An industrial vision robot

Abstract

The application relates to the technical field of robots, in particular to an industrial vision robot, which comprises a mechanical module, a vision module and a motion control module; the mechanical module comprises an end execution unit, a door-shaped frame movably installed at the end of the mechanical arm unit, and connecting columns fixedly connected to the inner walls on the two sides of the door-shaped frame; the connecting columns are connected with clamping claw discs; three groups of clamping claws are arranged on the clamping claw discs; the three groups of clamping claws are circularly arranged with the center of the clamping claw disc as an axis; the three groups of clamping claws on the two sides are elongated to realize the grasping and fixing of target objects; under the simultaneous action of the three groups of clamping claws on the two sides, the spherical target objects are tightly clamped; the spherical objects can be fixed and clamped under a certain error, the clamping position of the spherical target objects is automatically adjusted, under the action of the three groups of clamping claws, the center of the spherical object is on the line connecting the centers of the three groups of clamping claws on the two sides, and the spherical object can be accurately placed.

Description

TECHNICAL FIELD

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

[0002] Industrial robots are multi-degree-of-freedom mechanical tools widely used in industrial fields, which can realize grabbing, carrying and other actions, greatly reducing the labor cost of factories and improving work efficiency. With the complication of application scenarios, traditional fixed-point robots have been unable to meet the requirements, and therefore vision robots have emerged, mainly through image acquisition, analysis of workpiece features and motion trajectories, to realize precise grabbing and screening of complex processes.

[0003] The Chinese invention patent with application number 202311137588.0 provides a 3D vision industrial robot, which scoops up the workpiece through the clamping assembly and then collects the image through the vision module, so as to avoid the blurring of the image collection caused by the too fast speed of the conveyor belt, reduce the parameter requirements of the camera part in the vision module, and thus ensure the accuracy of grabbing.

[0004] However, the present applicant has found that the prior art at least has the following problems:

[0005] The clamping assembly grabs the workpiece by scooping up, which is applied to some spherical workpieces. The spherical workpieces will move on the clamping assembly, which easily leads to loose clamping or disengagement of the workpiece, reducing the success rate of grabbing. SUMMARY

[0006] Therefore, the purpose of the present application is to provide an industrial vision robot to solve the problem of low success rate of grabbing spherical workpieces in the prior art.

[0007] In order to achieve the above purpose, the present application provides an industrial vision robot, which comprises a mechanical module for providing support and movement basis for the whole robot, including a mechanical arm unit for supporting the robot to move in three-dimensional space, and an end execution unit for directly contacting with the target object and completing the work task. The industrial vision robot further comprises:

[0008] a vision module for collecting image information and controlling the movement of the mechanical module, including an image acquisition unit for acquiring image information of the target object, an image processing unit for processing and analyzing the collected image, a vision control unit for providing guidance for the movement control of the mechanical module according to the result of image processing and sending movement instructions, and a communication unit for communicating with other modules;

[0009] A motion control module is configured to control the motion of the mechanical module, including a controller configured to receive motion instructions from the vision module and convert the motion instructions into control signals for the joint motors of the mechanical module, a driver configured to provide power for the joint motors of the mechanical module, a position sensor installed at the joint of the mechanical module and configured to provide real-time feedback of the position and speed of the joint, and a communication unit configured to communicate with other modules.

[0010] The end execution unit comprises a door-shaped frame movably installed at the end of the mechanical arm unit, and a connecting column fixedly connected to the inner wall on both sides of the door-shaped frame, and a clamping jaw disc connected to the connecting column, and three groups of clamping jaws arranged in a circular array on the clamping jaw disc with the center of the clamping jaw disc as the axis, and the three groups of clamping jaws on both sides being capable of achieving fixation of the target object through elongation.

