A robotic arm driven by a visual system

Abstract

The present invention relates to the field of mechanical arm technology, and in particular to a mechanical arm driven by a visual system. It includes a driving arm module, and a U-shaped frame with an opening facing downward is installed at the end of the driving arm module; it also includes a clamping device, and the clamping device is connected to the lower end of the U-shaped frame. The clamping device includes a rectangular plate installed at the lower end of the U-shaped frame, and the rectangular plate is symmetrically provided with rectangular through holes, and a pushing mechanism is arranged in the rectangular through holes, and the pushing mechanism is connected to the clamping mechanism. The pushing mechanism used in the present invention cooperates with the clamping mechanism, and can be adaptively adjusted according to the angle at which the material box is placed, effectively increasing the contact area with the inclined material box, and avoiding damage to the material box body, thereby improving the strength of the clamping mechanism to clamp the material box, and avoiding the phenomenon of the material box being separated from the clamping mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a mechanical arm driven by a visual system. Background Art

[0002] A robotic arm is a mechanical device that can mimic the functions of a human arm and is commonly used in industrial automation, medical assistance, service robotics and other fields; they can perform a variety of tasks, from simple handling to complex assembly operations.

[0003] The method in which robotic arms use image recognition control of visual systems to accurately locate and grasp materials has been widely used in warehousing and logistics, manufacturing and food processing fields. Robotic arms have the advantages of high material grasping and positioning accuracy, good material grasping flexibility, high work efficiency, high safety performance and adaptability to complex environments.

[0004] However, the current robotic arms have the following defects when grabbing relatively heavy materials: the end clamping device of the existing robotic arm cannot be adaptively adjusted according to the angle at which the material box is placed, and the end clamping device usually uses a correction device to perform a correction operation or corrects it through the pushing force of the clamping device when clamping the material box. During the correction process, the contact area between the material box and the clamping device is small, and the contact position between the material box and the clamping device is prone to deformation due to excessive force. Moreover, if there are multiple unfixed objects inside the material box, the multiple unfixed objects will collide with each other due to changes in direction during the correction process and be damaged, thereby reducing the integrity of the material box and the objects inside the box, and also increasing the clamping steps, reducing the clamping efficiency. Summary of the invention

[0005] Based on this, it is necessary to provide a robotic arm driven by a visual system, aiming to solve the problems caused by the existing robotic arm when clamping and moving the material box.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme to achieve: a mechanical arm driven by a visual system, comprising: a driving arm module, and a U-shaped frame with an opening facing downward is installed at the end of the driving arm module.

[0007] It also includes a clamping device, which is connected to the lower end of the U-shaped frame. The clamping device includes a rectangular plate installed at the lower end of the U-shaped frame, and rectangular through holes are symmetrically opened on the rectangular plate. A pushing mechanism is arranged in the rectangular through hole, and the pushing mechanism is connected to the clamping mechanism.

[0008] The pushing mechanism includes two guide rods symmetrically installed in the rectangular through hole front and back, and a U-shaped plate with an opening facing upward is slidably penetrated through the two guide rods. A driving branch chain is connected to the U-shaped plate, and the inner end of the horizontal section of the U-shaped plate is connected to a limited branch chain.

[0009] The clamping mechanism includes a rotating rod penetrating through and rotatably connected to the middle of the horizontal section of the U-shaped plate, a torsion spring is arranged between the rotating rod and the horizontal section of the U-shaped plate, and a clamping plate for clamping the material box is installed at the lower end of the rotating rod.

[0010] It also includes a limiting device, which is connected to the inner end of the horizontal section of the U-shaped frame. The limiting device includes a second hydraulic push rod installed at the inner end of the horizontal section of the U-shaped frame. The lower end of the second hydraulic push rod is connected to a moving mechanism. The moving mechanism is connected to two lower pressure sleeves that are symmetrically distributed on the left and right. The lower end of the lower pressure sleeve is provided with an annular inclined surface.

[0011] A visual camera is installed in the middle of the lower end of the rectangular plate, and two lighting light sources fixedly connected to the lower end of the rectangular plate are symmetrically arranged on the front and rear sides of the visual camera.

