rod, the inner end of the spiral spring is welded and fixed to the end of the one-way threaded rod, the one-way threaded rod and the limit frame are rotatably connected, the one-way threaded rod is threadedly connected to a second receiving frame, the second receiving frame is sleeved on the first receiving frame, a rubber plate is fixedly connected to the second receiving frame, the inner wall of the second receiving frame is fitted with the outer wall of the first receiving frame, the one-way threaded rod is symmetrically distributed on both sides of the second receiving frame, the one-way threaded rod corresponds to the first traction rope one by one through the coil, the one-way threaded rod corresponds to the spiral spring one by one through the limit frame, the rubber plates are symmetrically distributed on both sides inside the second receiving frame, and the rubber plates on both sides are fitted with each other.

[0009] As a preferred solution of the present invention, wherein: a second servo motor is installed and fixed in the first connecting frame, a second connecting frame is welded and fixed on the output shaft of the second servo motor, a third servo motor is welded and fixed on the second connecting frame, a first arm is welded and fixed on the output shaft of the third servo motor, a third connecting frame is welded and fixed on the end of the first arm, a fourth servo motor is welded and fixed on the third connecting frame, a second arm is welded and fixed on the output shaft of the fourth servo motor, and a second hydraulic rod is installed and fixed in the second arm.

[0010] As a preferred solution of the present invention, the first positioning and grabbing assembly includes a first fixed frame, the first fixed frame is welded and fixed to the end of the second hydraulic rod, a fifth servo motor is welded and fixed to the side end surface of the first fixed frame, the output end of the fifth servo motor is connected to a first bidirectional threaded rod, the first bidirectional threaded rod is rotatably connected in the first fixed frame, a first sliding plate is threadedly connected to the first bidirectional threaded rod, the top limit sliding connection of the first sliding plate is in the first fixed frame, a first connecting spring is welded and fixed to the side end surface of the first sliding plate, the other end of the first connecting spring is welded and fixed to a limit plate, the limit plate penetrates and is slidably connected to the first sliding plate, a first clamping plate is welded and fixed to the end of the limit plate, a first rubber pad and a rack are fixedly connected to the first clamping plate, the first sliding plates are symmetrically distributed on both sides of the first bidirectional threaded rod, the first bidirectional threaded rod is connected to the top middle part of the first sliding plate, the first sliding plate corresponds to the first clamping plate one by one through the limit plate, and the limit plate is fixed to the middle part of the first clamping plate.

[0011] As a preferred solution of the present invention, wherein: the rack is meshed with a gear, a driven shaft is welded and fixed on the gear, a second clamping plate is welded and fixed on the driven shaft, a second rubber pad is fixedly connected to the second clamping plate, the driven shaft is rotatably connected to the first sliding plate, the rack is provided with two groups, each group of racks is provided with two, the two groups of racks are symmetrically distributed on the front and rear sides of the first clamping plate, the two racks of each group are symmetrically distributed on the upper and lower sides of the first clamping plate, the driven shaft is symmetrically distributed on the front and rear sides of the first sliding plate, the gears are symmetrically distributed on the upper and lower sides of the driven shaft, the gears correspond one-to-one to the racks, and the driven shaft corresponds one-to-one to the second clamping plate.

[0012] As a preferred scheme of the present invention, wherein: the second positioning and grasping assembly includes a second fixed frame and an elastic telescopic hose, the second fixed frame is welded and fixed to the end of the second hydraulic rod, a sixth servo motor is welded and fixed to the side end face of the second fixed frame, the output end of the sixth servo motor is connected to a second bidirectional threaded rod, the second bidirectional threaded rod is rotatably connected in the second fixed frame, a second sliding plate is threadedly connected to the second bidirectional threaded rod, the top limit sliding connection of the second sliding plate is in the second fixed frame, the second sliding plates are symmetrically distributed on both sides of the second bidirectional threaded rod, the two ends of the elastic telescopic hose are respectively fixed on the second sliding plates on both sides, the elastic telescopic hose is connected to an air guide tube, the air guide tube is connected to a rubber airbag, and the rubber airbag is fixedly connected to the second sliding plate.

[0013] As a preferred solution of the present invention, the air guide tubes are symmetrically distributed on both sides of the elastic telescopic hose, the air guide tubes correspond to the rubber airbags one by one, and the side end surfaces of the rubber airbags are inclined.

[0014] As a preferred solution of the present invention, the third positioning and grabbing assembly includes a third fixed frame, the third fixed frame is welded and fixed to the end of the second hydraulic rod, a seventh servo motor is welded and fixed to the side end surface of the third fixed frame, the output end of the seventh servo motor is connected to a third bidirectional threaded rod, the third bidirectional threaded rod is rotatably connected in the third fixed frame, a third sliding plate is threadedly connected to the third bidirectional threaded rod, the top of the third sliding plate is limitedly slidably connected in the third fixed frame, a second connecting spring is fixedly connected in the third sliding plate, a guide block is welded and fixed at the end of the second connecting spring, the guide block is limitedly slidably connected in the third sliding plate, a guide plate is fixedly connected on the guide block, the guide plate is made of rubber, the third sliding plate is symmetrically distributed on both sides of the third bidirectional threaded rod, the guide blocks are symmetrically distributed on both sides inside the third sliding plate, the guide blocks correspond one-to-one to the second connecting spring and the guide plate respectively, and the cross-section of the guide plate is a right-angle trapezoid.

[0015] As a preferred solution of the present invention, wherein: a first connecting tube is slidably connected through the third sliding plate, a rubber suction cup is connected to the end of the first connecting tube, a second connecting tube is connected to the first connecting tube, a third connecting spring is fixedly connected in the second connecting tube, a rubber piston is fixedly connected to the end of the third connecting spring, the rubber piston is slidably connected in the second connecting tube, a second traction rope is fixedly connected on the rubber piston, the second traction rope is slidably connected through the second connecting tube, a connecting plate is fixedly connected to the end of the second traction rope, the connecting plate is welded and fixed to the third sliding plate, a fourth connecting spring is welded and fixed to the second connecting tube, an end of the fourth connecting spring is welded and fixed to the third sliding plate, the first connecting tubes are equidistantly distributed on the third sliding plate, and the second connecting tubes are symmetrically distributed on both sides of the end of the first connecting tube.

