Industrial visual robot

Abstract

The invention relates to the technical field of robots, in particular to an industrial visual robot which comprises a mechanical module, a visual module and a motion control module, the mechanical module comprises a tail end execution unit, the tail end execution unit is movably installed on a door-shaped frame at the tail end of a mechanical arm unit, and connecting columns are fixedly connected to the inner walls of the two sides of the door-shaped frame correspondingly; the connecting column is connected with a clamping jaw disc, three sets of clamping jaws are arranged on the clamping jaw disc and distributed in a circular array mode with the center of the clamping jaw disc as the axis, the three sets of clamping jaws on the two sides stretch to grab and fix a target object, and under the simultaneous action of the three sets of clamping jaws on the two sides, the spherical target object is tightly clamped. Under the condition that a certain error exists, a spherical object can be fixedly clamped, the clamping position of the spherical target object is automatically adjusted, under the acting force of the three clamping claws, the sphere center of the spherical object is located on the connecting line of the centers of the three sets of clamping claws on the two sides, and accurate placement can be conducted.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an industrial vision robot. Background Art

[0002] Industrial robots are multi-degree-of-freedom mechanical tools widely used in the industrial field. They can perform actions such as grabbing and carrying, greatly reducing the labor costs of factories and improving work efficiency. With the complexity of application scenarios, traditional fixed-point robots can no longer meet the requirements, so visual robots came into being. They mainly collect images, analyze the characteristics of workpieces and their motion trajectories, and thus achieve complex processes such as accurate grabbing and screening.

[0003] The Chinese invention patent with application number 202311137588.0 provides a 3D vision industrial robot that scoops up the object through a clamping component and then collects the image through a vision module. This can avoid the situation where the image is blurred due to the conveyor belt moving too fast, and reduce the parameter requirements for the camera part in the vision module, thereby ensuring the accuracy of grasping.

[0004] However, the applicant has found that the prior art has at least the following problems: The clamping assembly grabs the workpiece by scooping. When applied to some spherical workpieces, the spherical workpiece will move on the clamping assembly, which may easily cause the workpiece to be loosely clamped or detached, reducing the success rate of grabbing. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide an industrial vision robot to solve the problem of low success rate in grasping spherical workpieces in the prior art.

[0006] Based on the above purpose, the present invention provides an industrial vision robot, including a mechanical module, which is used to provide support and movement basis for the entire robot, including: a mechanical arm unit, which is used to support the robot to move in three-dimensional space; an end execution unit, which is used to directly contact the target object and complete the task; the industrial vision robot also includes: The visual module is used to collect image information and control the movement of the mechanical module; it includes an image acquisition unit, which is used to obtain image information of the target object; an image processing unit, which is used to process and analyze the collected image; a visual control unit, which is used to provide guidance for the movement control of the mechanical module and send movement instructions according to the results of image processing; and a communication unit, which is used to communicate with other modules; The motion control module is used to control the motion of the mechanical module; it includes a controller for receiving motion instructions from the visual module and converting them into control signals for the motors of each joint of the mechanical module; a driver for providing power to the motors of each joint of the mechanical module; a position sensor installed at the joint of the mechanical module for real-time feedback of the position and speed information of the joint; and a communication unit for communicating with other modules; The end execution unit includes a portal frame movably installed at the end of the robotic arm unit, and connecting columns are fixedly connected to the inner walls on both sides of the portal frame, and the connecting columns are connected to a clamping claw plate. Three groups of clamping claws are arranged on the clamping claw plate. The three groups of clamping claws are distributed in a circular array with the center of the clamping claw plate as the axis, and the three groups of clamping claws on both sides can grasp and fix the target object by extending.

[0007] Optionally, fixed shafts are respectively installed on the inner walls on both sides of the portal frame, and a rotating sleeve is rotatably provided on the fixed shaft. An arc plate is fixedly connected between the two sets of rotating sleeves, and a guide rail is provided on the inner side of the arc plate. An image acquisition vehicle is adapted to be installed on the guide rail. The image acquisition vehicle can move along the guide rail to perform multi-angle image acquisition on the target object clamped by the end execution unit. A driven gear is installed on one of the rotating sleeves, and the driven gear is meshed and connected with a driving gear, and the driving gear is powered by a motor.