[0012] According to an embodiment of the present invention, the clamping mechanism also includes a sliding groove opened at the opposite end of the clamping plate, the cross-section of the sliding groove is a right-angled trapezoid, a sliding through hole connected to the sliding groove is opened on the clamping plate, guide inclined grooves are opened on the front and rear side groove walls of the sliding groove, a self-locking branch chain is connected in the sliding groove, and limit rods with a U-shaped structure are installed on the upper sides of the left and right ends of the clamping plate, the openings of the two limit rods are opposite and symmetrically distributed, and an extension branch chain is connected to the lower end of the clamping plate.

[0013] According to an embodiment of the present invention, the driving branch chain includes a fixed plate installed on the upper end of the rectangular plate and away from the U-shaped frame, and the first hydraulic push rods are symmetrically installed front and back on the fixed plate, and the moving sections of the two first hydraulic push rods are fixedly connected to the two vertical sections of the corresponding U-shaped plate.

[0014] According to an embodiment of the present invention, the limiting branch chain includes a limiting column installed at the upper end of the rotating rod, and a plurality of first limiting teeth evenly distributed in the circumferential direction are integrally formed on the annular surface of the limiting column. A circular ring tube fixedly connected to the inner end of the horizontal section of the U-shaped plate is arranged on the outer periphery of the limiting column, and rectangular openings are symmetrically opened along the axis of the circular ring tube at the upper and lower ends of the inner ring surface of the circular ring tube.

[0015] According to an embodiment of the present invention, the limiting branch chain also includes two pushing rods which are symmetrically distributed on the left and right and slide through the wall of the circular tube. A slope is provided at the end of the pushing rod away from the axis of the circular tube, and an arc plate is installed at the end of the pushing rod close to the axis of the circular tube. A plurality of second limiting teeth evenly distributed in the circumferential direction are integrally formed on the inner annular surface of the arc plate, and a return spring is symmetrically installed on the outer arc surface of the arc plate, and the end of the return spring away from the arc plate is fixedly connected to the corresponding rectangular opening wall.

[0016] According to an embodiment of the present invention, the moving mechanism includes a strip plate installed at the lower end of the second hydraulic push rod, and two sliding sleeves symmetrically distributed on the strip plate are provided, and the lower end of the sliding sleeve is fixedly connected to the corresponding upper end of the lower pressure sleeve.

[0017] According to an embodiment of the present invention, the self-locking branch chain includes a right-angled trapezoidal plate slidably connected in the sliding groove, the inclined surface of the right-angled trapezoidal plate faces downward, and a plurality of evenly distributed traction springs are installed between the upper end of the right-angled trapezoidal plate and the top wall of the sliding groove. Slide blocks are integrally formed at both the front and rear ends of the right-angled trapezoidal plate, and the slide blocks are slidably connected to the corresponding guide inclined grooves. A connecting rod located in the sliding through hole is installed on the right-angled trapezoidal plate, and a semicircular plate is installed at the end of the connecting rod away from the right-angled trapezoidal plate.

[0018] According to an embodiment of the present invention, the extension branch chain includes two lifting rods which are symmetrically distributed frontward and rearward and slidably connected to the lower end of the clamping plate. An extension plate is commonly installed at the lower ends of the two lifting rods. Square plates located below the semicircular plate are installed on the extension plate and the clamping plate. The two square plates are symmetrically distributed up and down. An adjusting screw is rotatably connected to the square plate located below, and the adjusting screw is threadedly connected to the square plate located above.

[0019] According to an embodiment of the present invention, the limiting device further comprises an L-shaped rod for pressing down the self-locking branch chain.

[0020] According to an embodiment of the present invention, the pushing mechanism further includes two positioning plates which are symmetrically distributed on the left and right and are respectively installed at the lower ends of the left and right side surfaces of the U-shaped plate.

