Visual positioning device for a robot hand

Abstract

The application belongs to the technical field of mechanical hands, and particularly relates to a visual positioning device for a mechanical hand, which comprises a main mechanical arm, a monitoring mechanical arm rotatably connected to the top end of the main mechanical arm, a mechanical hand force arm rotatably connected to the front end of the monitoring mechanical arm, a mechanical claw externally added to the front end of the mechanical hand force arm, a hollow adapter plate included in the monitoring mechanical arm, front end sleeves symmetrically arranged on the front part of the outer surface of the hollow adapter plate, a monitoring assembly arranged at the shaft center of the lower surface of the hollow adapter plate, and an inner sealing part arranged in the inner cavity of the front end sleeve. When the protective barrel shell is replaced, it needs to be taken off from the outside of the scanning camera, at which time the scanning camera loses the protection effect and is exposed to the external environment, so a front end sleeve is further arranged outside, the through window can be sealed when the protective barrel shell is replaced, and a protective shell body is arranged outside the scanning camera, so as to prevent the external surface of the scanning camera from being easily contaminated.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, specifically a visual positioning device for robotic arms. Background Technology

[0002] A robotic arm is an automated operating device that can mimic certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. When a robotic arm is working, a visual positioning camera is needed to identify the position of the target object, so that the robotic arm can accurately grasp the target object.

[0003] A visual positioning device for robotic arms, with announcement number CN218905457U, prevents dust from adhering to the lens and body of the visual positioning camera by isolating it from the outside world with a protective cover. It then cleans the high-transmittance protective glass instead of cleaning the camera lens. However, this device still needs to be removed from the camera when it is replaced or cleaned, at which point the camera will still be exposed to the external environment. Over time, dust will still accumulate, causing problems with camera positioning. Therefore, improvements are needed. Summary of the Invention

[0004] To address the problem that replacing camera protection components in existing technologies can easily lead to dust accumulation on the camera when exposed to the environment, the present invention adopts the following technical solution: a visual positioning device for a robotic arm, comprising a main robotic arm, a monitoring robotic arm rotatably connected to the top of the main robotic arm, a robotic arm lever rotatably connected to the front end of the monitoring robotic arm, and a robotic claw that can be externally added to the front end of the robotic arm lever.

[0005] The monitoring robotic arm includes a hollow adapter plate, with a front end sleeve symmetrically arranged on the front part of the outer surface of the hollow adapter plate, a monitoring component arranged at the axis of the lower surface of the hollow adapter plate, and an inner sealing component arranged in the inner cavity of the front end sleeve.

[0006] The front end sleeve includes side sleeves. Connecting push rods are symmetrically arranged on the upper part of the inner wall of the side sleeves. A guide inner plate is slidably connected to the top of the inner wall of the side sleeves. A guide bottom shell is fixedly connected to the axis of the upper surface of the side sleeves. A symmetrical insertion port is opened on the side of the inner cavity of the side sleeves near the main robotic arm. The two side sleeves are fitted onto the front end of the hollow adapter plate by interlocking with each other through the symmetrical insertion ports. At this time, the guide bottom shell can also be spliced ​​into a cylindrical structure to guide the robotic arm to deflect. A through window is opened in the middle of the side cavity away from the main robotic arm. The through window completely penetrates the middle area of ​​the side sleeve. Guide windows are symmetrically opened on the two sides of the side cavity away from the main robotic arm. The guide windows only penetrate the outer shell of the side sleeve and are connected to the through window. Side fixing plates are symmetrically fixed on the left and right sides of the outer surface of the side sleeve.

[0007] Furthermore, the inner sealing component includes a protective plastic strip, which is disposed within the area formed by the guide window and the through window. Figure 6 In the shown state, the through window in the middle of the side shell can be completely covered. The inner cavity of the protective plastic strip has a docking window, and adsorption side plates are symmetrically arranged at both ends of the docking window. The adsorption side plates can dock and lock with the side fixing plate. A tension spring band is fixedly connected to the right side of the outer surface of the protective plastic strip through the adsorption side plate.

