Visual positioning device for manipulator

Abstract

The invention belongs to the technical field of manipulators, and particularly relates to a visual positioning device for manipulators, which comprises a main mechanical arm, the top end of the main mechanical arm is rotatably connected with a monitoring mechanical arm, the front end of the monitoring mechanical arm is rotatably connected with a mechanical arm force arm, and a mechanical claw can be additionally arranged at the front end of the mechanical arm force arm. The monitoring mechanical arm comprises a hollow adapter plate, front end sleeves are symmetrically arranged on the front portion of the outer surface of the hollow adapter plate, a monitoring assembly is arranged at the axis position of the lower surface of the hollow adapter plate, and inner sealing parts are arranged in inner cavities of the front end sleeves. When the protective barrel shell is replaced, the protective barrel shell needs to be taken down from the outside of the scanning camera, at the moment, the scanning camera loses the protection effect and is exposed in the external environment, a layer of front end sleeve is further arranged outside, when the protective barrel shell is replaced, the penetrating window can be sealed, and a layer of protective shell surrounds the outside of the scanning camera; and the problem that the outer surface of the scanning camera is easy to pollute at the moment is prevented.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators, in particular to a visual positioning device for manipulators. Background Art

[0002] A manipulator is an automatic operating device that can imitate certain movements of human hands and arms and is used to grab, move objects or operate tools according to a fixed procedure. When the manipulator is working, a visual positioning camera is required to identify the position of the target object so that the manipulator can accurately grab the target object.

[0003] A visual positioning device for a robot with announcement number CN218905457U prevents dust from adhering to the lens and the surface of the lens of the visual positioning camera by isolating the visual positioning camera from the outside world through a protective cover, and then replaces the cleaning of the lens of the visual positioning camera by cleaning the high-transmittance protective glass. However, this device still needs to be removed from the camera when replacing and cleaning it. At this time, the camera will inevitably be exposed to the external environment. Dust will accumulate over a long period of use, causing problems with camera positioning, so improvement is needed. Summary of the invention

[0004] In view of the problem that the camera is easily exposed to dust in the environment when the camera protection component is replaced in the prior art, the technical solution adopted by the present invention is: a visual positioning device for a manipulator, comprising a main manipulator arm, the top end of the main manipulator arm is rotatably connected to a monitoring manipulator arm, the front end of the monitoring manipulator arm is rotatably connected to a manipulator arm, and a mechanical claw can be added to the front end of the manipulator arm;

[0005] The monitoring robot arm comprises a hollow adapter plate, a front end sleeve is symmetrically arranged at the front of the outer surface of the hollow adapter plate, a monitoring component is arranged at the axis of the lower surface of the hollow adapter plate, and an inner sealing component is arranged in the inner cavity of the front end sleeve;

[0006] The front end sleeve comprises a side sleeve shell, the upper part of the inner wall of the side sleeve shell is symmetrically provided with a connecting push rod, the top of the inner wall of the side sleeve shell is slidably connected with a guide inner plate, and the upper surface of the side sleeve shell is fixedly connected with a guide bottom shell at the axis center. The side sleeve shell inner cavity is provided with a symmetrical socket on the side close to the main robotic arm, and the side sleeve shells on both sides are sleeved on the front end of the hollow adapter plate by the symmetrical sockets that bite each other. At this time, the guide bottom shell can also be spliced ​​into a cylindrical structure to guide the manipulator force arm to deflect, and the middle part of the side sleeve shell inner cavity away from the main robotic arm is provided with a through window, and the through window completely penetrates the middle area of ​​the side sleeve shell, and the side sleeve shell inner cavity away from the main robotic arm is symmetrically provided with guide windows on both sides, the guide windows only penetrate the outer shell body of the side sleeve shell, and the guide windows are connected with the through windows, and side fixing plates are symmetrically fixed on the left and right sides of the outer surface of the side sleeve shell.

[0007] Furthermore, the inner sealing component includes a protective plastic belt, which is arranged inside the area composed of the guide window and the through window. Figure 6 In the state shown, the through window in the middle of the side shell can be completely covered, the inner cavity of the protective plastic belt is provided with a docking window, and adsorption side panels are symmetrically arranged at both ends of the docking window. The adsorption side panels can be docked and clamped with the side fixing plates, and the right side of the outer surface of the protective plastic belt is fixedly connected with a tension spring belt through the adsorption side panel.