[0008] Optionally, the connecting column is fixedly installed on the end of the fixed shaft, the arc plate is a major arc, and an avoidance notch for avoiding the connecting column is opened on the guide rail. A camera port is opened on the clamping claw plate, which is used for the image acquisition vehicle to acquire images of the target object. The image acquisition vehicle has at least an initial position, a first position, a second position, a third position and a fourth position. When the image acquisition vehicle is in the initial position, the image acquisition vehicle is located in the middle of the arc plate, and the opening of the arc plate is facing the incoming material direction, and the arc plate is rotated upward by 45°; when the image acquisition vehicle is in the first position and the fourth position, the image acquisition vehicle is respectively located at the fixed shafts on both sides; when the image acquisition vehicle is in the second position, the image acquisition vehicle is located in the middle of the arc plate, and the opening of the arc plate is downward; when the image acquisition vehicle is in the third position, the image acquisition vehicle is located in the middle of the arc plate, and the opening of the arc plate is upward.

[0009] Optionally, the image acquisition vehicle includes a vehicle body, at least four wheels are provided at the bottom of the vehicle body, the wheels are clamped in the gap between the arc plate and the guide rail, and a camera is fixedly installed on the vehicle body.

[0010] Optionally, the clamping claw includes a mounting sleeve fixedly mounted on the clamping claw plate, a accommodating cavity is provided inside the mounting sleeve, a plurality of electromagnet rings are provided inside the accommodating cavity, the plurality of electromagnet rings form an electromagnetic matrix, a push rod is movably installed inside the electromagnet ring, an end of the push rod is connected to an adsorption ring for cooperating with the electromagnetic matrix, and a contact head is installed at the other end of the push rod for detecting contact pressure.

[0011] Optionally, a fixed core is provided inside the mounting sleeve, a movable groove is provided on the fixed core, a friction strip is elastically installed in the movable groove, an electromagnetic block is provided at the bottom of the movable groove, the electromagnetic block is connected in series with the electromagnetic matrix, and multiple electromagnet rings in the electromagnetic matrix are connected in parallel, friction grooves matching the friction strips are provided on the push rod and the adsorption ring, and the contact head is electrically connected to the electromagnetic matrix and the electromagnetic block.

[0012] Optionally, a rangefinder is provided inside the mounting sleeve, and the rangefinder is used to detect the position of the push rod, thereby determining the position coordinates of the contact head. The controller calculates the center coordinates of the spherical target object based on the position coordinates of the contact head on the push rod, and generates motion instructions based on the center coordinates, so that the driver places the target object to the instruction position.

[0013] Optionally, a limiting ring is fixedly installed at the end of the mounting sleeve, a limiting block is installed on the limiting ring, a limiting groove is provided on the push rod, and the limiting block cooperates with the limiting groove to prevent the push rod from escaping from the mounting sleeve.

[0014] Optionally, the fixed core and the friction strip are made of ferromagnetic shielding material.

[0015] Optionally, the robotic arm unit includes a base, a rotating table is installed on the base, a robotic arm is installed on the rotating table, a connecting arm is connected to the end of the robotic arm, a driving motor is installed on the connecting arm, and the driving motor is fixedly connected to the portal frame through a driving shaft.