[0021] In summary, the present invention includes the following beneficial technical effects: 1. The pushing mechanism and the clamping mechanism adopted in the present invention can cooperate and be adaptively adjusted according to the angle at which the material box is placed, effectively increasing the contact area with the inclined material box and avoiding damage to the material box body, thereby improving the strength of the clamping mechanism to clamp the material box and avoiding the material box from separating from the clamping mechanism.

[0022] 2. The clamping mechanism used in the present invention does not need to add a step of correcting the material box during the clamping process, thereby improving the efficiency of the clamping and movement of the material box and avoiding damage to the objects inside the material box due to changes in direction during the correction process, thereby ensuring the integrity of the objects inside the material box.

[0023] 3. The clamping mechanism used in the present invention can realize the self-locking function in the process of clamping the material box, effectively preventing the material box from falling off during the clamping and moving process, thereby improving the stability of the material box clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in 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 described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0025] Figure 1 A three-dimensional structural schematic diagram of the present invention is shown.

[0026] Figure 2 A schematic diagram of the three-dimensional structure of the present invention without the driving arm module is shown.

[0027] Figure 3 A front view of the present invention is shown.

[0028] Figure 4 A left side view of the present invention is shown.

[0029] Figure 5 Shows Figure 3 Sectional view of AA.

[0030] Figure 6 Shows Figure 4 Cross-sectional view of BB.

[0031] Figure 7 Shows Figure 6 Magnified view of the middle N region.

[0032] Figure 8 A schematic diagram of the structure of a partial rectangular plate, a rectangular through hole and a pushing mechanism of the present invention is shown.

[0033] Fig. 9 The schematic diagram of the structure of part of the U-shaped plate and the clamping mechanism of the present invention is shown.

[0034] Fig.10 The schematic diagram of the structure of the clamping plate, the sliding groove, the sliding through hole and the guiding inclined groove of the present invention is shown.

[0035] The above drawings include the following reference numerals: 1. driving arm module; 2. U-shaped frame; 3. clamping device; 31. rectangular plate; 32. rectangular through hole; 33. pushing mechanism; 331. guide rod; 332. U-shaped plate; 333. driving branch chain; 3331. fixing plate; 3332. first hydraulic push rod; 334. limiting branch chain; 3341. limiting column; 3342. circular ring tube; 3343. rectangular opening; 3344. pushing rod; 3345. arc plate; 3346. reset spring; 335. clamping plate; 34. clamping mechanism; 341. rotating rod; 342. Clamping plate; 343, sliding groove; 344, sliding through hole; 345, guiding inclined groove; 346, self-locking branch chain; 3461, right-angle trapezoidal plate; 3462, traction spring; 3463, connecting rod; 3464, semicircular plate; 347, limiting rod; 348, extension branch chain; 3481, lifting rod; 3482, extension plate; 3483, square plate; 3484, adjusting screw; 4, limiting device; 41, second hydraulic push rod; 42, moving mechanism; 421, strip plate; 422, sliding sleeve; 43, lower pressure sleeve; 44, L-shaped rod; 5, visual camera; 6, lighting source. DETAILED DESCRIPTION

[0036] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0037] See also Figure 1 A robotic arm driven by a visual system includes a driving arm module 1, and a U-shaped frame 2 with an opening facing downward is installed at the end of the driving arm module 1.

[0038] During specific operation, the driving arm module 1 is an existing mechanical arm. Initially, the driving arm module 1 is installed at the working position, and then the U-shaped frame 2 is installed at the driving end of the driving arm module 1 .

[0039] See also Figure 1 , Figure 3 and Figure 4 The robotic arm driven by the vision system also includes a clamping device 3, which is connected to the lower end of the U-shaped frame 2. The clamping device 3 includes a rectangular plate 31 installed at the lower end of the U-shaped frame 2, and rectangular through holes 32 are symmetrically opened on the rectangular plate 31. A pushing mechanism 33 is arranged in the rectangular through hole 32, and a clamping mechanism 34 is connected to the pushing mechanism 33.

[0040] During specific operation, after the U-shaped frame 2 is installed, the U-shaped frame 2 installs and positions the pushing mechanism 33 and the clamping mechanism 34 through the rectangular plate 31 .