[0008] Furthermore, the outer surface of the protective plastic strip is slidably connected to the inner cavity of the side sleeve through a guide window, the inner cavity of the adsorption side plate is inserted into the side of the protective plastic strip, and the end of the tension spring strip away from the adsorption side plate is snapped into the inner cavity of the side fixing plate. There are two front end sleeves. The bottom end of the robotic arm is rotatably connected to the upper surface of the side sleeve through a 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. The diameter of the docking window is the same as the diameter of the through window.

[0009] Furthermore, a horizontal guide port is provided on the side of the hollow adapter plate away from the main robotic arm. Although the hollow adapter plate has a hollow structure, the inner wall of its horizontal guide port is an arc-shaped structure, so the hollow adapter plate will not leak air through the horizontal guide port. A scanning camera is fixedly connected to the axis on the lower surface of the hollow adapter plate away from the main robotic arm, and a limit slot is sleeved on the outside of the scanning camera. Vertical jet nozzles are evenly provided on the bottom of the hollow adapter plate away from the main robotic arm. An external air box is fixedly connected to the axis on the upper surface of the hollow adapter plate. The external air box can filter the adsorbed air and then spray it downward through the inner cavity of the hollow adapter plate and the vertical jet nozzles.

[0010] Furthermore, there are four connecting push rods. The 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 the horizontal guide port, and the top of the connecting push rod extends to the outside of the horizontal guide port. The upper surface of the limiting slot is fixedly connected to the lower surface of the hollow adapter plate.

[0011] Furthermore, the monitoring component includes a protective shell, the top of which is inserted into the bottom of the limiting slot cavity. A high-transparency baffle is provided on the side of the protective shell cavity near the through window. A pressure-sensing bottom cylinder is fixedly connected to the axis at the bottom of the protective shell cavity, and a compression pad is fixedly connected to the top of the pressure-sensing bottom cylinder. Limiting bottom rods are evenly arranged at the bottom of the high-transparency baffle. An internal spring is fixedly connected to the lower surface of the limiting bottom rod. A threaded guide sleeve is fixedly connected to the bottom end of the internal spring. A limiting bolt rod is threadedly connected to the inner wall of the threaded guide sleeve. When the limiting bolt rod is not installed, the limiting bottom rod will retract into the protective shell under the traction of the internal spring. The top end of the limiting bolt rod and the bottom end of the limiting base rod are pressed against each other at their axial center. The outer surface of the limiting base rod is slidably connected to the inner cavity of the protective shell, and the top end of the limiting base rod extends to the outside of the protective shell. The outer surface of the threaded guide sleeve is fixedly connected to the bottom of the inner cavity of the protective shell. The top end of the limiting base rod is inserted into the bottom of the high-transparency baffle.

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

[0013] 1. When using this device, the lens of the scanning camera can be protected by a replaceable protective shell that fits onto the outer surface. If the protective shell becomes dirty and affects the positioning operation, the scanning camera's field of view can be quickly restored by replacing the protective shell. However, when replacing the protective shell, it needs to be removed from the outside of the scanning camera. At this time, the scanning camera will lose its protection 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 placed around the outside of the scanning camera to prevent the outer surface of the scanning camera from being easily contaminated.

[0014] 2. The protective plastic strip can slide within the guide window of the side casing under the action of external personnel, thereby changing the actual position of the docking window. During operation, the through window can be opened to prevent the scanning camera from simultaneously passing through the high-transparency baffle and the protective plastic strip, which would cause a significant deflection of light and affect the lens's field of view and positioning accuracy.

[0015] 3. When replacing the protective housing, the external air box can create an air wall on the outer surface of the scanning camera through air jets. This blows down any dust or impurities that may float in from below the front cover, further isolating the scanning camera and reducing the probability of dust adhering to its outer surface. This also cleans the scanning camera. Furthermore, the external air box can be used to cool the scanning camera during operation, allowing it to cool down in time and extending its working time. This prevents the scanning camera from overheating and being damaged due to poor heat dissipation caused by the enclosed environment provided by the protective housing.