[0016] The working principle and beneficial effects of the present invention are:

[0017] 1. The present invention is provided with a multifunctional robotic arm, which can push the first connecting frame to move outward under the driving action of the first hydraulic rod. At this time, the first traction rope and the guide wheel can drive the one-way threaded rod on the coil to rotate automatically, and then drive the second storage frame to automatically overlap with the first storage frame, and the multifunctional robotic arm can perform subsequent grasping work; similarly, after the multifunctional robotic arm finishes working, the first hydraulic rod drives the first connecting frame to move inside the first storage frame. At this time, under the elastic action of the volute spring, the one-way threaded rod can automatically rotate in the opposite direction, and then drive the second storage frame to automatically extend. Combined with the first storage frame, the multifunctional robotic arm itself can be automatically and stably stored and protected, avoiding the problem that the multifunctional robotic arm is damaged by adverse external factors, thereby increasing the diversity and safety of the multifunctional robotic arm.

[0018] 2. The present invention is provided with a rotating cylinder. Under the driving action of the first servo motor, the first lever drives each second lever, which can drive the connecting shaft on the second turntable to perform automatic and stable intermittent rotation, and then drive the rotating cylinder to perform synchronous intermittent rotation. The intermittent rotation of the rotating cylinder can be used to conveniently and stably switch the positions of the three multifunctional mechanical arms. By switching the positions of the three multifunctional mechanical arms, the first positioning and grasping component, the second positioning and grasping component and the third positioning and grasping component can be conveniently switched according to the flexibility and structural strength of the object, thereby improving the targeted grasping, effectively avoiding damage to the object caused by improper grasping method, and further improving the versatility of machine vision grasping. The first positioning and grasping component, the second positioning and grasping component and the third positioning and grasping component after switching are in the same position, thereby ensuring the convenience and accuracy of subsequent positioning and grasping work.

[0019] 3. The present invention is provided with a first positioning and grasping assembly, and the rotation of the first bidirectional threaded rod can drive the first sliding plates on both sides to move toward the middle at the same time. At this time, the push of the first clamping plate, combined with the rack and the gear, can drive the second clamping plates on both sides to rotate toward the middle at the same time. Under the joint clamping action of the first clamping plate and the second clamping plate, the object can be clamped directly below the first fixed frame, and then the rigid objects of different specifications and sizes can be automatically and stably clamped, fixed and positioned in multiple directions, thereby effectively improving the positioning accuracy of the grasping device.

[0020] 4. The present invention is provided with a second positioning and grasping component, and the second bidirectional threaded rod can be used to drive the second sliding plates on both sides to move toward the middle at the same time, so as to squeeze the elastic telescopic hose. At this time, the elastic telescopic hose can automatically inflate the rubber airbag through the air guide tube. The rubber airbags inflated on both sides can be used to perform wrapping clamping and positioning work on the flexible object. By reducing the clamping force, evenly applying force to various parts of the flexible object, and increasing the clamping area and friction force on the outer end surface of the flexible object, the flexible object can be conveniently and stably positioned and grasped, and the problem of deformation and damage of the flexible object during the grasping process due to a small clamping area and excessive clamping force can be avoided, thereby increasing the practicality and applicability of the positioning and grasping device.

[0021] 5. The present invention is provided with a third positioning and grasping component. Under the action of the inclined surfaces of the guide plates on both sides, fragile objects can push the guide plates on both sides to move automatically to the sides, and under the joint extrusion of each guide plate, fragile objects of different sizes can be automatically positioned. At the same time, under the joint action of each rubber suction cup, fragile objects of different sizes can be automatically and stably adsorbed and fixed, and the automatic positioning and adsorption and grasping of fragile objects can be automatically and stably completed, which effectively avoids the problem of fragile objects being damaged due to excessive force, and further increases the stability and safety of the positioning and grasping work. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0023] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the overall main structure of the present invention;

[0025] Figure 3 It is a schematic diagram of the overall side view structure of the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of the first turntable of the present invention;

[0027] Figure 5It is a schematic diagram of the side sectional structure of the first storage frame of the present invention;

[0028] Figure 6 It is a schematic diagram of the main structure of the rotating cylinder of the present invention;

[0029] Figure 7 It is a schematic diagram of the main cross-sectional structure of the first storage frame of the present invention;

[0030] Figure 8 It is a schematic diagram of the top view of the spiral spring of the present invention;

[0031] Fig. 9 It is a schematic diagram of the main cross-sectional structure of the second storage frame of the present invention;

[0032] Fig.10 It is a schematic diagram of the side view structure of the first arm of the present invention;

[0033] Fig.11 It is a schematic diagram of the main cross-sectional structure of the first fixing frame of the present invention;

[0034] Fig.12 is a schematic diagram of a top-sectional structure of a first sliding plate of the present invention;

[0035] Fig.13 is a schematic diagram of the side structure of the first sliding plate of the present invention;

[0036] Fig.14 It is a schematic diagram of the main cross-sectional structure of the second fixing frame of the present invention;

[0037] Fig.15 It is a schematic diagram of the top view of the structure of the rubber airbag of the present invention;

[0038] Fig.16 It is a schematic diagram of the main cross-sectional structure of the third fixing frame of the present invention;

[0039] Fig.17 It is a schematic diagram of the top-sectional structure of the third sliding plate of the present invention.

[0040] In the figure: 1, mounting frame; 2, first servo motor; 3, first turntable; 4, rotating rod; 5, first lever; 6, connecting shaft; 7, second turntable; 8, second lever; 9, rotating cylinder; 10, multifunctional mechanical arm; 1001, first storage frame; 1002, first hydraulic rod; 1003, first connecting frame; 1004, first traction rope; 1005, guide wheel; 1006, coil; 1007, one-way threaded rod; 1008, limit frame; 1009, volute spring; 1010, second storage frame; 1 011, rubber plate; 1012, second servo motor; 1013, second connection frame; 1014, third servo motor; 1015, first arm; 1016, third connection frame; 1017, fourth servo motor; 1018, second arm; 1019, second hydraulic rod; 11, first positioning and grabbing assembly; 1101, first fixed frame; 1102, fifth servo motor; 1103, first bidirectional threaded rod; 1104, first sliding plate; 1105, first connection spring; 1106, limit plate; 1 107, first clamping plate; 1108, first rubber pad; 1109, rack; 1110, gear; 1111, driven shaft; 1112, second clamping plate; 1113, second rubber pad; 12, second positioning and grabbing assembly; 1201, second fixing frame; 1202, sixth servo motor; 1203, second bidirectional threaded rod; 1204, second sliding plate; 1205, elastic telescopic hose; 1206, air guide tube; 1207, rubber airbag; 13, third positioning and grabbing assembly; 1301, third Fixed frame; 1302, seventh servo motor; 1303, third bidirectional threaded rod; 1304, third sliding plate; 1305, second connecting spring; 1306, guide block; 1307, guide plate; 1308, first connecting tube; 1309, rubber suction cup; 1310, second connecting tube; 1311, third connecting spring; 1312, rubber piston; 1313, second traction rope; 1314, connecting plate; 1315, fourth connecting spring; 14, fixed plate; 15, depth camera; 16, processor. DETAILED DESCRIPTION