[0008] Furthermore, the outer surface of the protective plastic belt is slidably connected to the inner cavity of the side cover shell through the guide window, the inner cavity of the adsorption side plate is plugged into the side of the protective plastic belt, and the end of the tension spring belt away from the adsorption side plate is clamped with the inner cavity of the side fixing plate. The number of the front end sleeves is two, the bottom end of the manipulator arm is rotatably connected to the upper surface of the side cover shell through the guide bottom shell, the lower surface of the guide inner plate is fixedly connected to the front part of the upper surface of the hollow adapter plate, and the caliber of the docking window is the same as the caliber of the through window.

[0009] Furthermore, a horizontal guide port is provided on the side of the inner cavity of the hollow adapter plate away from the main robotic arm. Although the inner cavity of the hollow adapter plate is a hollow structure, the inner wall of the horizontal guide port is an arc structure, and the inner cavity of the hollow adapter plate will not leak through the horizontal guide port. A scanning camera is fixedly connected to the axis of the lower surface of the hollow adapter plate away from the main robotic arm, and the outer sleeve of the scanning camera has a limiting slot. Vertical jet ports are evenly provided on the side of the bottom of the inner cavity of the hollow adapter plate away from the main robotic arm, and an external bellows is fixedly connected to the axis on the upper surface of the hollow adapter plate. The external bellows can filter the adsorbed air and then spray the air downward through the inner cavity of the hollow adapter plate and the vertical jet port.

[0010] Furthermore, the number of the connecting push rods is four, and one end of the connecting push rod away from the side fixing plate is fixedly connected to the inner wall of the hollow adapter plate through a horizontal guide opening, and the top end of the connecting push rod extends to the outside of the horizontal guide opening, and the upper surface of the limit slot is fixedly connected to the lower surface of the hollow adapter plate.

[0011] Furthermore, the monitoring assembly includes a protective cylinder shell, the top of which is plugged into the bottom of the inner cavity of the limit slot, a high-transparency baffle is provided on one side of the inner cavity of the protective cylinder shell close to the through window, a pressure-sensitive bottom cylinder is fixedly connected to the axis of the bottom of the inner cavity of the protective cylinder shell, and a compression pad is fixedly connected to the top of the pressure-sensitive bottom cylinder. The bottom of the high-transparency baffle is evenly provided with a limit bottom rod, the lower surface of the limit bottom rod is fixedly connected to a built-in spring, the bottom end of the built-in spring is fixedly connected to a threaded guide sleeve, the inner wall of the threaded guide sleeve is threadedly connected to a limit bolt rod, and when the limit bolt rod is not installed, the limit bottom rod will shrink to the inside of the protective cylinder shell under the traction of the built-in spring. The top end of the limiting bolt rod and the axis of the bottom end of the limiting bottom rod are squeezed against each other, the outer surface of the limiting bottom rod is slidably connected to the inner cavity of the protective cylinder shell, and the top end of the limiting bottom rod extends to the outside of the protective cylinder shell, the outer surface of the threaded guide sleeve is fixedly connected to the bottom of the inner cavity of the protective cylinder shell, and the top end of the limiting bottom rod is plugged into the bottom of the high-transparency baffle.

[0012] The beneficial effects of the present invention are as follows:

[0013] 1. When using the device, the lens of the scanning camera can be protected by a replaceable protective shell sleeved on the outer surface. When the protective shell is stained and affects the positioning work, the scanning camera's field of view can be quickly restored by replacing the protective shell. However, when replacing the protective shell, it is necessary to remove it from the outside of the scanning camera. At this time, the scanning camera will lose its protective function and be exposed to the external environment. Therefore, a front end cover is also provided on the outside. When replacing the protective shell, the through window can be sealed, and a protective shell can be surrounded on the outside of the scanning camera to prevent the outer surface of the scanning camera from being easily contaminated.

[0014] 2. The protective plastic belt can slide in the guide window of the side shell under the action of an external person, thereby switching the actual position of the docking window. When working, the through window can be opened to prevent the scanning camera from passing through the high-transmittance baffle and the protective plastic belt at the same time, causing a significant deflection of light and affecting the field of view and positioning accuracy of the lens.

[0015] 3. When replacing the protective cylinder shell, the outer bellows can form a wind wall on the outer surface of the scanning camera through the jet effect, and blow downward the dust and impurities that may float in from under the front end cover, so that the scanning camera is further isolated, and the probability of dust adhering to the outer surface of the scanning camera is further reduced. At the same time, the scanning camera can be cleaned, and the outer bellows can also be used when the scanning camera is working. The scanning camera is cooled by wind, so that the scanning camera that is working continuously can be cooled in time, thereby increasing the working time and preventing the scanning camera from having poor heat dissipation due to the closed environment provided by the protective cylinder shell, which may cause the internal precision lens to be overheated and damaged.