[0016] Beneficial effects of the present invention: The present invention provides an industrial visual robot, which processes and analyzes the collected images through an image processing unit, selects the target object, and predicts the motion trajectory of the target object. The visual control unit sends a motion instruction to the motion control module according to the selected target object and the predicted motion trajectory. The motion control module converts the received instruction into a control signal for each joint motor on the mechanical module, controls the mechanical module to move quickly, and moves the end execution unit to the grasping position to grasp the target object. When the end execution unit grasps, the three groups of clamping claws on both sides extend at the same time. Under the simultaneous action of the three groups of clamping claws on both sides, the spherical target object is tightly clamped, and the spherical object can be fixedly clamped with a certain error, and the clamping position of the spherical target object can be automatically adjusted. Under the action of the three clamping claws, the center of the spherical object is on the line connecting the centers of the three groups of clamping claws on both sides, so that it can be accurately placed when placed. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 This is a schematic diagram of the system structure of an industrial vision robot according to an embodiment of the present invention; Figure 2 A schematic diagram of a mechanical module of an industrial vision robot according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the working state of an industrial vision robot according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a first position of an industrial vision robot according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a second position of an industrial vision robot according to an embodiment of the present invention; Figure 6 This is a schematic diagram of a third position of an industrial vision robot according to an embodiment of the present invention; Figure 7 This is a schematic diagram of a fourth position of an industrial vision robot according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the internal structure of an industrial vision robot gripper according to an embodiment of the present invention.

[0019] The markings in the figure are: 101, base; 102, rotating table; 103, mechanical arm; 104, connecting arm; 105, driving motor; 1301, door frame; 1302, connecting column; 1303, clamping claw plate; 1304, camera port; 1305, clamping claw; 2201, arc plate; 2202, driving gear; 2203, driven gear; 2204, fixed shaft; 2205, rotating sleeve; 2206, limiting plate; 2207, image acquisition vehicle; 2208 , guide rail; 2209, avoidance gap; 2271, vehicle body; 2272, wheel; 2273, camera; 1351, mounting sleeve; 1352, electromagnet ring; 1353, fixed core; 1354, electromagnet block; 1355, movable groove; 1356, friction strip; 1357, push rod; 1358, contact head; 1359, limit groove; 1360, limit ring; 1361, limit block; 1362, adsorption ring; 1363, friction groove. DETAILED DESCRIPTION

[0020] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments.

[0021] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0022] like Figures 1 to 8 As shown, a specific embodiment of the present invention provides an industrial vision robot, including a mechanical module 11, which is used to provide a support and movement basis for the entire robot, including: a mechanical arm unit 12, which is used to support the robot to move in a three-dimensional space; an end execution unit 13, which is used to directly contact a target object and complete a task; the industrial vision robot also includes: The visual module 21 is used to collect image information and control the movement of the mechanical module 11; it includes an image acquisition unit 22, which is used to obtain image information of the target object; an image processing unit 23, which is used to process and analyze the collected image; a visual control unit 24, which is used to provide guidance for the movement control of the mechanical module 11 and send movement instructions according to the result of image processing; and a communication unit 25, which is used to communicate with other modules; The motion control module 31 is used to control the motion of the mechanical module 11; it includes a controller 32, which is used to receive motion instructions from the visual module 21 and convert them into control signals for the motors of each joint of the mechanical module 11; a driver 33, which is used to provide power for the motors of each joint of the mechanical module 11; a position sensor 34, which is installed at the joint of the mechanical module 11 and is used to feedback the position and speed information of the joint in real time; and a communication unit 35, which is used to communicate with other modules; The end execution unit 13 includes a portal frame 1301 movably installed at the end of the robot arm unit 12, and connecting columns 1302 are fixedly connected to the inner walls on both sides of the portal frame 1301, and the connecting columns 1302 are connected to a clamping claw plate 1303. Three groups of clamping claws 1305 are arranged on the clamping claw plate 1303. The three groups of clamping claws 1305 are distributed in a circular array with the center of the clamping claw plate 1303 as the axis. The three groups of clamping claws 1305 on both sides can grasp and fix the target object by extending.