[0011] Optionally, a fixed shaft is installed on the inner wall on both sides of the door-shaped frame, a rotating sleeve is rotatably sleeved on the fixed shaft, an arc-shaped plate is fixedly connected between the two rotating sleeves, a guide rail is arranged on the inner side of the arc-shaped plate, an image acquisition vehicle is adaptively installed on the guide rail, the image acquisition vehicle is capable of moving along the guide rail, and is used for multi-angle image acquisition of the target object clamped by the end execution unit, one of the rotating sleeves is provided with a driven gear, the driven gear is meshingly connected with a driving gear, and the driving gear is power-connected with a motor.

[0012] Optionally, the connecting column is fixedly installed at the end of the fixed shaft, the arc-shaped plate is a quarter arc, an avoiding gap for avoiding the connecting column is formed in the guide rail, a camera opening is formed in the clamping jaw disc for image acquisition of the target object by the image acquisition vehicle, and 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 at the middle part of the arc-shaped plate, and the opening of the arc-shaped plate faces the incoming direction, and the arc-shaped 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 located at the fixed shaft on both sides respectively, when the image acquisition vehicle is in the second position, the image acquisition vehicle is located at the middle part of the arc-shaped plate, and the opening of the arc-shaped plate faces downward, and when the image acquisition vehicle is in the third position, the image acquisition vehicle is located at the middle part of the arc-shaped plate, and the opening of the arc-shaped plate faces upward.

[0013] Optionally, the image acquisition vehicle comprises a vehicle body, at least four wheels are arranged at the bottom of the vehicle body, the wheels are clamped in the gap between the arc-shaped plate and the guide rail, and a camera is fixedly installed on the vehicle body.

[0014] Optionally, the clamping jaw comprises a mounting sleeve fixedly mounted on the clamping jaw disc, a containing cavity is arranged in the mounting sleeve, a plurality of electromagnet rings are arranged in the containing cavity, the plurality of electromagnet rings form an electromagnetic matrix, a top rod is movably mounted in the electromagnet ring, an adsorption ring is connected to the end of the top rod, and the adsorption ring is used for cooperating with the electromagnetic matrix, a contact head is mounted at the other end of the top rod, and the contact head is used for detecting contact pressure.

[0015] Optionally, a fixed core is arranged in the mounting sleeve, a movable slot is formed in the fixed core, a friction strip is elastically mounted in the movable slot, an electromagnetic block is arranged at the bottom of the movable slot, the electromagnetic block is connected in series with the electromagnetic matrix, the plurality of electromagnet rings in the electromagnetic matrix are connected in parallel, a friction slot is formed in the top rod and the adsorption ring and matched with the friction strip, and the contact head is electrically connected with the electromagnetic matrix and the electromagnetic block.

[0016] Optionally, a range finder is arranged in the mounting sleeve, the range finder is used for detecting the position of the top rod, so as to determine the position coordinates of the contact head, the controller calculates the coordinates of the ball center of the spherical target object according to the position coordinates of the contact head on the top rod, and generates a movement instruction according to the coordinates of the ball center, so that the driver places the target object to the instruction position.

[0017] Optionally, a limiting ring is fixedly mounted at the end of the mounting sleeve, a limiting block is mounted on the limiting ring, a limiting slot is formed in the top rod, the limiting block is matched with the limiting slot, and the top rod is prevented from being pulled out of the mounting sleeve.

[0018] Optionally, the fixed core and the friction strip are made of a shielding ferromagnetic material.

[0019] Optionally, the mechanical arm unit comprises a base, a rotating table is mounted on the base, a mechanical arm is mounted on the rotating table, a connecting arm is connected to the end of the mechanical arm, a driving motor is mounted on the connecting arm, and the driving motor is fixedly connected with the door-shaped frame through a driving shaft.