[0016] 4. Since the monitoring robot arm will synchronize the mechanical claws to rotate and position, the scanning camera may shake due to inertia when it moves. Therefore, a compression pad is provided at the bottom of the protective cylinder shell to keep the scanning camera in a reinforced and stable state. After the pressure index of the pressure-sensitive bottom cylinder meets the standard, the scanning camera will not be subjected to a large extrusion pressure, thus avoiding damage to the scanning camera due to excessive pressure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a front view of the present invention;

[0018] Figure 2 is a cross-sectional view of the present invention;

[0019] Figure 3 is a cross-sectional view of the monitoring robot arm of the present invention;

[0020] Figure 4 It is a structural schematic diagram of the front end sleeve of the present invention;

[0021] Figure 5 is a side view of the front end sleeve of the present invention;

[0022] Figure 6 It is a schematic structural diagram of the inner sealing component of the present invention;

[0023] Figure 7 It is a structural schematic diagram of the monitoring mechanical arm of the present invention;

[0024] Figure 8 is a cross-sectional view of the monitoring assembly of the present invention;

[0025] Fig. 9 It is a cross-sectional view of the protective cylinder shell of the present invention.

[0026] In the figure: 1. Main robotic arm; 2. Monitoring robotic arm; 3. Robot arm; 21. Hollow adapter plate; 22. Horizontal guide port; 23. External bellows; 24. Vertical jet port; 25. Limiting card slot; 26. Scanning camera; 4. Front end sleeve; 41. Side sleeve shell; 42. Guide inner plate; 43. Symmetrical socket; 44. Guide bottom shell; 45. Connecting push rod; 46. Through window; 47. Guide window; 48. Side fixing plate; 5. Inner sealing component; 51. Protective plastic belt; 52. Adsorption side plate; 53. Docking window; 54. Tension spring belt; 6. Monitoring component; 61. Protective cylinder shell; 62. High-transparency baffle; 63. Pressure-sensitive bottom cylinder; 64. Compression pad; 65. Threaded guide sleeve; 66. Built-in spring; 67. Limiting bottom rod; 68. Limiting bolt rod. DETAILED DESCRIPTION

[0027] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

[0028] Example 1, please refer to Figure 1-Figure 6 The present invention provides a technical solution: a visual positioning device for a manipulator, comprising a main manipulator 1, the top of the main manipulator 1 is rotatably connected to a monitoring manipulator 2, the front end of the monitoring manipulator 2 is rotatably connected to a manipulator arm 3, and a mechanical claw can be added to the front end of the manipulator arm 3;

[0029] The monitoring robot arm 2 includes a hollow adapter plate 21, a front end sleeve 4 is symmetrically arranged at the front of the outer surface of the hollow adapter plate 21, a monitoring component 6 is arranged at the axis of the lower surface of the hollow adapter plate 21, and an inner sealing component 5 is arranged in the inner cavity of the front end sleeve 4;

[0030] The front end sleeve 4 includes a side sleeve shell 41, and a connecting push rod 45 is symmetrically arranged on the upper part of the inner wall of the side sleeve shell 41. The top of the inner wall of the side sleeve shell 41 is slidably connected to a guide inner plate 42, and a guide bottom shell 44 is fixedly connected to the axis of the upper surface of the side sleeve shell 41. A symmetrical socket 43 is opened on the side of the inner cavity of the side sleeve shell 41 close to the main robot arm 1. The side sleeve shells 41 on both sides are connected to the front end of the hollow adapter plate 21 by the symmetrical sockets 43. At this time, the guide bottom shell 44 can also be spliced ​​into a cylinder The side cover 41 has a structure that guides the manipulator arm 3 to deflect. A through window 46 is provided in the middle of the inner cavity of the side cover 41 away from the main manipulator arm 1. The through window 46 completely penetrates the middle area of ​​the side cover 41. Guide windows 47 are symmetrically provided on both sides of the inner cavity of the side cover 41 away from the main manipulator arm 1. The guide window 47 only penetrates the outer shell of the side cover 41, and the guide window 47 is connected to the through window 46. Side fixing plates 48 are symmetrically fixed on the left and right sides of the outer surface of the side cover 41.