[0041] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] Example 1

[0043] like Figure 1 to Figure 17As shown, this embodiment proposes a high-precision positioning and grasping device based on machine vision, including a mounting frame 1, a first servo motor 2 is welded and fixed on the mounting frame 1, the output shaft of the first servo motor 2 is rotatably connected to the mounting frame 1, a first turntable 3 and a rotating rod 4 are welded and fixed on the output shaft of the first servo motor 2, a first lever 5 is welded and fixed on the rotating rod 4, a connecting shaft 6 is rotatably connected to the mounting frame 1, a second turntable 7, a second lever 8 and a rotating cylinder 9 are welded and fixed on the connecting shaft 6, a multifunctional mechanical arm 10 is installed on the rotating cylinder 9, and a multifunctional machine There are three mechanical arms 10, and the three multifunctional mechanical arms 10 are respectively installed with a first positioning and grasping component 11, a second positioning and grasping component 12 and a third positioning and grasping component 13. A fixing plate 14 is welded and fixed on the bottom side end surface of the mounting frame 1, and a depth camera 15 and a processor 16 are fixed on the fixing plate 14. A groove is opened on the first turntable 3, and the direction of the groove on the first turntable 3 is the same as that of the rotating rod 4. There are six second levers 8, and the six second levers 8 are distributed at equal angles on the connecting shaft 6. The side end surface of the second turntable 7 is in an arc shape. The side end surface of the second turntable 7 is in contact with the side end surface of the first turntable 3, the cross section of the rotating cylinder 9 is an equilateral triangle, and the three multifunctional mechanical arms 10 are distributed at equal angles on the three end surfaces of the rotating cylinder 9. The connecting shaft 6 is connected to the central part of the rotating cylinder 9. By using the first lever 5 to toggle each second lever 8, the connecting shaft 6 on the second turntable 7 can be driven to automatically and stably rotate intermittently, and then the rotating cylinder 9 can be driven to rotate intermittently synchronously. By using the intermittent rotation of the rotating cylinder 9, the three multifunctional mechanical arms 10 can be conveniently and stably switched in position. By switching the positions of the three multifunctional mechanical arms 10, the first positioning and grasping component 11, the second positioning and grasping component 12 and the third positioning and grasping component 13 can be conveniently switched according to the flexibility and structural strength of the object, thereby improving the pertinence of grasping, effectively avoiding damage to the object caused by improper grasping method, and further improving the versatility of machine vision grasping. After switching, the first positioning and grasping component 11, the second positioning and grasping component 12 and the third positioning and grasping component 13 are in the same position, ensuring the convenience and accuracy of subsequent positioning and grasping work.

[0044] Example 2

[0045] like Figure 1 to Figure 17 As shown, based on the same concept as the above-mentioned embodiment 1, this embodiment also proposes a high-precision positioning and grasping device based on machine vision.

[0046] In this embodiment, the multifunctional robotic arm 10 includes a first storage frame 1001, which is welded and fixed on the rotating cylinder 9. A first hydraulic rod 1002 is fixedly installed in the first storage frame 1001, and the end of the first hydraulic rod 1002 is fixedly connected to a first connecting frame 1003. A first traction rope 1004 is fixedly connected to the first connecting frame 1003, and the other end of the first traction rope 1004 is wound around a coil 1006. A guide wheel 1005 is installed in the first storage frame 1001, and the first traction rope 1004 is limitedly slidably connected to the guide wheel 1005. The first traction rope 1004 penetrates and is slidably connected in the first storage frame 1001. The outer surface of the first storage frame 1001 A limit frame 1008 is welded and fixed on the wall, a spiral spring 1009 is welded and fixed inside the limit frame 1008, a one-way threaded rod 1007 is welded and fixed on the coil 1006, the inner end of the spiral spring 1009 is welded and fixed to the end of the one-way threaded rod 1007, the one-way threaded rod 1007 and the limit frame 1008 are rotatably connected, a second storage frame 1010 is threadedly connected to the one-way threaded rod 1007, the second storage frame 1010 is sleeved on the first storage frame 1001, a rubber plate 1011 is fixedly connected inside the second storage frame 1010, the inner wall of the second storage frame 1010 is in contact with the outer wall of the first storage frame 1001, and the one-way threaded rods 1007 are symmetrically distributed in the second storage frame 1 On both sides of the second receiving frame 1010, the one-way threaded rod 1007 corresponds to the first traction rope 1004 through the coil 1006, the one-way threaded rod 1007 corresponds to the volute spring 1009 through the limit frame 1008, the rubber plates 1011 are symmetrically distributed on both sides of the second receiving frame 1010, and the rubber plates 1011 on both sides fit each other. A second servo motor 1012 is fixedly installed in the first connecting frame 1003, a second connecting frame 1013 is welded and fixed on the output shaft of the second servo motor 1012, a third servo motor 1014 is welded and fixed on the second connecting frame 1013, a first arm 1015 is welded and fixed on the output shaft of the third servo motor 1014, and the first arm 1015 A third connecting frame 1016 is welded and fixed to the end of the third connecting frame 1016, a fourth servo motor 1017 is welded and fixed to the third connecting frame 1016, a second arm 1018 is welded and fixed to the output shaft of the fourth servo motor 1017, and a second hydraulic rod 1019 is installed and fixed in the second arm 1018. Under the driving action of the first hydraulic rod 1002, the first connecting frame 1003 can be pushed to move outward. At this time, the first traction rope 1004 and the guide wheel 1005 can drive the one-way threaded rod 1007 on the coil 1006 to rotate automatically, and then the second storage frame 1010 can be driven to automatically overlap with the first storage frame 1001. At this time, the multifunctional mechanical arm 10 can perform subsequent grasping work;Similarly, after the multifunctional mechanical arm 10 finishes working, the first hydraulic rod 1002 drives the first connecting frame 1003 to move inside the first storage frame 1001. At this time, under the elastic action of the spiral spring 1009, the one-way threaded rod 1007 can automatically rotate in the opposite direction, thereby driving the second storage frame 1010 to automatically extend. Combined with the first storage frame 1001, the multifunctional mechanical arm 10 can automatically and stably store and protect itself, thereby preventing the multifunctional mechanical arm 10 from being damaged by adverse external factors. ;