[0020] The beneficial effects of the present application: the present application provides an industrial vision robot, the image processing unit processes and analyzes the collected image, selects the target object, and predicts the motion trajectory of the target object, the vision control unit sends the 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 the control signal of each joint motor on the mechanical module according to the received instruction, controls the mechanical module to move quickly, and moves the end execution unit to the grabbing position to grab the target object. When the end execution unit grabs, the three groups of clamping claws on both sides are elongated at the same time, and the spherical target object is tightly clamped under the simultaneous action of the three groups of clamping claws on both sides. In the case of having a certain error, the spherical object can be fixed and clamped, and the clamping position of the spherical target object can be automatically adjusted. Under the action of the three clamping claws, the spherical center of the spherical object is on the center line of the three clamping claws on both sides, so that the spherical object can be accurately placed when placed. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only illustrate the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0022] Figure 1 The system structure schematic diagram of an industrial vision robot according to an embodiment of the present application;

[0023] Figure 2 The schematic diagram of a mechanical module of an industrial vision robot according to an embodiment of the present application;

[0024] Figure 3 The working state schematic diagram of an industrial vision robot according to an embodiment of the present application;

[0025] Figure 4 The first position schematic diagram of an industrial vision robot according to an embodiment of the present application;

[0026] Figure 5 The second position schematic diagram of an industrial vision robot according to an embodiment of the present application;

[0027] Figure 6 The third position schematic diagram of an industrial vision robot according to an embodiment of the present application;

[0028] Figure 7 The fourth position schematic diagram of an industrial vision robot according to an embodiment of the present application;

[0029] Figure 8It is an internal structure schematic diagram of an industrial vision robot gripper according to an embodiment of the present application.

[0030] Marked as:

[0031] 101, base; 102, rotating table; 103, mechanical arm; 104, connecting arm; 105, driving motor; 1301, door-shaped frame; 1302, connecting column; 1303, gripper disc; 1304, camera port; 1305, gripper; 2201, arc-shaped 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, electromagnetic block; 1355, movable groove; 1356, friction strip; 1357, jacking rod; 1358, contact head; 1359, limiting groove; 1360, limiting ring; 1361, limiting block; 1362, adsorption ring; 1363, friction groove. DETAILED DESCRIPTION

[0032] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to specific embodiments.

[0033] It should be noted that, unless otherwise defined, technical terms or scientific terms used in the present application should be understood as their common meanings to those skilled in the art to which the present application pertains. The terms "first", "second" and similar terms used in the present application do not represent any order, number or importance, but are only used to distinguish different components. The terms "include" or "contain" and similar terms mean that the components or objects listed before the terms cover the components or objects listed after the terms and their equivalents, without excluding other components or objects. The terms "connect" or "connected" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms "up", "down", "left", "right" and the like are only used to represent relative positional relationships, and when the absolute positions of the described objects change, the relative positional relationships can also change accordingly.

[0034] As Figures 1 to 8 shown, the embodiment of the present application provides an industrial vision robot, which comprises a mechanical module 11 for providing support and movement basis for the whole robot, including: a mechanical arm unit 12 for supporting the robot to move in a three-dimensional space; an end execution unit 13 for directly contacting with a target object and completing a work task; the industrial vision robot further comprises:

[0035] The visual module 21 is used for collecting image information and controlling the movement of the mechanical module 11, and includes an image collection unit 22, which is used for acquiring image information of a target object; an image processing unit 23, which is used for processing and analyzing the collected images; a visual control unit 24, which is used for providing guidance for the movement control of the mechanical module 11 according to the results of image processing and sending movement instructions; and a communication unit 25, which is used for communicating with other modules;

[0036] The movement control module 31 is used for controlling the movement of the mechanical module 11, and includes a controller 32, which is used for receiving movement instructions from the visual module 21 and converting them into control signals for the joint motors of the mechanical module 11; a driver 33, which is used for providing power for the joint motors of the mechanical module 11; a position sensor 34, which is installed at the joint parts of the mechanical module 11 and is used for feeding back the position and speed information of the joints in real time; and a communication unit 35, which is used for communicating with other modules;

[0037] The end execution unit 13 includes a door-shaped frame 1301 movably installed at the end of the mechanical arm unit 12, and the inner walls on both sides of the door-shaped frame 1301 are fixedly connected with connecting columns 1302, the connecting columns 1302 are connected with clamping jaw discs 1303, three groups of clamping jaws 1305 are arranged on the clamping jaw discs 1303, the three groups of clamping jaws 1305 are distributed in a circular array with the center of the clamping jaw disc 1303 as the axis, and the three groups of clamping jaws 1305 on both sides are stretched to realize the grasping and fixing of the target object.