[0031] The inner sealing member 5 comprises a protective plastic band 51, which is arranged inside the area formed by the guide window 47 and the through window 46. Figure 6 In the state shown, the through window 46 in the middle of the side cover 41 can be completely covered, and the inner cavity of the protective plastic belt 51 is provided with a docking window 53, and adsorption side panels 52 are symmetrically arranged at both ends of the docking window 53. The adsorption side panels 52 can be docked and clamped with the side fixing plates 48, and the right side of the outer surface of the protective plastic belt 51 is fixedly connected with a tension spring belt 54 through the adsorption side panel 52.

[0032] The outer surface of the protective plastic belt 51 is slidably connected with the inner cavity of the side cover shell 41 through the guide window 47, the inner cavity of the adsorption side plate 52 is plugged with the side of the protective plastic belt 51, and the end of the tension spring belt 54 away from the adsorption side plate 52 is clamped with the inner cavity of the side fixing plate 48. There are two front end sleeves 4, the bottom end of the manipulator arm 3 is rotatably connected with the upper surface of the side cover shell 41 through the guide bottom shell 44, the lower surface of the guide inner plate 42 is fixedly connected with the front part of the upper surface of the hollow adapter plate 21, and the caliber of the docking window 53 is the same as the caliber of the through window 46.

[0033] After the device is assembled, the main robot arm 1 is controlled to perform overall deflection work, and then the monitoring robot arm 2 drives the robot arm 3 to rotate. The robot arm 3 controls the robot claw plugged in the top to perform grasping and other related work, and then the robot claw is visually positioned through the scanning camera 26 at the bottom.

[0034] Under normal circumstances, the scanning camera 26 is protected by the monitoring component 6 to prevent dust and impurities from adhering to the outer surface of the scanning camera 26 and affecting the detection function. At this time, the protective plastic belt 51 is in the inner cavity of the shell composed of the side shells 41 merged on both sides, and its docking window 53 is aligned with the through window 46 of the side shell 41. Since the scanning camera 26 can directly scan the outside through the high-transparency baffle 62 of the monitoring component 6, the detection work can be carried out normally. At this time, the monitoring component 6 is in a state of being exposed to the outside.

[0035] When replacing the protective cylinder shell 61, first pull the adsorption side plates 52 on both sides of the protective plastic belt 51 to drive the protective plastic belt 51 to slide along the through window 46 and the guide window 47, so that the docking window 53 is deflected to the side close to the tension spring belt 54. At this time, the adsorption side plate 52 on the left side of the protective plastic belt 51 will dock with the side fixing plate 48 on the left side, thereby fixing the protective plastic belt 51, and then start the work of replacing the monitoring component 6.

[0036] When the protective cylindrical shell 61 is removed from the hollow adapter plate 21, the protective plastic belt 51 can prevent external dust from directly entering through the through window 46 and adhering to the outer surface of the scanning camera 26, thereby greatly reducing the probability of the scanning camera 26 being contaminated at this time.

[0037] Example 2, please refer to Figure 1-Figure 9 The present invention provides a technical solution: on the basis of Example 1, a horizontal guide port 22 is provided on the side of the inner cavity of the hollow adapter plate 21 away from the main robotic arm 1. Although the inner cavity of the hollow adapter plate 21 is a hollow structure, the inner wall of the horizontal guide port 22 is an arc structure, and the inner cavity of the hollow adapter plate 21 will not leak through the horizontal guide port 22. A scanning camera 26 is fixedly connected to the axis of the lower surface of the hollow adapter plate 21 away from the main robotic arm 1, and the outer sleeve of the scanning camera 26 is connected to a limiting slot 25. Vertical jet ports 24 are evenly provided on the side of the bottom of the inner cavity of the hollow adapter plate 21 away from the main robotic arm 1. An outer bellows 23 is fixedly connected to the axis of the upper surface of the hollow adapter plate 21. The outer bellows 23 can filter the adsorbed air and then eject the air downward through the inner cavity of the hollow adapter plate 21 and the vertical jet port 24.

[0038] There are four connecting push rods 45. One end of the connecting push rod 45 away from the side fixing plate 48 is fixedly connected to the inner wall of the hollow adapter plate 21 through the horizontal guide opening 22, and the top end of the connecting push rod 45 extends to the outside of the horizontal guide opening 22. The upper surface of the limit slot 25 is fixedly connected to the lower surface of the hollow adapter plate 21.