[0041] See also Figure 2 and Figure 3 A visual camera 5 is installed in the middle of the lower end of the rectangular plate 31 , and two lighting light sources 6 fixedly connected to the lower end of the rectangular plate 31 are symmetrically arranged on the front and rear sides of the visual camera 5 .

[0042] During specific operation, the visual camera 5 is an existing CCD visual camera, which is used to capture the image of the material box. The lighting source 6 is used to provide uniform lighting, reduce shadows and reflections, and improve the material box image recognition accuracy of the CCD visual camera. The image recognized by the CCD visual camera is sent to the image processing software, which is used to process and analyze the image data. The image processing result is sent to the drive arm module 1 controller, and the drive arm module 1 controller controls the motor to perform the grasping operation.

[0043] See also Figure 1 , Figure 2 , Figure 7 and Figure 8 The pushing mechanism 33 includes two guide rods 331 symmetrically installed in the rectangular through hole 32, and a U-shaped plate 332 with an opening facing upward is slidably penetrated through the two guide rods 331. A driving branch chain 333 is connected to the U-shaped plate 332. The driving branch chain 333 includes a fixed plate 3331 installed at the upper end of the rectangular plate 31 and away from the U-shaped frame 2. First hydraulic push rods 3332 are symmetrically installed on the fixed plate 3331, and the moving sections of the two first hydraulic push rods 3332 are fixedly connected to the two vertical sections of the corresponding U-shaped plate 332.

[0044] During specific operation, the first hydraulic push rod 3332 is connected to the existing hydraulic pump before work, and the existing conveyor belt conveys the material box to the bottom of the visual camera 5. The visual camera 5 captures the position of the material box on the conveyor belt, and controls the driving arm module 1 through the existing technology to drive the rectangular plate 31 to move to the top of the material box. The visual camera 5 is located above the center position of the material box, and then the multiple first hydraulic push rods 3332 on both sides are started at the same time, and the multiple first hydraulic push rods 3332 on both sides drive the U-shaped plates 332 on both sides to move relative to each other.

[0045] See also Figure 1 , Figure 5 , Figure 7 and Fig. 9The clamping mechanism 34 includes a rotating rod 341 that passes through and is rotatably connected to the middle of the horizontal section of the U-shaped plate 332. A torsion spring is arranged between the rotating rod 341 and the horizontal section of the U-shaped plate 332. A clamping plate 342 for clamping the material box is installed at the lower end of the rotating rod 341. The clamping mechanism 34 also includes a sliding groove 343 opened at the opposite end of the clamping plate 342, and a self-locking branch chain 346 is connected in the sliding groove 343.

[0046] During specific operation, initially, the opposing surfaces of the two clamping plates 342 are paved with rubber pads for increasing friction. While the two U-shaped plates 332 move relative to each other, the two clamping plates 342 are driven to move toward the material box through the two rotating rods 341. When the clamping plates 342 come into contact with the material box, the U-shaped plates 332 continue to drive the clamping plates 342 to move through the rotating rods 341. The material box blocks the contact position of the clamping plates 342. The clamping plates 342 rotate accordingly according to the angle at which the material box is placed, so that the clamping plates 342 are close to the surface of the material box, thereby increasing the contact area between the clamping plates 342 and the material box, and improving the strength of clamping the material box, and then the first hydraulic push rod 3332 stops working.

[0047] See also Fig. 9 A U-shaped limiting rod 347 is installed on the upper sides of the left and right ends of the clamping plate 342, and the openings of the two limiting rods 347 are opposite and symmetrically distributed.

[0048] See also Figure 1 and Fig. 9 The pushing mechanism 33 also includes two positioning plates 335 which are symmetrically distributed on the left and right sides and are respectively installed at the lower ends of the left and right sides of the U-shaped plate 332.

[0049] During specific operation, when the clamping plate 342 is rotated under force, the two limit rods 347 are driven to rotate. The horizontal section of the limit rod 347 on the upper side is located at the upper end of the corresponding locking plate 335. The locking plate 335 limits the limit rod 347 in the vertical direction to prevent the clamping plate 342 from falling off when clamping the material box.