[0038] When the target object is grasped, the image collection unit 22 collects the images of the objects on the conveying belt, the image processing unit 23 processes and analyzes the collected images, selects the target object, and predicts the movement trajectory of the target object, the visual control unit 24 sends movement instructions to the movement control module 31 according to the selected target object and the predicted movement trajectory, the movement control module 31 converts the received instructions into control signals for the joint motors of the mechanical module 11, controls the mechanical module 11 to move quickly, and moves the end execution unit 13 to the grasping position to grasp the target object, when the end execution unit 13 grasps, the three groups of clamping jaws 1305 on both sides are stretched at the same time, the spherical target object is tightly clamped under the simultaneous action of the three groups of clamping jaws 1305 on both sides, the spherical object can be fixed and clamped under a certain error, and the clamping position of the spherical target object is automatically adjusted, under the action of the three groups of clamping jaws 1305, the center of the spherical object is on the line connecting the centers of the three groups of clamping jaws 1305 on both sides, so that the spherical object can be accurately placed when placed.

[0039] In some optional specific embodiments, as Figures 2-8As shown, the inner walls on both sides of the door-shaped frame 1301 are respectively provided with fixed shafts 2204, the fixed shafts 2204 are rotatably sleeved with rotating sleeves 2205, the two groups of rotating sleeves 2205 are fixedly connected with an arc-shaped plate 2201, the inner side of the arc-shaped plate 2201 is provided with a guide rail 2208, the guide rail 2208 is adaptively provided with an image collection vehicle 2207, the image collection vehicle 2207 can move along the guide rail 2208, and is used for multi-angle image collection of the target object clamped by the end executing unit 13, one of the rotating sleeves 2205 is provided with a driven gear 2203, the driven gear 2203 is meshingly connected with a driving gear 2202, the driving gear 2202 is power-connected with a motor, and the arc-shaped plate 2201 is respectively provided with a limiting plate 2206 at both ends. After the spherical target object is clamped, the driven gear 2203 is driven to rotate through the driving gear 2202, so as to drive the arc-shaped plate 2201 to rotate, cooperate with the movement of the image collection vehicle 2207, and image collection is performed on multiple angles of the target object, so that omnibearing flaw detection is realized, and appearance detection is realized.

[0040] In some optional specific embodiments, as shown in Figures 2-8 As shown, the connecting column 1302 is fixedly installed at the end of the fixed shaft 2204, the arc-shaped plate 2201 is an arc, the guide rail 2208 is provided with a avoiding gap 2209 for avoiding the connecting column 1302, the clamping jaw disc 1303 is provided with a camera port 1304 for image collection of the target object by the image collection vehicle 2207, and the image collection vehicle 2207 at least has an initial position, a first position, a second position, a third position and a fourth position; when the image collection vehicle 2207 is at the initial position, the image collection vehicle 2207 is located at the middle part of the arc-shaped plate 2201, the opening of the arc-shaped plate 2201 faces the incoming direction, and the arc-shaped plate 2201 is rotated upward by 45°; when the image collection vehicle 2207 is at the first position and the fourth position, the image collection vehicle 2207 is respectively located at the fixed shaft 2204 on both sides; when the image collection vehicle 2207 is at the second position, the image collection vehicle 2207 is located at the middle part of the arc-shaped plate 2201, and the opening of the arc-shaped plate 2201 faces downward; when the image collection vehicle 2207 is at the third position, the image collection vehicle 2207 is located at the middle part of the arc-shaped plate 2201, and the opening of the arc-shaped plate 2201 faces upward. When the image collection vehicle 2207 is at the initial position, the image collection vehicle 2207 faces downward in the incoming direction, so that long-range shooting is facilitated, then multi-angle image collection is performed at the first position, the second position, the third position and the fourth position after clamping is completed, omnibearing image detection of the target object is realized, and the detection accuracy is improved.