[0016] 4. Since the monitoring robotic arm rotates synchronously with the robotic gripper to perform positioning work, the scanning camera may be prone to shaking due to inertia when it moves. Therefore, a compression pad is set at the bottom of the protective shell to keep the scanning camera in a reinforced and stable state. After the pressure index of the pressure-sensitive bottom cylinder reaches the standard, the scanning camera will not be subjected to excessive squeezing force, thus avoiding damage to the scanning camera due to excessive pressure. Attached Figure Description

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

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

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

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

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

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

[0023] Figure 7 This is a schematic diagram of the structure of the monitoring robotic arm of the present invention;

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

[0025] Figure 9 This is a cross-sectional view of the protective shell of the present invention.

[0026] In the diagram: 1. Main robotic arm; 2. Monitoring robotic arm; 3. Robotic arm; 21. Hollow adapter plate; 22. Horizontal guide port; 23. External air box; 24. Vertical jet nozzle; 25. Limiting slot; 26. Scanning camera; 4. Front sleeve; 41. Side sleeve; 42. Guide inner plate; 43. Symmetrical insertion port; 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 strip; 52. Adsorption side plate; 53. Docking window; 54. Tension spring strip; 6. Monitoring component; 61. Protective cylinder shell; 62. High-transparency baffle; 63. Pressure-sensing bottom cylinder; 64. Compression pad; 65. Threaded guide sleeve; 66. Built-in spring; 67. Limiting bottom rod; 68. Limiting bolt rod. Detailed Implementation

[0027] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and design various embodiments with various modifications suitable for a particular purpose.

[0028] Example 1, please refer to Figures 1-6 The present invention provides a technical solution: a visual positioning device for a robotic arm, including a main robotic arm 1, a monitoring robotic arm 2 rotatably connected to the top of the main robotic arm 1, a robotic arm lever 3 rotatably connected to the front end of the monitoring robotic arm 2, and a robotic claw can be added to the front end of the robotic arm lever 3.

[0029] The monitoring robotic arm 2 includes a hollow adapter plate 21. A front end sleeve 4 is symmetrically arranged on the front part 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. 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 41. A connecting push rod 45 is symmetrically arranged on the upper part of the inner wall of the side sleeve 41. A guide inner plate 42 is slidably connected to the top of the inner wall of the side sleeve 41. A guide bottom shell 44 is fixedly connected to the axis of the upper surface of the side sleeve 41. A symmetrical insertion port 43 is opened on the side of the inner cavity of the side sleeve 41 near the main robotic arm 1. The two side sleeves 41 are fitted onto the front end of the hollow adapter plate 21 by interlocking with each other through the symmetrical insertion ports 43. At this time, the guide bottom shell 44 can also be assembled into a cylinder. The structure guides the manipulator arm 3 to deflect. A through window 46 is provided in the middle of the side cavity of the side shell 41 away from the main manipulator arm 1. The through window 46 completely penetrates the middle area of ​​the side shell 41. Guide windows 47 are symmetrically provided on both sides of the side cavity of the side shell 41 away from the main manipulator arm 1. The guide windows 47 only penetrate the outer shell of the side shell 41 and are 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 shell 41.

[0031] The inner sealing component 5 includes a protective plastic strip 51, which is disposed 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. The inner cavity of the protective plastic strip 51 is provided with a docking window 53. Adsorption side plates 52 are symmetrically arranged at both ends of the docking window 53. The adsorption side plates 52 can dock and be locked with the side fixing plate 48. The right side of the outer surface of the protective plastic strip 51 is fixedly connected to the tension spring strip 54 through the adsorption side plate 52.