[0050] See also Figure 1 , Figure 5 and Figure 7 The robotic arm driven by the visual system also includes a limit device 4, which is connected to the inner end of the horizontal section of the U-shaped frame 2. The limit device 4 includes a second hydraulic push rod 41 installed at the inner end of the horizontal section of the U-shaped frame 2. The lower end of the second hydraulic push rod 41 is connected to a moving mechanism 42. The moving mechanism 42 is connected to two left-right symmetrically distributed lower pressure sleeves 43. The lower end of the lower pressure sleeve 43 is provided with an annular inclined surface. The limit device 4 also includes an L-shaped rod 44 for pressing down the self-locking branch chain 346.

[0051] See also Figure 7 The moving mechanism 42 includes a strip plate 421 installed at the lower end of the second hydraulic push rod 41, and two sliding sleeves 422 symmetrically distributed on the strip plate 421 are provided. The lower end of the sliding sleeve 422 is fixedly connected to the corresponding upper end of the lower pressure sleeve 43.

[0052] See also Figure 2 , Figure 6 and Figure 8 The inner end of the horizontal section of the U-shaped plate 332 is connected to a limiting branch chain 334, and the limiting branch chain 334 includes a limiting column 3341 installed on the upper end of the rotating rod 341, and the outer periphery of the limiting column 3341 is provided with a circular ring tube 3342 fixedly connected to the inner end of the horizontal section of the U-shaped plate 332.

[0053] During specific operation, the second hydraulic push rod 41 is connected to the existing hydraulic pump. Initially, the two lower pressure sleeves 43 are respectively mounted on the two circular tubes 3342. During the movement of the U-shaped plate 332, the circular tube 3342 drives the lower pressure sleeve 43 to move, and the lower pressure sleeve 43 slides on the strip plate 421 through the sliding sleeve 422.

[0054] See also Figure 2 , Figure 6 and Figure 8 The limiting column 3341 has a plurality of first limiting teeth integrally formed on its annular surface and evenly distributed in the circumferential direction. The upper and lower ends of the inner annular surface of the annular tube 3342 are symmetrically provided with rectangular openings 3343 along its axis.

[0055] See also Figure 2 , Figure 6 and Figure 8 The limiting branch chain 334 also includes two pushing rods 3344 which are symmetrically distributed on the left and right and slide through the wall of the annular tube 3342. The end of the pushing rod 3344 away from the axis of the annular tube 3342 is provided with a slope. The end of the pushing rod 3344 close to the axis of the annular tube 3342 is installed with an arc plate 3345. A plurality of second limiting teeth uniformly distributed in the circumferential direction are integrally formed on the inner annular surface of the arc plate 3345. A return spring 3346 is symmetrically installed on the outer arc surface of the arc plate 3345. The end of the return spring 3346 away from the arc plate 3345 is fixedly connected to the corresponding wall of the rectangular opening 3343.

[0056] During specific operation, when the clamping plate 342 is in close contact with the surface of the material box, the rotating rod 341 drives the limiting column 3341 to rotate. When the clamping plate 342 is in close contact with the surface of the material box, the second hydraulic push rod 41 is started. The second hydraulic push rod 41 drives the strip plate 421 to move downward. The strip plate 421 drives the two lower pressing sleeves 43 to move downward through the two sliding sleeves 422. The lower pressing sleeves 43 push the slopes on the corresponding two pushing rods 3344 through the annular inclined surface. The pushing rod 3344 is forced to drive the arc plate 3345 to move toward the direction of the limiting column 3341 and stretch the reset spring 3346 until the second limiting tooth on the arc plate 3345 cooperates with the first limiting tooth on the limiting column 3341 to realize the function of limiting the rotation direction of the limiting column 3341, thereby realizing the limiting of the rotating clamping plate 342.

[0057] See also Figure 1 , Figure 2 , Figure 5 , Fig. 9 and Fig.10 The cross section of the sliding groove 343 is a right-angled trapezoid. The clamping plate 342 is provided with a sliding through hole 344 connected to the sliding groove 343. The front and rear side walls of the sliding groove 343 are both provided with guiding inclined grooves 345. The lower end of the clamping plate 342 is connected to an extended branch chain 348.