[0023] When grabbing the target object, the image acquisition unit 22 acquires images of the objects on the conveyor belt, the image processing unit 23 processes and analyzes the acquired images, selects the target object, and predicts the motion trajectory of the target object. The visual control unit 24 sends a motion instruction to the motion control module 31 according to the selected target object and the predicted motion trajectory. The motion control module 31 converts the received instruction into a control signal for each joint motor on the mechanical module 11, controls the mechanical module 11 to move quickly, and moves the end execution unit 13. Move to the grasping position to grasp the target object. When the end execution unit 13 grasps, the three groups of clamping claws 1305 on both sides extend at the same time. Under the simultaneous action of the three groups of clamping claws 1305 on both sides, the spherical target object is tightly clamped. With a certain error, the spherical object can be fixedly clamped and the clamping position of the spherical target object can be automatically adjusted. Under the action of the three clamping claws 1305, the center of the spherical object is on the line connecting the centers of the three groups of clamping claws 1305 on both sides, so that it can be placed accurately.

[0024] In some optional specific embodiments, such as Figure 2-8As shown, fixed shafts 2204 are respectively installed on the inner walls of both sides of the portal frame 1301, and rotating sleeves 2205 are rotatably sleeved on the fixed shafts 2204. An arc plate 2201 is fixedly connected between the two sets of rotating sleeves 2205. A guide rail 2208 is arranged on the inner side of the arc plate 2201. An image acquisition vehicle 2207 is adapted to be installed on the guide rail 2208. The image acquisition vehicle 2207 can move along the guide rail 2208 to perform multi-angle image acquisition on the target object clamped by the end execution unit 13. A driven gear 2203 is installed on one of the rotating sleeves 2205. The driven gear 2203 is meshedly connected with a driving gear 2202. The driving gear 2202 is powered by a motor. Limiting plates 2206 are respectively installed on both ends of the arc plate 2201. After the spherical target object is clamped, the driven gear 2203 is driven to rotate through the driving gear 2202, thereby driving the arc plate 2201 to rotate, and cooperating with the movement of the image acquisition vehicle 2207 to acquire images of the target object at multiple angles, thereby achieving all-round defect detection and appearance detection.

[0025] In some optional specific embodiments, such as Figure 2-8 As shown, the connecting column 1302 is fixedly installed at the end of the fixed shaft 2204, the arc plate 2201 is a major arc, and the guide rail 2208 is provided with an avoidance notch 2209 for avoiding the connecting column 1302. The clamping claw plate 1303 is provided with a camera port 1304 for the image acquisition vehicle 2207 to acquire images of the target object. The image acquisition vehicle 2207 has at least an initial position, a first position, a second position, a third position and a fourth position; when the image acquisition vehicle 2207 is in the initial position, the image acquisition vehicle 2207 is located on the arc plate 2 The image acquisition vehicle 2207 is located in the middle of the curved plate 2201, and the curved plate 2201 opens toward the incoming material direction, and the curved plate 2201 rotates upward by 45°; when the image acquisition vehicle 2207 is in the first position and the fourth position, the image acquisition vehicle 2207 is located at the fixed shafts 2204 on both sides respectively; when the image acquisition vehicle 2207 is in the second position, the image acquisition vehicle 2207 is located in the middle of the curved plate 2201, and the curved plate 2201 opens downward; when the image acquisition vehicle 2207 is in the third position, the image acquisition vehicle 2207 is located in the middle of the curved plate 2201, and the curved plate 2201 opens upward. In the initial position, the image acquisition vehicle 2207 looks down toward the incoming material direction, which is convenient for long-range shooting. After the clamping is completed, multi-angle graphics are collected at the first position, the second position, the third position and the fourth position respectively, so as to realize all-round image detection of the target object and improve the detection accuracy.

[0026] In some optional specific embodiments, such as Figure 6As shown, the image acquisition vehicle 2207 includes a vehicle body 2271, at least four wheels 2272 are provided at the bottom of the vehicle body 2271, the wheels 2272 are clamped in the gap between the curved plate 2201 and the guide rail 2208, and a camera 2273 is fixedly installed on the vehicle body 2271. The vehicle body 2271 is driven to move by the wheels 2272, and the wheels 2272 are clamped in the gap between the curved plate 2201 and the guide rail 2208 to ensure that it does not derail.