[0041] In some optional specific embodiments, as shown in Figure 6As shown, the image collection vehicle 2207 comprises a vehicle body 2271, the bottom of the vehicle body 2271 is provided with at least four wheels 2272, the wheels 2272 are clamped in the gap between the arc-shaped 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 arc-shaped plate 2201 and the guide rail 2208 to ensure that they do not derail.

[0042] In some optional embodiments, as shown in Figure 8 As shown, the clamping jaw 1305 comprises a mounting sleeve 1351 fixedly installed on the clamping jaw disc 1303, the inside of the mounting sleeve 1351 is provided with a receiving cavity, the inside of the receiving cavity is provided with a plurality of electromagnet rings 1352, the plurality of electromagnet rings 1352 form an electromagnetic matrix, the inside of the electromagnet ring 1352 is movably installed with a top rod 1357, the end of the top rod 1357 is connected with a suction ring 1362 for cooperating with the electromagnetic matrix, and the other end of the top rod 1357 is installed with a contact head 1358 for detecting contact pressure. In use, one of the electromagnet rings 1352 in the electromagnetic matrix is energized by the electromagnetic matrix, so that the suction ring 1362 is guided until the contact head 1358 detects sufficient pressure.

[0043] In some optional embodiments, as shown in Figure 8 As shown, the inside of the mounting sleeve 1351 is provided with a fixed core 1353, the fixed core 1353 is provided with a movable groove 1355, the movable groove 1355 is elastically installed with a friction strip 1356, the bottom of the movable groove 1355 is provided with an electromagnetic block 1354, the electromagnetic block 1354 is connected in series with the electromagnetic matrix, the plurality of electromagnet rings 1352 in the electromagnetic matrix are connected in parallel, the top rod 1357 and the suction ring 1362 are provided with friction grooves 1363 matched with the friction strip 1356, and the contact head 1358 is electrically connected with the electromagnetic matrix and the electromagnetic block 1354. In 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, the plurality of electromagnet rings 1352 in the electromagnetic matrix are sequentially energized, the top rod 1357 is moved, and when the contact head 1358 contacts the target object and reaches the pressure threshold, the power is cut off, the friction strip 1356 is ejected, the position of the top rod 1357 is fixed, and the clamping of the object that cannot withstand a large pressure is changed. The contact pressure threshold is changed to achieve light clamping of the target object without calibrating the clamping position of the target object.

[0044] In some optional embodiments, as shown in Figures 1 to 8As shown, the inside of the mounting sleeve 1351 is provided with a range finder, which is used to detect the position of the ejector rod 1357, so as to determine the position coordinates of the contact head 1358, and the controller 32 calculates the ball center coordinates of the spherical target object according to the position coordinates of the contact head 1358 on the six ejector rods 1357, and generates a motion instruction according to the ball center coordinates, so that the driver 33 places the target object to the accurate position.

[0045] In some optional embodiments, as shown in Figure 8 As shown, the end of the mounting sleeve 1351 is fixedly provided with a limiting ring 1360, and a limiting block 1361 is mounted on the limiting ring 1360, and a limiting groove 1359 is formed on the ejector rod 1357, and the limiting block 1361 is matched with the limiting groove 1359, so as to avoid the ejector rod 1357 from being pulled out of the mounting sleeve 1351.

[0046] In some optional embodiments, as shown in Figure 8 As shown, the fixed core 1353 and the friction strip 1356 are made of shielding ferromagnetic material.

[0047] In some optional embodiments, as shown in Figure 1 and Figure 2 As shown, the mechanical arm unit 12 comprises a base 101, a rotating table 102 is mounted on the base 101, a mechanical arm 103 is mounted on the rotating table 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 with the door-shaped frame 1301 through a driving shaft.

[0048] The working principle of the present application is as follows: when the target object is grabbed, the image acquisition unit 22 acquires the image of the object on the conveying belt, the image processing unit 23 processes and analyzes the acquired image, 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 of each joint motor on the mechanical module 11 according to the received instruction, controls the mechanical module 11 to move quickly, and moves the end execution unit 13 to the grabbing position to grab the target object. When the end execution unit 13 grabs, the three groups of clamping claws 1305 on both sides are elongated at the same time, and the spherical target object is tightly clamped under the simultaneous action of the three groups of clamping claws 1305 on both sides. In the case of having 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 groups of clamping claws 1305, the ball 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 the spherical object can be accurately placed when placed.