[0058] See also Figure 1 , Figure 2 , Figure 5 , Figure 7 and Fig. 9 The extended branch chain 348 includes two lifting rods 3481 which are symmetrically distributed frontward and rearward and slidably connected to the lower end of the clamping plate 342. An extension plate 3482 is commonly installed at the lower ends of the two lifting rods 3481. A square plate 3483 located below the corresponding L-shaped rod 44 is installed on the extension plate 3482 and the clamping plate 342. The two square plates 3483 are symmetrically distributed up and down. An adjusting screw 3484 is rotatably connected to the square plate 3483 located at the bottom, and the adjusting screw 3484 is threadedly connected to the square plate 3483 located at the top.

[0059] During specific work, before work, the adjusting screw 3484 is turned according to the height of the material box. The adjusting screw 3484 drives the extension plate 3482 to move. The extension plate 3482 moves along the vertical direction of the clamping plate 342 through the two lifting rods 3481, thereby changing the clamping range of the clamping plate 342. The clamping plate 342 and the extension plate 3482 cooperate to strengthen the strength of clamping the material box. Rubber pads for increasing friction are also laid on the opposite surfaces of the two extension plates 3482.

[0060] See also Figure 2 , Figure 7, Fig. 9 and Fig.10 The self-locking chain 346 includes a right trapezoidal plate 3461 slidably connected in the sliding groove 343. The inclined surface of the right trapezoidal plate 3461 faces downward. A plurality of uniformly distributed traction springs 3462 are installed between the upper end of the right trapezoidal plate 3461 and the top wall of the sliding groove 343. Sliders are integrally formed at both the front and rear ends of the right trapezoidal plate 3461, and the sliders are slidably connected to the corresponding guiding inclined grooves 345. A connecting rod 3463 located in the sliding through hole 344 is installed on the right trapezoidal plate 3461, and a semi-circular plate 3464 is installed at one end of the connecting rod 3463 away from the right trapezoidal plate 3461.

[0061] During specific operation, when the lower pressing sleeve 43 moves downward, it drives the L-shaped rod 44 to move downward at the same time. The L-shaped rod 44 pushes the semi-circular plate 3464 downward. The semi-circular plate 3464 drives the right trapezoidal plate 3461 to slide in the sliding groove 343 through the connecting rod 3463 under force. At the same time, the guiding inclined groove 345 guides the sliding of the right trapezoidal plate 3461. The right trapezoidal plate 3461 slides downward and closely adheres to the surface of the material box. A plurality of U-shaped openings are uniformly distributed from top to bottom on the right trapezoidal plate 3461. The U-shaped openings can effectively increase the pressing strength of the right trapezoidal plate 3461 on the material box. At the same time, the material box has a tendency to move downward due to its own gravity. The material box drives the two right trapezoidal plates 3461 to move downward through friction. The two right trapezoidal plates 3461 are further clamped on the material box through the guiding of the guiding inclined groove 345, realizing the self-locking function of the material box and avoiding the phenomenon of the material box falling off.

[0062] After the two clamping plates 342 clamp the material box, the driving arm module 1 is started. The driving arm module 1 drives the rectangular plate 31 to move through the U-shaped frame 2. The rectangular plate 31 drives the material box to move through the clamping mechanism 34 until the material box moves to the required position. Subsequently, the two first hydraulic push rods 3332 drive the two U-shaped plates 332 to reset. The two U-shaped plates 332 drive the two clamping plates 342 to separate from the material box through the two rotating rods 341. Then the second hydraulic push rod 41 drives the strip-shaped plate 421 to rise. The return spring 3346 resets and drives the second limiting teeth on the arc-shaped plate 3345 to separate from the first limiting teeth. The inclined clamping plate 342 is reset through the torsion spring. Subsequently, the clamping and moving of the next material box are carried out. After all the material boxes are clamped and moved, the work is completed.