[0027] In some optional specific embodiments, such as Figure 8 As shown, the clamping claw 1305 includes a mounting sleeve 1351 fixedly mounted on the clamping claw plate 1303, a receiving cavity is provided inside the mounting sleeve 1351, a plurality of electromagnet rings 1352 are provided inside the receiving cavity, and the plurality of electromagnet rings 1352 form an electromagnetic matrix, a push rod 1357 is movably installed inside the electromagnet ring 1352, and an adsorption ring 1362 is connected to the end of the push rod 1357 for cooperating with the electromagnetic matrix, and a contact head 1358 is installed at the other end of the push rod 1357 for detecting contact pressure. When in use, a certain electromagnet ring 1352 is energized through the electromagnetic matrix, so that it guides the adsorption ring 1362 until the contact head 1358 detects sufficient pressure.

[0028] In some optional specific embodiments, such as Figure 8 As shown, a fixed core 1353 is provided inside the mounting sleeve 1351, a movable groove 1355 is provided on the fixed core 1353, a friction strip 1356 is elastically installed in the movable groove 1355, an electromagnetic block 1354 is provided at the bottom of the movable groove 1355, the electromagnetic block 1354 is connected in series with the electromagnetic matrix, and a plurality of electromagnet rings 1352 in the electromagnetic matrix are connected in parallel, a friction groove 1363 matching with the friction strip 1356 is provided on the push rod 1357 and the adsorption ring 1362, and the contact head 1358 is electrically connected to the electromagnetic matrix and the electromagnetic block 1354. During use, the electromagnetic matrix and the electromagnetic block 1354 are connected in series and energized, the friction strip 1356 is adsorbed into the movable groove 1355, and the multiple electromagnet rings 1352 in the electromagnetic matrix are energized one by one, so that the push rod 1357 moves. When the contact head 1358 contacts the target object and reaches the pressure threshold, the power is cut off, so that the friction strip 1356 pops out and the position of the push rod 1357 is fixed. When clamping objects that cannot withstand greater pressure, the contact pressure threshold can be changed to achieve light clamping of the target object without calibrating the clamping position of the target object.

[0029] In some optional specific embodiments, such as Figures 1 to 8As shown, a rangefinder is provided inside the mounting sleeve 1351, and the rangefinder is used to detect the position of the push rod 1357, so as to determine the position coordinates of the contact head 1358. The controller 32 calculates the center coordinates of the spherical target object according to the position coordinates of the contact head 1358 on the six push rods 1357, and generates motion instructions according to the center coordinates, so that the driver 33 places the target object at a precise position.

[0030] In some optional specific embodiments, such as Figure 8 As shown, a limiting ring 1360 is fixedly installed at the end of the installation sleeve 1351, and a limiting block 1361 is installed on the limiting ring 1360. A limiting groove 1359 is provided on the push rod 1357, and the limiting block 1361 cooperates with the limiting groove 1359 to prevent the push rod 1357 from escaping from the installation sleeve 1351.

[0031] In some optional specific embodiments, such as Figure 8 As shown, the fixed core 1353 and the friction strip 1356 are made of ferromagnetic shielding material.

[0032] In some optional specific embodiments, such as Figure 1 and Figure 2 As shown, the robotic arm unit 12 includes a base 101, a rotating table 102 is installed on the base 101, a robotic arm 103 is installed on the rotating table 102, a connecting arm 104 is connected to the end of the robotic arm 103, a driving motor 105 is installed on the connecting arm 104, and the driving motor 105 is fixedly connected to the portal frame 1301 through a driving shaft.

[0033] The working principle of the present invention is as follows: when grabbing the target object, the image acquisition unit 22 acquires images of the objects on the conveyor belt, the image processing unit 23 processes and analyzes the acquired images, selects the target object, and predicts the motion trajectory of the target object, the visual control unit 24 sends a motion instruction to the motion control module 31 according to the selected target object and the predicted motion trajectory, and the motion control module 31 converts the received instruction into a control signal for each joint motor on the mechanical module 11, controls the mechanical module 11 to move quickly, and enables the end effector 11 to move quickly. Unit 13 moves to the grasping position to grasp the target object. When the end execution unit 13 grasps, the three groups of clamping claws 1305 on both sides extend at the same time. Under the simultaneous action of the three groups of clamping claws 1305 on both sides, the spherical target object is tightly clamped. With a certain error, the spherical object can be fixedly clamped and the clamping position of the spherical target object can be automatically adjusted. Under the action of the three clamping claws 1305, the center of the spherical object is on the line connecting the centers of the three groups of clamping claws 1305 on both sides, so that it can be placed accurately.