[0047] In this embodiment, the first positioning and grabbing component 11 includes a first fixed frame 1101, the first fixed frame 1101 is welded and fixed to the end of the second hydraulic rod 1019, a fifth servo motor 1102 is welded and fixed to the side end surface of the first fixed frame 1101, the output end of the fifth servo motor 1102 is connected to the first bidirectional threaded rod 1103, the first bidirectional threaded rod 1103 is rotatably connected in the first fixed frame 1101, a first sliding plate 1104 is threadedly connected to the first bidirectional threaded rod 1103, the top limit sliding connection of the first sliding plate 1104 is in the first fixed frame 1101, a first connecting spring 1105 is welded and fixed to the side end surface of the first sliding plate 1104, and the first The other end of the connecting spring 1105 is welded and fixed with a limit plate 1106, which is slidably connected to the first sliding plate 1104, and the end of the limit plate 1106 is welded and fixed with a first clamping plate 1107, and the first clamping plate 1107 is fixedly connected with a first rubber pad 1108 and a rack 1109, and the first sliding plate 1104 is symmetrically distributed on both sides of the first bidirectional threaded rod 1103, and the first bidirectional threaded rod 1103 is connected to the top middle part of the first sliding plate 1104, and the first sliding plate 1104 corresponds to the first clamping plate 1107 one by one through the limit plate 1106, and the limit plate 1106 is fixed to the middle part of the first clamping plate 1107, and the rack 1109 A gear 1110 is meshedly connected on the upper side, a driven shaft 1111 is welded and fixed on the gear 1110, a second clamping plate 1112 is welded and fixed on the driven shaft 1111, a second rubber pad 1113 is fixedly connected to the second clamping plate 1112, the driven shaft 1111 is rotatably connected to the first sliding plate 1104, two groups of racks 1109 are provided, each group of racks 1109 is provided with two, the two groups of racks 1109 are symmetrically distributed on the front and rear sides of the first clamping plate 1107, the two racks 1109 of each group are symmetrically distributed on the upper and lower sides of the first clamping plate 1107, the driven shaft 1111 is symmetrically distributed on the front and rear sides of the first sliding plate 1104, and the gears 1110 are symmetrically distributed on the driven shaft 1 On the upper and lower sides of 111, the gear 1110 corresponds to the rack 1109 one by one, and the driven shaft 1111 corresponds to the second clamping plate 1112 one by one. The rotation of the first bidirectional threaded rod 1103 can drive the first sliding plates 1104 on both sides to move toward the middle at the same time. At this time, the push of the first clamping plate 1107, combined with the rack 1109 and the gear 1110, can drive the second clamping plates 1112 on both sides to rotate toward the middle at the same time. Under the joint clamping action of the first clamping plate 1107 and the second clamping plate 1112, the objects can be clamped directly below the first fixed frame 1101, thereby enabling automatic, stable, multi-directional clamping, fixing, positioning and grasping of rigid objects of different sizes.

[0048] In this embodiment, the second positioning and grabbing assembly 12 includes a second fixed frame 1201 and an elastic telescopic hose 1205. The second fixed frame 1201 is welded and fixed to the end of the second hydraulic rod 1019. A sixth servo motor 1202 is welded and fixed to the side end surface of the second fixed frame 1201. The output end of the sixth servo motor 1202 is connected to a second bidirectional threaded rod 1203. The second bidirectional threaded rod 1203 is rotatably connected in the second fixed frame 1201. A second sliding plate 1204 is threadedly connected to the second bidirectional threaded rod 1203. The top limit sliding connection of the second sliding plate 1204 is in the second fixed frame 1201. The second sliding plates 1204 are symmetrically distributed on both sides of the second bidirectional threaded rod 1203. Both ends of the elastic telescopic hose 1205 are respectively fixed on the second sliding plates 1204 on both sides. The elastic telescopic hose 1205 is connected to an air guide tube 1206. A rubber airbag 1207 is connected to 1206, and the rubber airbag 1207 is fixedly connected to the second sliding plate 1204. The air guide tubes 1206 are symmetrically distributed on both sides of the elastic telescopic hose 1205. The air guide tubes 1206 correspond to the rubber airbags 1207 one by one, and the side end faces of the rubber airbags 1207 are inclined. The second bidirectional threaded rod 1203 can drive the second sliding plates 1204 on both sides to move toward the middle at the same time, so as to squeeze the elastic telescopic hose 1205. At this time, the elastic telescopic hose 1205 can automatically inflate the rubber airbag 1207 through the air guide tube 1206. The rubber airbags 1207 inflated on both sides can be used to wrap and clamp the flexible objects. By reducing the clamping force, evenly applying force to the flexible objects, and increasing the clamping area and friction on the outer end faces of the flexible objects, the flexible objects can be conveniently and stably positioned and grasped.