[0032] The outer surface of the protective plastic strip 51 is slidably connected to the inner cavity of the side sleeve 41 through the guide window 47. The inner cavity of the adsorption side plate 52 is inserted into the side of the protective plastic strip 51. The end of the tension spring strip 54 away from the adsorption side plate 52 is snapped into the inner cavity of the side fixing plate 48. There are two front sleeves 4. The bottom end of the robotic arm 3 is rotatably connected to the upper surface of the side sleeve 41 through the 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. The diameter of the docking window 53 is the same as the diameter of the through window 46.

[0033] After the device is assembled, the main robotic arm 1 is controlled to deflect as a whole. Then, the robotic arm 2 is monitored to drive the robotic hand arm 3 to rotate. The robotic hand arm 3 controls the robotic claw attached to the top to perform grasping and other related tasks. Then, the robotic claw is visually positioned by 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 strip 51 is in the inner cavity of the housing formed by the side sleeves 41 combined on both sides, and its docking window 53 is aligned with the through window 46 of the side sleeves 41. Since the scanning camera 26 can directly scan the outside through the high-transparency baffle 62 of the monitoring component 6, it can perform detection work normally. At this time, the monitoring component 6 is in an exposed state.

[0035] When replacing the protective casing 61, the protective plastic belt 51 is first moved along the through window 46 and guide window 47 by pulling the adsorption side plates 52 on both sides of the protective plastic belt 51. This causes the docking window 53 to deflect towards the side closer 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. Then, the work of replacing the monitoring component 6 can begin.

[0036] When the protective housing 61 is removed from the hollow adapter plate 21, the protective plastic strip 51 can prevent external dust from entering directly 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 Figures 1-9 The present invention provides a technical solution: Based on embodiment 1, a horizontal guide port 22 is provided on the side of the hollow adapter plate 21 away from the main robotic arm 1. Although the hollow adapter plate 21 has a hollow structure, the inner wall of its horizontal guide port 22 is an arc-shaped structure, so the hollow adapter plate 21 will not leak air through the horizontal guide port 22. A scanning camera 26 is fixedly connected to the axis on 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 nozzles 24 are evenly provided on the bottom of the hollow adapter plate 21 away from the main robotic arm 1. An external air box 23 is fixedly connected to the axis on the upper surface of the hollow adapter plate 21. The external air box 23 can filter the adsorbed air and then spray it downward through the inner cavity of the hollow adapter plate 21 and the vertical jet nozzles 24.

[0038] There are four connecting push rods 45. The 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 port 22, and the top of the connecting push rod 45 extends to the outside of the horizontal guide port 22. The upper surface of the limiting slot 25 is fixedly connected to the lower surface of the hollow adapter plate 21.

[0039] The monitoring component 6 includes a protective shell 61. The top of the protective shell 61 is inserted into the bottom of the inner cavity of the limiting slot 25. A high-transparency baffle 62 is provided on the side of the inner cavity of the protective shell 61 near the through window 46. A pressure-sensing bottom cylinder 63 is fixedly connected to the axis at the bottom of the inner cavity of the protective shell 61. A compression pad 64 is fixedly connected to the top of the pressure-sensing bottom cylinder 63. Limiting bottom rods 67 are evenly arranged at the bottom of the high-transparency baffle 62. An internal 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 internal spring 66. A limiting bolt rod 68 is threadedly connected to the inner wall of the threaded guide sleeve 65. When the limiting bolt rod 68 is not installed, the limiting bottom rod 67 will retract into the interior of the protective shell 61 under the traction of the internal spring 66. The top of the limiting bolt rod 68 and the bottom of the limiting bottom rod 67 are pressed against each other at the axial center. The outer surface of the limiting bottom rod 67 is slidably connected to the inner cavity of the protective shell 61, and the top of the limiting bottom rod 67 extends to the outside of the protective shell 61. The outer surface of the threaded guide sleeve 65 is fixedly connected to the bottom of the inner cavity of the protective shell 61. The top of the limiting bottom rod 67 is inserted into the bottom of the high-transparency baffle 62.