[0034] When clamping an object that cannot withstand heavy pressure, the electromagnetic matrix and the electromagnetic block 1354 are connected in series and energized, the friction strip 1356 is adsorbed into the movable groove 1355, and the multiple electromagnet rings 1352 in the electromagnetic matrix are energized one by one, so that the push rod 1357 moves. When the contact head 1358 contacts the target object and reaches the pressure threshold, the power is cut off, so that the friction strip 1356 pops out and the position of the push rod 1357 is fixed. When clamping an object that cannot withstand greater pressure, the contact pressure threshold can be changed to achieve light clamping of the target object without calibrating the clamping position of the target object.

[0035] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0036] The present invention is intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An industrial vision robot, comprising a mechanical module (11), which is used to provide a support and movement basis for the entire robot, including: A mechanical arm unit (12), used to support the robot to move in a three-dimensional space; The end execution unit (13) is used to directly contact the target object and complete the operation task, characterized in that the industrial vision robot also includes: The visual module (21) is used to collect image information and control the movement of the mechanical module (11); it includes an image collection unit (22) for obtaining image information of a target object; an image processing unit (23) for processing and analyzing the collected image; a visual control unit (24) for providing guidance for the movement control of the mechanical module (11) and sending movement instructions based on the image processing results; and a communication unit (25) for communicating with other modules; The motion control module (31) is used to control the motion of the mechanical module (11); it includes a controller (32) for receiving motion instructions from the visual module (21) and converting the instructions into control signals for the motors of each joint of the mechanical module (11); a driver (33) for providing power to the motors of each joint of the mechanical module (11); a position sensor (34) installed at the joint of the mechanical module (11) and used to provide real-time feedback of the position and speed information of the joint; and a communication unit (35) for communicating with other modules; The end execution unit (13) comprises a portal frame (1301) movably mounted at the end of the mechanical arm unit (12); connecting columns (1302) are fixedly connected to the inner walls on both sides of the portal frame (1301); the connecting columns (1302) are connected to a clamping claw plate (1303); three groups of clamping claws (1305) are arranged on the clamping claw plate (1303); the three groups of clamping claws (1305) are distributed in a circular array with the center of the clamping claw plate (1303) as the axis; the three groups of clamping claws (1305) on both sides are extended to grasp and fix the target object.

2. An industrial visual robot according to claim 1, characterized in that: Fixed shafts (2204) are respectively installed on the inner walls of both sides of the portal frame (1301); rotating sleeves (2205) are rotatably sleeved on the fixed shafts (2204); an arc plate (2201) is fixedly connected between the two sets of rotating sleeves (2205); a guide rail (2208) is arranged on the inner side of the arc plate (2201); an image acquisition vehicle (2207) is adapted to be installed on the guide rail (2208); the image acquisition vehicle (2207) can move along the guide rail (2208) and is used to perform multi-angle image acquisition on a target object clamped by the end execution unit (13); a driven gear (2203) is installed on one of the rotating sleeves (2205); the driven gear (2203) is meshingly connected to a driving gear (2202); and the driving gear (2202) is motively connected to a motor.