[0049] In this embodiment, the third positioning and grasping component 13 includes a third fixed frame 1301, the third fixed frame 1301 is welded and fixed to the end of the second hydraulic rod 1019, a seventh servo motor 1302 is welded and fixed to the side end surface of the third fixed frame 1301, the output end of the seventh servo motor 1302 is connected to a third bidirectional threaded rod 1303, the third bidirectional threaded rod 1303 is rotatably connected in the third fixed frame 1301, a third sliding plate 1304 is threadedly connected to the third bidirectional threaded rod 1303, the top limit sliding connection of the third sliding plate 1304 is in the third fixed frame 1301, a second connecting spring 1305 is fixedly connected in the third sliding plate 1304, and the end of the second connecting spring 1305 A guide block 1306 is welded and fixed, and the guide block 1306 is limitedly slidably connected in the third sliding plate 1304. A guide plate 1307 is fixedly connected to the guide block 1306. The guide plate 1307 is made of rubber. The third sliding plate 1304 is symmetrically distributed on both sides of the third bidirectional threaded rod 1303. The guide blocks 1306 are symmetrically distributed on both sides inside the third sliding plate 1304. The guide blocks 1306 correspond to the second connecting spring 1305 and the guide plate 1307 one by one, respectively. The cross section of the guide plate 1307 is a right-angle trapezoid. A first connecting pipe 1308 is slidably connected to the third sliding plate 1304. A rubber suction cup 1309 is connected to the end of the first connecting pipe 1308. A second connecting tube 1310 is connected, a third connecting spring 1311 is fixedly connected in the second connecting tube 1310, an end of the third connecting spring 1311 is fixedly connected to a rubber piston 1312, the rubber piston 1312 is slidably connected in the second connecting tube 1310, a second traction rope 1313 is fixedly connected to the rubber piston 1312, the second traction rope 1313 penetrates and is slidably connected in the second connecting tube 1310, an end of the second traction rope 1313 is fixedly connected to a connecting plate 1314, the connecting plate 1314 is welded and fixed to the third sliding plate 1304, a fourth connecting spring 1315 is welded and fixed to the second connecting tube 1310, an end of the fourth connecting spring 1315 is welded and fixed to the third sliding plate 1 304, the first connecting tubes 1308 are equidistantly distributed on the third sliding plate 1304, and the second connecting tubes 1310 are symmetrically distributed on both sides of the end of the first connecting tube 1308. Under the action of the inclined surfaces of the guide plates 1307 on both sides, the fragile objects can push the guide plates 1307 on both sides to automatically move to the sides, and under the joint extrusion of the guide plates 1307, the fragile objects of different sizes can be automatically positioned. At the same time, under the joint action of the rubber suction cups 1309, the fragile objects of different sizes can be automatically and stably adsorbed and fixed, and the automatic positioning and adsorption grasping of the fragile objects can be automatically and stably completed, which effectively avoids the problem of damage to the fragile objects due to excessive force.

[0050] It should be noted that the present invention is a high-precision positioning and grasping device based on machine vision. First, when the device starts working, the staff can drive the first hydraulic rod 1002 in the three first storage frames 1001. Under the driving action of the first hydraulic rod 1002, the first connecting frame 1003 can be pushed to move outside the first storage frame 1001. At this time, under the movement of the first connecting frame 1003, the first positioning and grasping component 11, the second positioning and grasping component 12 or the third positioning and grasping component 13 on the second hydraulic rod 1019 can be pushed to move outside the first storage frame 1001 through the second connecting frame 1013, the first arm 1015, the third connecting frame 1016 and the second arm 1018. During the movement of the connecting frame 1003, the first traction rope 1004 on the guide wheels 1005 on both sides can be pulled. Under the pulling action of the first traction rope 1004, the one-way threaded rods 1007 on both sides can be driven to rotate automatically through the coil 1006. Under the automatic rotation action of the one-way threaded rods 1007 on both sides, the second storage frame 1010 connected by thread can be driven to automatically move toward the first storage frame 1001. At this time, under the action of the movement of the second storage frame 1010, it can automatically overlap with the first storage frame 1001. At this time, the first positioning and grasping component 11, the second positioning and grasping component 12 or the third positioning and grasping component 13 on the multifunctional robotic arm 10 can be automatically extended, which is convenient for subsequent positioning and grasping work;

[0051] Subsequently, during the conveying process, after the gravity detection, the density of the object is identified in combination with the depth camera 15 and the processor 16 on the fixed plate 14. The processor 16 determines the grasping reaction category of the material according to the compliance and structural strength of the material, and drives the first servo motor 2 on the mounting frame 1 according to the grasping reaction category to select the grasping mode; under the driving action of the first servo motor 2, the first turntable 3 and the rotating rod 4 can be driven to rotate synchronously through the output shaft, and then the first lever 5 on the rotating rod 4 can be driven to perform circular motion. Under the action of the circular motion of the first lever 5, the second lever 8 can be moved. When the first lever 5 contacts the second lever 8, the groove on the first turntable 3 can be aligned with the second turntable 7. At this time, the first turntable 3 is out of contact with the second turntable 7, and then the first lever 5 can be used to shift The second lever 8 is driven, thereby driving the second rotating disk 7 on the connecting shaft 6 to rotate stably. When the first lever 5 moves and disengages from the second lever 8, the first rotating disk 3 can be in close contact with the second rotating disk 7. At this time, under the close limiting action of the first rotating disk 3, the second rotating disk 7 can be prevented from shaking. In this way, the first lever 5 can drive the connecting shaft 6 on the second rotating disk 7 to rotate intermittently automatically, and each time it rotates 60°. Therefore, after the connecting shaft 6 rotates intermittently twice, it rotates 120°. By driving the connecting shaft 6 to rotate 120°, the rotating drum 9 can be driven to rotate synchronously, so that the position switching of the three multifunctional mechanical arms 10 on the rotating drum 9 can be conveniently realized, ensuring that the multifunctional mechanical arms 10 that need to work are directly below, which is convenient for subsequent positioning and grasping work.

[0052] When it is necessary to locate and grasp rigid objects, it is only necessary to drive the first positioning and grasping assembly 11 to move to the lowest position, and then, under the driving action of the second servo motor 1012, the second connecting frame 1013 can be driven to rotate stably, and then the first arm 1015 and the second arm 1018 can be driven to perform synchronous circular motion. Similarly, under the driving action of the third servo motor 1014, the first arm 1015 can be driven to rotate, and under the driving action of the fourth servo motor 1017, the second arm 1018 can be driven to rotate stably. Under the coordinated action of the first arm 1015 and the second arm 1018, the first fixed arm 1015 can be driven by the second hydraulic rod 1019. The frame 1101 moves to the top of the rigid object, and then, driven by the second hydraulic rod 1019, the first fixed frame 1101 can be pushed downward to a suitable position. After the first fixed frame 1101 moves to a suitable position, driven by the fifth servo motor 1102, the first bidirectional threaded rod 1103 can be driven to rotate stably, and then the first sliding plates 1104 threadedly connected on both sides can be driven to move toward the middle at the same time. Under the movement of the first sliding plate 1104, the first clamping plates 1107 on both sides can be driven to move synchronously. Under the movement of the first clamping plates 1107 on both sides, the first rubber pad 1108 can be driven to contact the left and right sides of the rigid object first. The first sliding plates 1104 on both sides continue to move toward the middle. At this time, under the action of the continued movement of the first sliding plates 1104 on both sides, the first sliding plates 1104 can move toward the direction of the first clamping plates 1107. At this time, the distance between the first sliding plates 1104 and the first clamping plates 1107 gradually decreases. In other words, the first clamping plates 1107 are moving relative to the first sliding plates 1104. At this time, under the action of the movement of the first sliding plates 1104, the gear 1110 on the driven shaft 1111 can be driven to move at the rack 1109 on the first clamping plate 1107. Under the meshing driving action of the gear 1110 and the rack 1109, the second clamping plate 1112 can be driven by the driven shaft 1111 to automatically rotate toward the direction of the object. At this time, under the synchronous rotation action of the second clamping plates 1112 on both sides, combined with the second rubber pad 1113, the front and rear positions of the object can be clamped and limited. At this time, under the joint clamping action of the first clamping plates 1107 on both sides and the second clamping plates 1112 on both sides of the first clamping plate 1107, the object can be clamped directly under the first fixed frame 1101, thereby being able to automatically and stably clamp, fix, and position and grasp rigid objects of different sizes in multiple directions, thereby effectively improving the positioning accuracy of the grasping device;