[0040] When replacing the protective housing 61, the outer air box 23 sprays filtered air from top to bottom through the vertical nozzle 24 of the hollow adapter plate 21. At this time, a ring of air is formed on the outer surface of the scanning camera 26, blowing down any dust and impurities that may float in from below the front sleeve 4. This further isolates the scanning camera 26, preventing dust from adhering. It can also be used to cool the scanning camera 26 while it is working, thereby reducing the temperature of the continuously operating scanning camera 26 and extending its working time.

[0041] The removed protective housing 61 has a high-transparency baffle 62 that has accumulated a lot of dust because it replaced the lens of the scanning camera 26, thus affecting the field of view. Therefore, it needs to be cleaned. At this time, all the limiting bolt rods 68 are removed by rotating them counterclockwise with a screwdriver. At this time, the pushing force of the limiting bolt rods 68 is lost, and all the limiting bottom rods 67 will retract into the protective housing 61 under the pulling force of the built-in spring 66 at the bottom. At this time, the limiting bottom rods 67 are separated from the bottom of the high-transparency baffle 62 and will not exert an upward squeezing force on the high-transparency baffle 62. Therefore, the high-transparency baffle 62 can be easily removed from the front groove of the protective housing 61, and then replaced and cleaned. After drying, it is placed back on the front groove of the protective housing 61 and reinforced by the limiting bolt rods 68.

[0042] After the top of the protective housing 61 is inserted into the bottom of the limiting slot 25, the protective housing 61 is pushed upward into the inside of the limiting slot 25. At this time, the bottom of the scanning camera 26 will press the compression pad 64 at the bottom, which will trigger the pressure-sensitive bottom cylinder 63. When the pressure index of the pressure-sensitive bottom cylinder 63 reaches the standard, the pushing of the protective housing 61 is stopped, so that the scanning camera 26 is in a reinforced and stable state and will not be subjected to large squeezing force.

[0043] Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art and related fields based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described and explained in the present invention, unless otherwise specified or limited, shall be implemented according to conventional means in the art.