3. An industrial visual robot according to claim 2, characterized in that: The connecting column (1302) is fixedly mounted on the end of the fixed shaft (2204); the arc plate (2201) is a major arc; an avoidance notch (2209) for avoiding the connecting column (1302) is provided on the guide rail (2208); a camera port (1304) is provided on the clamping claw plate (1303) for the image acquisition vehicle (2207) to acquire an image of the target object; the image acquisition vehicle (2207) has at least an initial position, a first position, a second position, a third position, and a fourth position; when the image acquisition vehicle (2207) is in the initial position, the image acquisition vehicle (2207) is located on the arc plate (2201 ), and the opening of the arc-shaped plate (2201) faces the direction of incoming materials, and the arc-shaped plate (2201) is rotated upward by 45°; when the image acquisition vehicle (2207) is in the first position and the fourth position, the image acquisition vehicle (2207) is respectively located at the fixed shafts (2204) on both sides; when the image acquisition vehicle (2207) is in the second position, the image acquisition vehicle (2207) is located in the middle of the arc-shaped plate (2201), and the opening of the arc-shaped plate (2201) faces downward; when the image acquisition vehicle (2207) is in the third position, the image acquisition vehicle (2207) is located in the middle of the arc-shaped plate (2201), and the opening of the arc-shaped plate (2201) faces upward.

4. The industrial visual robot according to claim 2, characterized in that: The image acquisition vehicle (2207) comprises a vehicle body (2271), at least four wheels (2272) are provided at the bottom of the vehicle body (2271), the wheels (2272) are clamped in the gap between the arc plate (2201) and the guide rail (2208), and a camera (2273) is fixedly mounted on the vehicle body (2271).

5. The industrial visual robot according to claim 1, characterized in that: The clamping claw (1305) comprises a mounting sleeve (1351) fixedly mounted on the clamping claw plate (1303); a receiving cavity is provided inside the mounting sleeve (1351); a plurality of electromagnet rings (1352) are provided inside the receiving cavity; the plurality of electromagnet rings (1352) form an electromagnetic matrix; a push rod (1357) is movably mounted inside the electromagnet ring (1352); an adsorption ring (1362) is connected to the end of the push rod (1357) for cooperating with the electromagnetic matrix; a contact head (1358) is mounted on the other end of the push rod (1357) for detecting contact pressure.

6. The industrial visual robot according to claim 5, characterized in that: A fixed core (1353) is provided inside the installation sleeve (1351), a movable groove (1355) is provided on the fixed core (1353), a friction strip (1356) is elastically installed in the movable groove (1355), an electromagnetic block (1354) is provided at the bottom of the movable groove (1355), the electromagnetic block (1354) is connected in series with the electromagnetic matrix, and a plurality of electromagnet rings (1352) in the electromagnetic matrix are connected in parallel, a friction groove (1363) matching with the friction strip (1356) is provided on the push rod (1357) and the adsorption ring (1362), and the contact head (1358) is electrically connected to the electromagnetic matrix and the electromagnetic block (1354).

7. An industrial visual robot according to claim 6, characterized in that: A rangefinder is provided inside the mounting sleeve (1351), and the rangefinder is used to detect the position of the push rod (1357), thereby determining the position coordinates of the contact head (1358). The controller (32) calculates the center coordinates of the spherical target object based on the position coordinates of the contact heads (1358) on the six push rods (1357), and generates a motion instruction based on the center coordinates, so that the driver (33) places the target object at the instruction position.

8. The industrial visual robot according to claim 5, characterized in that: A limiting ring (1360) is fixedly mounted on the end of the mounting sleeve (1351), a limiting block (1361) is mounted on the limiting ring (1360), a limiting groove (1359) is provided on the push rod (1357), and the limiting block (1361) cooperates with the limiting groove (1359) to prevent the push rod (1357) from falling out of the mounting sleeve (1351).

9. The industrial visual robot according to claim 6, characterized in that: The fixed core (1353) and the friction strip (1356) are made of a material that shields ferromagnetism.

10. The industrial visual robot according to claim 1, characterized in that: The mechanical arm unit (12) comprises a base (101), a rotating platform (102) is mounted on the base (101), a mechanical arm (103) is mounted on the rotating platform (102), a connecting arm (104) is connected to the end of the mechanical arm (103), a driving motor (105) is mounted on the connecting arm (104), and the driving motor (105) is fixedly connected to the portal frame (1301) via a driving shaft.

Images