[0049] When clamping the object that cannot bear heavy pressure, the electromagnetic matrix is connected with the electromagnetic block 1354 in series and powered on, the friction strip 1356 is adsorbed into the movable groove 1355, the plurality of electromagnets in the electromagnetic matrix ring 1352 is powered on one by one, so that the top rod 1357 moves, when the contact head 1358 contacts the target object and reaches the pressure threshold, then power off, so that the friction strip 1356 is ejected, the position of the top rod 1357 is fixed, when clamping the object that cannot bear heavy pressure, the contact pressure threshold can be changed, the light clamping of the target object is realized, and the clamping position of the target object is not calibrated.

[0050] It should be understood by those of ordinary skill in the art that the above discussion of any embodiment is merely exemplary and is not intended to suggest the scope of the present application (including claims) is limited to these examples; under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above, which are not provided in details for the sake of brevity.

[0051] The present application is intended to cover all such alternatives, modifications, and variations as fall within the broad scope of the appended claims. Accordingly, any and all such modifications, variations, and equivalents that fall within the spirit and scope of the present application are intended to be included within the scope of the claims.

Claims

1. An industrial vision robot comprising a mechanical module (11) for providing the basis of support and movement for the entire robot, comprising: A mechanical arm unit (12) is used to support the robot to move in three-dimensional space; An end execution unit (13) is used to directly contact with the target object and complete the task, characterized in that the industrial vision robot further comprises: A vision module (21) is used to collect image information and control the movement of the mechanical module (11); the vision module (21) comprises an image collection unit (22) for acquiring image information of the target object, an image processing unit (23) for processing and analyzing the collected image, a vision control unit (24) for providing guidance for the movement control of the mechanical module (11) according to the result of image processing and sending movement instructions, and a communication unit (25) for communication with other modules; The end execution unit (13) comprises a door-shaped frame (1301) movably installed at the end of the mechanical arm unit (12), and a connecting column (1302) fixedly connected to the inner wall on both sides of the door-shaped frame (1301), and a clamping jaw disc (1303) connected to the connecting column (1302), and three groups of clamping jaws (1305) provided on the clamping jaw disc (1303) and arranged in a circular array with the center of the clamping jaw disc (1303) as the axis, and the three groups of clamping jaws (1305) on both sides are realized by elongation to grasp and fix the target object; The clamping jaw (1305) comprises a mounting sleeve (1351) fixedly installed on the clamping jaw disc (1303), a receiving cavity is arranged in the mounting sleeve (1351), a plurality of electromagnet rings (1352) are arranged in the receiving cavity, the plurality of electromagnet rings (1352) form an electromagnetic matrix, a top rod (1357) is movably installed in the electromagnet ring (1352), an adsorption ring (1362) is connected to the end of the top rod (1357), and the adsorption ring (1362) is used in cooperation with the electromagnetic matrix, and a contact head (1358) is installed at the other end of the top rod (1357), and the contact head (1358) is used to detect the contact pressure; A fixed core (1353) is arranged in the mounting sleeve (1351), an active slot (1355) is formed in the fixed core (1353), a friction strip (1356) is elastically installed in the active slot (1355), an electromagnetic block (1354) is arranged at the bottom of the active slot (1355), the electromagnetic block (1354) is connected in series with the electromagnetic matrix, the plurality of electromagnet rings (1352) in the electromagnetic matrix are connected in parallel, a friction groove (1363) matched with the friction strip (1356) is formed in the top rod (1357) and the adsorption ring (1362), and the contact head (1358) is electrically connected with the electromagnetic matrix and the electromagnetic block (1354); A distance measuring instrument is arranged in the mounting sleeve (1351), the distance measuring instrument is used to detect the position of the top rod (1357), so as to determine the position coordinates of the contact head (1358), the controller (32) calculates the ball center coordinates of the spherical target object according to the position coordinates of the contact heads (1358) on the six top rods (1357), generates a movement instruction according to the ball center coordinates, and makes the driver (33) place the target object to the instruction position. The end of the mounting sleeve (1351) is fixedly mounted with a limiting ring (1360), the limiting ring (1360) is mounted with a limiting block (1361), the top rod (1357) is provided with a limiting groove (1359), and the limiting block (1361) is matched with the limiting groove (1359), so that the top rod (1357) is prevented from being separated from the mounting sleeve (1351).