[0053] When it is necessary to position and grasp the flexible object, similarly, it is only necessary to drive the second positioning and grasping assembly 12 to move to the lowest position, and then, with the cooperation of the first arm 1015 and the second arm 1018, the second hydraulic rod 1019 can drive the second fixed frame 1201 to move directly above the flexible object, and then, driven by the second hydraulic rod 1019, the second fixed frame 1201 can be pushed downward to a suitable position. After the second fixed frame 1201 moves to a suitable position, it can drive the second bidirectional threaded rod 1203 to rotate stably under the driving action of the sixth servo motor 1202, and then can drive the second sliding plates 1204 threadedly connected on both sides to move toward the middle at the same time. Under the synchronous movement of the second sliding plates 1204 on both sides, the flexible object can be positioned and grasped. The telescopic hose 1205 is automatically squeezed. Under the squeezing effect of the elastic telescopic hose 1205, the air in the elastic telescopic hose 1205 can be transported to the corresponding rubber airbags 1207 through the air guide tubes 1206 on both sides, so that the rubber airbags 1207 on both sides are automatically inflated. At this time, the second sliding plates 1204 on both sides can drive the corresponding rubber airbags 1207 to move toward the middle at the same time, and the rubber airbags 1207 on both sides are still inflated during the movement toward the middle. The moving and inflated rubber airbags 1207 can automatically and stably wrap and clamp the flexible objects. By reducing the clamping force, evenly applying force to various parts of the flexible objects, and increasing the clamping area and friction force on the outer end surface of the flexible objects, the flexible objects can be conveniently and stably positioned and grasped.

[0054] When it is necessary to locate and grasp fragile objects, similarly, it is only necessary to drive the third positioning and grasping assembly 13 to move to the lowest position, and then, under the cooperation of the first arm 1015 and the second arm 1018, the third fixed frame 1301 can be driven by the second hydraulic rod 1019 to move to just above the fragile objects, and then, under the driving action of the second hydraulic rod 1019, the third fixed frame 1301 can be pushed downward to a suitable position. After the third fixed frame 1301 moves to a suitable position, it can be driven by the seventh servo motor 1302. The third bidirectional threaded rod 1303 rotates stably, and can drive the third sliding plates 1304 on both sides to move toward the middle at the same time. At this time, under the movement of the third sliding plates 1304 on both sides, the inclined surfaces of the guide plates 1307 can be driven to contact the fragile objects. At this time, under the guiding action of the inclined surfaces at the ends of the guide plates 1307, the fragile objects can push the guide plates 1307 on both sides to automatically move to the sides. At this time, each guide plate 1307 can use the second connecting spring 1305 on the guide block 1306 to generate a very small force on the fragile objects. The force on the guide plate 1307 can evenly bear the force on all parts of the fragile object, so that the fragile object can be positioned. Subsequently, under the continued movement of the third sliding plates 1304 on both sides, the rubber suction cups 1309 on the first connecting tube 1308 can be driven to contact the fragile object, and under the continued movement of the third sliding plate 1304, the fragile object can push the first connecting tube 1308 to move away from the third sliding plate 1304. At this time, under the movement of the first connecting tube 1308, the second traction rope 1313 on the connecting plate 1314 is used to pull the first connecting tube 1308 away from the third sliding plate 1304. , the rubber piston 1312 in the second connecting tube 1310 can be pulled to automatically move in a direction away from the first connecting tube 1308. Under the movement of the rubber piston 1312, the air inside the first connecting tube 1308 can be sucked through the second connecting tube 1310. At this time, negative pressure is formed inside the rubber suction cup 1309. By utilizing the negative pressure adsorption of each rubber suction cup 1309, fragile objects can be automatically and stably adsorbed and fixed, effectively avoiding the problem of fragile objects being damaged due to excessive force, and further increasing the stability and safety of positioning and grasping work;

[0055] After the rigid object grabbing work is completed, it is only necessary to drive the fifth servo motor 1102 to drive the first bidirectional threaded rod 1103 to rotate in the opposite direction, thereby being able to drive the first sliding plate 1104 and the first clamping plate 1107 to move away from the rigid object. At this time, under the elastic action of the first connecting spring 1105, the first clamping plate 1107 can be driven to move and reset through the limit plate 1106, and under the movement and reset action of the first clamping plate 1107, the second clamping plates 1112 on the driven shafts 1111 on both sides can be driven to automatically rotate in the opposite direction and reset through the meshing of the rack 1109 and the gear 1110; similarly, after the flexible object grabbing work is completed, it is only necessary to drive the sixth servo motor 1202 to drive the second bidirectional threaded rod 1203 to rotate in the opposite direction, thereby being able to drive the second sliding plate 1 The rubber airbag 1207 on 204 moves away from the flexible object, and the elastic telescopic hose 1205 moves to reset, so the rubber airbags 1207 on both sides also return to their original state; similarly, after the fragile object grabbing work is completed, it is only necessary to drive the third bidirectional threaded rod 1303 on the seventh servo motor 1302 to rotate in the opposite direction, thereby driving the third sliding plates 1304 on both sides to move and reset. At this time, under the elastic action of the second connecting spring 1305, the guide plate 1307 can be driven to move and reset through the guide block 1306, and under the elastic action of the third connecting spring 1311 and the fourth connecting spring 1315, the rubber piston 1312, the second connecting pipe 1310 and the first connecting pipe 1308 can be driven to return to their original positions, thereby ensuring the convenience and stability of subsequent repeated work;