[0039] The monitoring assembly 6 includes a protective cylinder shell 61, the top of which is plugged into the bottom of the inner cavity of the limiting card slot 25, a high-transparency baffle 62 is provided on one side of the inner cavity of the protective cylinder shell 61 close to the through window 46, a pressure-sensitive bottom cylinder 63 is fixedly connected to the axis of the bottom of the inner cavity of the protective cylinder shell 61, and a compression pad 64 is fixedly connected to the top of the pressure-sensitive bottom cylinder 63. The bottom of the high-transparency baffle 62 is evenly provided with a limiting bottom rod 67, the lower surface of the limiting bottom rod 67 is fixedly connected to the built-in spring 66, the bottom end of the built-in spring 66 is fixedly connected to the threaded guide sleeve 65, the inner wall of the threaded guide sleeve 65 is threadedly connected to the limiting bolt rod 68, and when the limiting bolt rod 68 is not installed, the limiting bottom rod 67 will shrink to the inside of the protective cylinder shell 61 under the traction of the built-in spring 66. The top end of the limiting bolt rod 68 and the axis of the bottom end of the limiting bottom rod 67 are squeezed against each other, the outer surface of the limiting bottom rod 67 is slidingly connected to the inner cavity of the protective cylinder shell 61, and the top end of the limiting bottom rod 67 extends to the outside of the protective cylinder shell 61, the outer surface of the threaded guide sleeve 65 is fixedly connected to the bottom of the inner cavity of the protective cylinder shell 61, and the top end of the limiting bottom rod 67 is plugged into the bottom of the high-transparency baffle 62.

[0040] When replacing the protective cylinder shell 61, the outer bellows 23 sprays the filtered air from top to bottom through the vertical jet port 24 of the hollow adapter plate 21. At this time, a circle of wind wall is formed on the outer surface of the scanning camera 26, which blows downward the dust and impurities that may float in from under the front end sleeve 4, thereby further isolating the scanning camera 26 to prevent dust from adhering. It can also be used when the scanning camera 26 is working. The scanning camera 26 is cooled by wind, so that the scanning camera 26 that is working continuously can be cooled in time, thereby increasing the working time.

[0041] The removed protective cylinder shell 61, its high-transparency baffle 62 absorbs a lot of dust because it replaces the lens of the scanning camera 26, thus affecting the field of view, so it needs to be cleaned. At this time, all the limit bolt rods 68 are removed by rotating counterclockwise with a screwdriver. At this time, the thrust of the limit bolt rods 68 is lost, and all the limit bottom rods 67 will shrink to the inside of the protective cylinder shell 61 under the pulling force of the built-in spring 66 at the bottom. At this time, the limit bottom rods 67 are separated from the bottom of the high-transparency baffle 62, and will not exert an upward squeezing effect on the high-transparency baffle 62. Therefore, the high-transparency baffle 62 can be easily taken out from the front groove of the protective cylinder shell 61 at this time, and then replaced and cleaned. After drying, it is placed back on the front groove of the protective cylinder shell 61 and reinforced by the limit bolt rods 68.

[0042] After the top of the protective tube shell 61 is plugged into the bottom of the limit card slot 25, the protective tube shell 61 is pushed upward and inserted into the interior of the limit card slot 25. At this time, the bottom end of the scanning camera 26 will press the lower compression pad 64, and then the compression pad 64 will trigger the pressure-sensitive bottom tube 63. When the pressure index of the pressure-sensitive bottom tube 63 reaches the standard, the pushing of the protective tube shell 61 is stopped, so that the scanning camera 26 is in a reinforced and stable state and will not be subjected to a large extrusion force.

[0043] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention are implemented according to the conventional means in the field unless otherwise specified and limited.

Claims

1. A visual positioning device for a manipulator, comprising a main manipulator arm (1), the top end of the main manipulator arm (1) is rotatably connected to a monitoring manipulator arm (2), the front end of the monitoring manipulator arm (2) is rotatably connected to a manipulator force arm (3), characterized in that: The monitoring robot arm (2) comprises a hollow adapter plate (21), a front end sleeve (4) is symmetrically arranged at the front of the outer surface of the hollow adapter plate (21), a monitoring component (6) is arranged at the axis center of the lower surface of the hollow adapter plate (21), and an inner sealing component (5) is arranged in the inner cavity of the front end sleeve (4); The front end sleeve (4) comprises a side sleeve shell (41), a connecting push rod (45) is symmetrically arranged on the upper part of the inner wall of the side sleeve shell (41), a guide inner plate (42) is slidably connected to the top of the inner wall of the side sleeve shell (41), a guide bottom shell (44) is fixedly connected to the axis of the upper surface of the side sleeve shell (41), a symmetrical socket (43) is opened on the side of the inner cavity of the side sleeve shell (41) close to the main mechanical arm (1), a through window (46) is opened in the middle of the side of the inner cavity of the side sleeve shell (41) away from the main mechanical arm (1), guide windows (47) are symmetrically opened on both sides of the inner cavity of the side sleeve shell (41) away from the main mechanical arm (1), and side fixing plates (48) are symmetrically fixed on the left and right sides of the outer surface of the side sleeve shell (41).