2. The industrial vision robot according to claim 1, characterized in that The inner walls on the two sides of the door-shaped frame (1301) are respectively mounted with fixed shafts (2204), the fixed shafts (2204) are rotatably sleeved with rotating sleeves (2205), the two groups of rotating sleeves (2205) are fixedly connected with arc-shaped plates (2201), the arc-shaped plates (2201) are provided with guide rails (2208) on the inner sides, image collection vehicles (2207) are adaptively mounted on the guide rails (2208), the image collection vehicles (2207) can move along the guide rails (2208), and are used for multi-angle image collection of target objects clamped by the end executing unit (13), one of the rotating sleeves (2205) is mounted with a driven gear (2203), the driven gear (2203) is meshedly connected with a driving gear (2202), and the driving gear (2202) is power-connected with a motor.

3. An industrial vision robot according to claim 2, characterized in that The connecting column (1302) is fixedly mounted at the end of the fixed shaft (2204), the arc-shaped plate (2201) is a quarter of a circle, the guide rail (2208) is provided with an avoiding gap (2209) for avoiding the connecting column (1302), the clamping claw disc (1303) is provided with a camera port (1304) for image collection of the target objects by the image collection vehicle (2207), and the image collection vehicle (2207) has at least an initial position, a first position, a second position, a third position and a fourth position; when the image collection vehicle (2207) is in the initial position, the image collection vehicle (2207) is located at the middle of the arc-shaped plate (2201), the opening of the arc-shaped plate (2201) faces the incoming material direction, and the arc-shaped plate (2201) is rotated upward by 45°; when the image collection vehicle (2207) is in the first position and the fourth position, the image collection vehicle (2207) is located at the fixed shaft (2204) on the two sides respectively; when the image collection vehicle (2207) is in the second position, the image collection vehicle (2207) is located at the middle of the arc-shaped plate (2201), and the opening of the arc-shaped plate (2201) faces downward; when the image collection vehicle (2207) is in the third position, the image collection vehicle (2207) is located at the middle of the arc-shaped plate (2201), and the opening of the arc-shaped plate (2201) faces upward.

4. The industrial vision robot of claim 2, wherein, The image collection vehicle (2207) comprises a vehicle body (2271), the bottom of the vehicle body (2271) is provided with at least four wheels (2272), the wheels (2272) are clamped in the gap between the arc-shaped plate (2201) and the guide rail (2208), and the vehicle body (2271) is fixedly mounted with a camera (2273).

5. The industrial vision robot of claim 1, wherein, The fixed core (1353) and the friction strip (1356) are made of a material with shielding ferromagnetism.

6. The industrial vision robot of claim 1, wherein, The mechanical arm unit (12) comprises a base (101), a rotating table (102) installed on the base (101), a mechanical arm (103) installed on the rotating table (102), a connecting arm (104) connected to the tail end of the mechanical arm (103), a driving motor (105) installed on the connecting arm (104), and a door-shaped frame (1301) fixedly connected to the driving motor (105) through a driving shaft.

7. The industrial vision robot of claim 1, wherein, The motion control module (31) is used for controlling the motion of the mechanical module (11), and comprises a controller (32) used for receiving a motion instruction from the vision module (21) and converting the motion instruction into a control signal of each joint motor of the mechanical module (11), a driver (33) used for providing power for each joint motor of the mechanical module (11), a position sensor (34) installed at a joint part of the mechanical module (11) and used for feeding back position and speed information of the joint in real time, and a communication unit (35) used for communicating with other modules.

Images