[0056] And after the positioning and grabbing work is completed, it is only necessary to drive the first hydraulic rod 1002 in the three first storage frames 1001. Under the driving action of the first hydraulic rod 1002, the first connecting frame 1003 can be driven to move into the first storage frame 1001. At this time, under the movement of the first connecting frame 1003, the first positioning and grabbing component 11, the second positioning and grabbing component 12 or the third positioning and grabbing component 13 on the second hydraulic rod 1019 can be driven to move into the first storage frame 1001 through the second connecting frame 1013, the first arm rod 1015, the third connecting frame 1016 and the second arm rod 1018. During the movement of the first connecting frame 1003, the end of the first traction rope 1004 can be driven to move synchronously. At the same time, the scroll inside the limit frame 1008 Under the elastic action of the spring 1009, the one-way threaded rod 1007 on the coil 1006 can be driven to automatically rotate in the opposite direction. At this time, the reversely rotating coil 1006 can automatically reel in the first traction rope 1004 to ensure the stability of subsequent repeated working conditions, and the reversely rotating one-way threaded rod 1007 can be used to drive the threadedly connected second storage frame 1010 to automatically move away from the first storage frame 1001 to achieve automatic extension. The extended second storage frame 1010, combined with the first storage frame 1001, can automatically store the multifunctional robotic arm 10 and the first positioning and grasping component 11, the second positioning and grasping component 12 or the third positioning and grasping component 13 on the multifunctional robotic arm 10, and cooperate with the rubber sheet 1011 to further enhance the protective effect.

[0057] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-precision positioning and grasping device based on machine vision, characterized in that: The invention comprises a mounting frame (1), a first servo motor (2) is welded and fixed on the mounting frame (1), an output shaft of the first servo motor (2) is rotatably connected to the mounting frame (1), a first rotating disk (3) and a rotating rod (4) are welded and fixed on the output shaft of the first servo motor (2), a first shifting rod (5) is welded and fixed on the rotating rod (4), a connecting shaft (6) is rotatably connected to the mounting frame (1), a second rotating disk (7), a second shifting rod (8) and a rotating cylinder (9) are welded and fixed on the connecting shaft (6), a multifunctional mechanical arm (10) is installed on the rotating cylinder (9), three multifunctional mechanical arms (10) are provided, and a first positioning and grasping assembly (11), a second positioning and grasping assembly (12) and a third positioning and grasping assembly (13) are respectively installed on the three multifunctional mechanical arms (10), a fixing plate (14) is welded and fixed on the bottom side end surface of the mounting frame (1), and a depth camera (15) and a processor (16) are installed and fixed on the fixing plate (14).

2. According to claim 1, a high-precision positioning and grasping device based on machine vision is characterized in that: The first rotating disk (3) is provided with a groove, the direction of the groove on the first rotating disk (3) is the same as the direction of the rotating rod (4), six second shifting rods (8) are provided, and the six second shifting rods (8) are distributed at equal angles on the connecting shaft (6), the side end surface of the second rotating disk (7) is in an arc shape, and the side end surface of the second rotating disk (7) is in contact with the side end surface of the first rotating disk (3), the cross section of the rotating cylinder (9) is an equilateral triangle, and three multifunctional mechanical arms (10) are distributed at equal angles on the three end surfaces of the rotating cylinder (9), and the connecting shaft (6) is connected to the central part of the rotating cylinder (9).

3. The high-precision positioning and grasping device based on machine vision according to claim 2, characterized in that: The multifunctional mechanical arm (10) comprises a first storage frame (1001), the first storage frame (1001) is welded and fixed on the rotating cylinder (9), a first hydraulic rod (1002) is installed and fixed in the first storage frame (1001), an end of the first hydraulic rod (1002) is fixedly connected to a first connecting frame (1003), a first traction rope (1004) is fixedly connected to the first connecting frame (1003), and the other end of the first traction rope (1004) is wound around a coil (1006). A guide wheel (1005) is installed in the first receiving frame (1001), the first traction rope (1004) is limitedly slidably connected to the guide wheel (1005), the first traction rope (1004) penetrates and is slidably connected in the first receiving frame (1001), a limited position frame (1008) is welded and fixed on the outer wall of the first receiving frame (1001), a spiral spring (1009) is welded and fixed in the limited position frame (1008), and a one-way threaded rod (1009) is welded and fixed on the coil (1006). 7), the inner end of the spiral spring (1009) is welded and fixed to the end of the one-way threaded rod (1007), the one-way threaded rod (1007) and the limit frame (1008) are rotatably connected, the one-way threaded rod (1007) is threadedly connected to a second receiving frame (1010), the second receiving frame (1010) is sleeved on the first receiving frame (1001), a rubber plate (1011) is fixedly connected to the inside of the second receiving frame (1010), and the inner wall of the second receiving frame (1010) is connected to the first receiving frame (1001). The outer walls of the receiving frame (1001) are in close contact with each other, the one-way threaded rod (1007) is symmetrically distributed on both sides of the second receiving frame (1010), the one-way threaded rod (1007) corresponds one-to-one with the first traction rope (1004) through the coil (1006), the one-way threaded rod (1007) corresponds one-to-one with the volute spring (1009) through the limit frame (1008), the rubber plates (1011) are symmetrically distributed on both sides of the inside of the second receiving frame (1010), and the rubber plates (1011) on both sides are in close contact with each other.

4. The high-precision positioning and grasping device based on machine vision according to claim 3 is characterized in that: A second servo motor (1012) is installed and fixed in the first connection frame (1003); a second connection frame (1013) is welded and fixed on the output shaft of the second servo motor (1012); a third servo motor (1014) is welded and fixed on the second connection frame (1013); a first arm (1015) is welded and fixed on the output shaft of the third servo motor (1014); a third connection frame (1016) is welded and fixed at the end of the first arm (1015); a fourth servo motor (1017) is welded and fixed on the third connection frame (1016); a second arm (1018) is welded and fixed on the output shaft of the fourth servo motor (1017); and a second hydraulic rod (1019) is installed and fixed in the second arm (1018).