2. The visual positioning device for a manipulator according to claim 1, characterized in that: The inner sealing component (5) comprises a protective plastic belt (51), the inner cavity of the protective plastic belt (51) is provided with a docking window (53), adsorption side plates (52) are symmetrically arranged at both ends of the docking window (53), and the right side of the outer surface of the protective plastic belt (51) is fixedly connected to a tension spring belt (54) through the adsorption side plate (52).

3. The visual positioning device for a manipulator according to claim 2, characterized in that: The outer surface of the protective plastic belt (51) is slidably connected to the inner cavity of the side shell (41) through the guide window (47), the inner cavity of the adsorption side plate (52) is plugged into the side of the protective plastic belt (51), and one end of the tension spring belt (54) away from the adsorption side plate (52) is clamped into the inner cavity of the side fixing plate (48).

4. The visual positioning device for a manipulator according to claim 3, characterized in that: The number of the front end sleeves (4) is two, the bottom end of the manipulator arm (3) is rotatably connected to the upper surface of the side sleeve shell (41) through a guide bottom shell (44), the lower surface of the guide inner plate (42) is fixedly connected to the front part of the upper surface of the hollow adapter plate (21), and the caliber of the docking window (53) is the same as the caliber of the through window (46).

5. The visual positioning device for a manipulator according to claim 1, characterized in that: A horizontal guide port (22) is provided on a side of the inner cavity of the hollow adapter plate (21) away from the main robotic arm (1); a scanning camera (26) is fixedly connected to the axis of the lower surface of the hollow adapter plate (21) away from the main robotic arm (1), and a limit slot (25) is sleeved on the outside of the scanning camera (26); vertical jet ports (24) are evenly provided on the bottom of the inner cavity of the hollow adapter plate (21) away from the main robotic arm (1); and an external bellows (23) is fixedly connected to the axis of the upper surface of the hollow adapter plate (21).

6. The visual positioning device for a manipulator according to claim 5, characterized in that: The number of the connecting push rods (45) is four, and one end of the connecting push rod (45) away from the side fixing plate (48) is fixedly connected to the inner wall of the hollow adapter plate (21) through the horizontal guide opening (22), and the top end of the connecting push rod (45) extends to the outside of the horizontal guide opening (22), and the upper surface of the limit slot (25) is fixedly connected to the lower surface of the hollow adapter plate (21).

7. The visual positioning device for a robot according to claim 6, characterized in that: The monitoring assembly (6) comprises a protective cylinder shell (61), the top end of the protective cylinder shell (61) is plugged into the bottom of the inner cavity of the limit slot (25), a high-transparency baffle (62) is provided on one side of the inner cavity of the protective cylinder shell (61) close to the through window (46), a pressure-sensitive bottom cylinder (63) is fixedly connected to the axis of the bottom of the inner cavity of the protective cylinder shell (61), and a compression pad (64) is fixedly connected to the top end of the pressure-sensitive bottom cylinder (63).

8. The visual positioning device for a manipulator according to claim 7, characterized in that: A limiting bottom rod (67) is evenly arranged at the bottom of the high-transparency baffle (62); a built-in spring (66) is fixedly connected to the lower surface of the limiting bottom rod (67); a threaded guide sleeve (65) is fixedly connected to the bottom end of the built-in spring (66); and a limiting bolt rod (68) is threadedly connected to the inner wall of the threaded guide sleeve (65).

9. The visual positioning device for a manipulator according to claim 8, characterized in that: The top end of the limiting bolt rod (68) and the axis of the bottom end of the limiting bottom rod (67) are pressed against each other, the outer surface of the limiting bottom rod (67) is slidably connected to the inner cavity of the protective cylinder shell (61), and the top end of the limiting bottom rod (67) extends to the outside of the protective cylinder shell (61), the outer surface of the threaded guide sleeve (65) is fixedly connected to the bottom of the inner cavity of the protective cylinder shell (61), and the top end of the limiting bottom rod (67) is plugged into the bottom of the high-transparency baffle (62).

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