Claims

1. A visual positioning device for a mechanical hand, comprising a main mechanical arm (1), a monitoring mechanical arm (2) rotatably connected to the top end of the main mechanical arm (1), and a mechanical hand force arm (3) rotatably connected to the front end of the monitoring mechanical arm (2), characterized in that: the monitoring mechanical arm (2) comprises a hollow adapter plate (21), the front part of the outer surface of the hollow adapter plate (21) is symmetrically provided with a front end sleeve (4), the shaft center of the lower surface of the hollow adapter plate (21) is provided with a monitoring assembly (6), and the inner cavity of the front end sleeve (4) is provided with an inner sealing part (5). The front end sleeve (4) comprises a side edge sleeve shell (41), the upper part of the inner wall of the side edge sleeve shell (41) is symmetrically provided with a connecting push rod (45), the top of the inner wall of the side edge sleeve shell (41) is slidably connected with a guide inner plate (42), the shaft center of the upper surface of the side edge sleeve shell (41) is fixedly connected with a guide bottom shell (44), a symmetric socket (43) is formed in the side of the inner cavity of the side edge sleeve shell (41) close to the main mechanical arm (1), a through window (46) is formed in the middle of the side of the inner cavity of the side edge sleeve shell (41) away from the main mechanical arm (1), guide windows (47) are symmetrically formed in the sides of the inner cavity of the side edge sleeve shell (41) away from the main mechanical arm (1), and side edge fixed plates (48) are symmetrically fixed to the left and right sides of the outer surface of the side edge sleeve shell (41). The inner sealing part (5) comprises a protective plastic belt (51), the inner cavity of the protective plastic belt (51) is provided with a butt joint window (53), the both ends of the butt joint window (53) are symmetrically provided with adsorbing side plates (52), 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 adsorbing side plates (52). The outer surface of the protective plastic belt (51) is slidably connected with the inner cavity of the side edge sleeve shell (41) through the guide window (47), the inner cavity of the adsorbing side plate (52) is inserted into the side of the protective plastic belt (51), and one end of the tension spring belt (54) away from the adsorbing side plate (52) is clamped into the inner cavity of the side edge fixed plate (48). A horizontal guide port (22) is formed in the side of the inner cavity of the hollow adapter plate (21) away from the main mechanical arm (1), a scanning camera (26) is fixedly connected to the shaft center of the lower surface of the hollow adapter plate (21) away from the main mechanical arm (1), and the outer sleeve of the scanning camera (26) is sleeved with a limiting clamping groove (25), vertical jet ports (24) are uniformly formed in the bottom of the inner cavity of the hollow adapter plate (21) away from the main mechanical arm (1), and an outer air bellow (23) is fixedly connected to the shaft center of the upper surface of the hollow adapter plate (21). The monitoring assembly (6) comprises a protective cylinder shell (61), the top end of the protective cylinder shell (61) is inserted into the bottom of the inner cavity of the limiting clamping groove (25), a high-transparency baffle (62) is arranged on the side of the inner cavity of the protective cylinder shell (61) close to the through window (46), a pressure sensing bottom cylinder (63) is fixedly connected to the shaft center 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 sensing bottom cylinder (63). ​ The bottom of the high-transparency baffle (62) is uniformly provided with a limiting bottom rod (67), the lower surface of the limiting bottom rod (67) is fixedly connected with an embedded spring (66), the bottom end of the embedded spring (66) is fixedly connected with a threaded guide sleeve (65), and the inner wall of the threaded guide sleeve (65) is threadedly connected with a limiting bolt rod (68). In a normal state, the scanning camera (26) is protected by the monitoring assembly (6), so as to prevent dust and impurities attached to the outer surface of the scanning camera (26) from affecting the detection function; at this time, the protective plastic belt (51) is combined in the cavity of the shell formed by the combined side sleeve (41) on both sides, and the butt joint window (53) is aligned with the through window (46) of the side sleeve (41); since the scanning camera (26) can directly scan the outside through the high-transparency baffle (62) of the monitoring assembly (6), the detection work can be normally carried out; at this time, the monitoring assembly (6) is exposed to the outside. When the protective cylinder shell (61) is replaced, the protective plastic belt (51) is first pulled through the adsorbed side plate (52) on both sides, so as to drive the protective plastic belt (51) to slide along the through window (46) and the guide window (47), make the butt joint window (53) deflect to the side close to the tension spring belt (54), at this time, the adsorbed side plate (52) on the left side of the protective plastic belt (51) is butt jointed with the left side edge fixed plate (48), so as to fix the protective plastic belt (51), and then the monitoring assembly (6) is replaced.

2. The visual positioning device for a robot manipulator according to claim 1, characterized in that: The number of the front end sleeves (4) is two, the bottom end of the mechanical hand force arm (3) is rotationally connected with the upper surface of the side sleeve (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 butt joint window (53) is the same as the caliber size of the through window (46).

3. The visual positioning device for a robot hand according to claim 1, characterized in that: The number of the connecting push rods (45) is four, one end of the connecting push rod (45) away from the side edge fixed plate (48) is fixedly connected with the inner wall of the hollow adapter plate (21) through the horizontal guide port (22), and the top end of the connecting push rod (45) extends to the outside of the horizontal guide port (22); the upper surface of the limiting clamping groove (25) is fixedly connected with the lower surface of the hollow adapter plate (21).

4. The visual positioning device for a robot manipulator according to claim 1, characterized in that: The top end of the limiting bolt rod (68) is pressed against the shaft center of the bottom end of the limiting bottom rod (67), the outer surface of the limiting bottom rod (67) is slidably connected with the inner cavity of the protective cylinder shell (61), 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 with the bottom of the inner cavity of the protective cylinder shell (61), and the top end of the limiting bottom rod (67) is inserted into the bottom of the high-transparency baffle (62).

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