5. The high-precision positioning and grasping device based on machine vision according to claim 4, characterized in that: The first positioning and grabbing assembly (11) comprises a first fixed frame (1101), the first fixed frame (1101) is welded and fixed to the end of the second hydraulic rod (1019), a fifth servo motor (1102) is welded and fixed to the side end surface of the first fixed frame (1101), the output end of the fifth servo motor (1102) is connected to a first bidirectional threaded rod (1103), the first bidirectional threaded rod (1103) is rotatably connected in the first fixed frame (1101), a first sliding plate (1104) is threadedly connected to the first bidirectional threaded rod (1103), the top of the first sliding plate (1104) is limitedly slidably connected in the first fixed frame (1101), a first connecting spring (1105) is welded and fixed to the side end surface of the first sliding plate (1104), and the first The other end of the connecting spring (1105) is welded and fixed with a limit plate (1106), and the limit plate (1106) is slidably connected to the first sliding plate (1104). The end of the limit plate (1106) is welded and fixed with a first clamping plate (1107), and the first clamping plate (1107) is fixedly connected with a first rubber pad (1108) and a rack (1109). The first sliding plate (1104) is symmetrically distributed on both sides of the first bidirectional threaded rod (1103), and the first bidirectional threaded rod (1103) is connected to the top middle part of the first sliding plate (1104). The first sliding plate (1104) corresponds to the first clamping plate (1107) one by one through the limit plate (1106), and the limit plate (1106) is fixed to the middle part of the first clamping plate (1107).

6. The high-precision positioning and grasping device based on machine vision according to claim 5, characterized in that: The rack (1109) is meshedly connected with a gear (1110), a driven shaft (1111) is welded and fixed to the gear (1110), a second clamping plate (1112) is welded and fixed to the driven shaft (1111), a second rubber pad (1113) is fixedly connected to the second clamping plate (1112), the driven shaft (1111) is rotatably connected to the first sliding plate (1104), two groups of racks (1109) are provided, each group of racks (1109) is provided with two, and the two groups of racks (1111) are provided with two gears. The gears (1109) are symmetrically distributed on the front and rear sides of the first clamping plate (1107), the two racks (1109) of each group are symmetrically distributed on the upper and lower sides of the first clamping plate (1107), the driven shaft (1111) is symmetrically distributed on the front and rear sides of the first sliding plate (1104), the gears (1110) are symmetrically distributed on the upper and lower sides of the driven shaft (1111), the gears (1110) correspond one-to-one with the racks (1109), and the driven shaft (1111) corresponds one-to-one with the second clamping plate (1112).

7. The high-precision positioning and grasping device based on machine vision according to claim 4, characterized in that: The second positioning and grabbing assembly (12) comprises a second fixing frame (1201) and an elastic telescopic hose (1205); the second fixing frame (1201) is welded and fixed to the end of the second hydraulic rod (1019); a sixth servo motor (1202) is welded and fixed to the side end surface of the second fixing frame (1201); the output end of the sixth servo motor (1202) is connected to a second bidirectional threaded rod (1203); the second bidirectional threaded rod (1203) is rotatably connected to the inside of the second fixing frame (1201); a second sliding member is threadedly connected to the second bidirectional threaded rod (1203); The second sliding plate (1204) is connected to the second fixed frame (1201) in a top limited sliding manner, and the second sliding plates (1204) are symmetrically distributed on both sides of the second bidirectional threaded rod (1203). The two ends of the elastic telescopic hose (1205) are respectively fixed on the second sliding plates (1204) on both sides. The elastic telescopic hose (1205) is connected to an air guide tube (1206), and the air guide tube (1206) is connected to a rubber airbag (1207), and the rubber airbag (1207) is fixedly connected to the second sliding plate (1204).

8. The high-precision positioning and grasping device based on machine vision according to claim 7, characterized in that: The air guide tubes (1206) are symmetrically distributed on both sides of the elastic telescopic hose (1205), the air guide tubes (1206) correspond to the rubber airbags (1207) one by one, and the side end surface of the rubber airbag (1207) is inclined.

9. The high-precision positioning and grasping device based on machine vision according to claim 4, characterized in that: The third positioning and grabbing assembly (13) comprises a third fixed frame (1301), the third fixed frame (1301) is welded and fixed to the end of the second hydraulic rod (1019), a seventh servo motor (1302) is welded and fixed to the side end surface of the third fixed frame (1301), the output end of the seventh servo motor (1302) is connected to a third bidirectional threaded rod (1303), the third bidirectional threaded rod (1303) is rotatably connected in the third fixed frame (1301), a third sliding plate (1304) is threadedly connected to the third bidirectional threaded rod (1303), the top of the third sliding plate (1304) is limitedly slidably connected in the third fixed frame (1301), and the third sliding plate (1304) is fixedly connected in the third sliding frame (1304). A second connecting spring (1305) is connected, and a guide block (1306) is welded and fixed at the end of the second connecting spring (1305). The guide block (1306) is limitedly slidably connected in the third sliding plate (1304). A guide plate (1307) is fixedly connected to the guide block (1306), and the guide plate (1307) is made of rubber. The third sliding plate (1304) is symmetrically distributed on both sides of the third bidirectional threaded rod (1303). The guide blocks (1306) are symmetrically distributed on both sides inside the third sliding plate (1304). The guide blocks (1306) correspond to the second connecting spring (1305) and the guide plate (1307) one by one, respectively, and the cross section of the guide plate (1307) is a right-angle trapezoid.

10. The high-precision positioning and grasping device based on machine vision according to claim 9, characterized in that: The third sliding plate (1304) is slidably connected with a first connecting tube (1308), the end of the first connecting tube (1308) is connected with a rubber suction cup (1309), the first connecting tube (1308) is connected with a second connecting tube (1310), the second connecting tube (1310) is fixedly connected with a third connecting spring (1311), the end of the third connecting spring (1311) is fixedly connected with a rubber piston (1312), the rubber piston (1312) is slidably connected in the second connecting tube (1310), the rubber piston (1312) is fixedly connected with a second traction rope (1313), the second The traction rope (1313) passes through and is slidably connected in the second connecting tube (1310); the end of the second traction rope (1313) is fixedly connected to a connecting plate (1314); the connecting plate (1314) is welded and fixed to the third sliding plate (1304); a fourth connecting spring (1315) is welded and fixed to the second connecting tube (1310); the end of the fourth connecting spring (1315) is welded and fixed to the third sliding plate (1304); the first connecting tube (1308) is equidistantly distributed on the third sliding plate (1304); and the second connecting tube (1310) is symmetrically distributed on both sides of the end of the first connecting tube (1308).

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