[0063] In the description of the embodiments of the present invention, it should be noted that the terms "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "top", "bottom", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0064] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0065] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, all equivalent changes made according to the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robotic arm driven by a visual system, characterized in that: It includes a driving arm module, and a U-shaped frame with an opening facing downward is installed at the end of the driving arm module; A clamping device is connected to the lower end of the U-shaped frame, and the clamping device includes a rectangular plate installed at the lower end of the U-shaped frame, and rectangular through holes are symmetrically opened on the rectangular plate, and a pushing mechanism is arranged in the rectangular through hole, and the pushing mechanism is connected to the clamping mechanism; The pushing mechanism includes two guide rods symmetrically installed in the rectangular through hole, and a U-shaped plate with an opening facing upward is slidably passed through the two guide rods. The U-shaped plate is connected to a driving branch chain, and the inner end of the horizontal section of the U-shaped plate is connected to a limited position branch chain; The clamping mechanism includes a rotating rod penetrating and rotatably connected to the middle of the horizontal section of the U-shaped plate, a torsion spring is arranged between the rotating rod and the horizontal section of the U-shaped plate, and a clamping plate for clamping the material box is installed at the lower end of the rotating rod; The clamping mechanism also includes a sliding groove provided at the opposite end of the clamping plate, the cross section of the sliding groove is a right-angled trapezoid, a sliding through hole connected to the sliding groove is provided on the clamping plate, guide inclined grooves are provided on the groove walls on both sides of the front and rear sides of the sliding groove, a self-locking branch chain is connected in the sliding groove, and a limiting rod with a U-shaped structure is installed on the upper sides of the left and right ends of the clamping plate, the openings of the two limiting rods are opposite and symmetrically distributed, and an extension branch chain is connected to the lower end of the clamping plate; A limiting device is connected to the inner end of the horizontal section of the U-shaped frame, and the limiting device includes a second hydraulic push rod installed at the inner end of the horizontal section of the U-shaped frame, and the lower end of the second hydraulic push rod is connected to a moving mechanism, and the moving mechanism is connected to two lower pressure sleeves that are symmetrically distributed on the left and right; The limit branch chain includes a limit column installed at the upper end of the rotating rod, a plurality of first limit teeth uniformly distributed in the circumferential direction are integrally formed on the annular surface of the limit column, a circular ring tube fixedly connected to the inner end of the horizontal section of the U-shaped plate is arranged on the outer circumference of the limit column, and rectangular openings are symmetrically opened along the axis at the upper and lower ends of the inner ring surface of the circular ring tube; The limit branch chain also includes two pushing rods which are symmetrically distributed on the left and right and slide through the wall of the annular tube. A slope is provided at one end of the pushing rod away from the axis of the annular tube, and an arc plate is installed at one end of the pushing rod close to the axis of the annular tube. A plurality of second limit teeth uniformly distributed in the circumferential direction are integrally formed on the inner annular surface of the arc plate. A return spring is symmetrically installed on the outer arc surface of the arc plate. One end of the return spring away from the arc plate is fixedly connected to the corresponding rectangular opening wall. A visual camera is installed in the middle of the lower end of the rectangular plate, and two lighting light sources fixedly connected to the lower end of the rectangular plate are symmetrically arranged on the front and rear sides of the visual camera.

2. The robotic arm driven by a visual system according to claim 1, characterized in that: The driving branch chain includes a fixed plate installed on the upper end of the rectangular plate and away from the U-shaped frame, and the first hydraulic push rods are symmetrically installed on the fixed plate front and back, and the moving sections of the two first hydraulic push rods are fixedly connected to the two vertical sections of the corresponding U-shaped plate.

3. The robotic arm driven by a visual system according to claim 1, characterized in that: The moving mechanism comprises a strip plate installed at the lower end of the second hydraulic push rod, and two sliding sleeves symmetrically distributed on the strip plate are provided, and the lower end of the sliding sleeve is fixedly connected to the corresponding upper end of the lower pressure sleeve.

4. The robotic arm driven by a visual system according to claim 1, characterized in that: The self-locking branch chain includes a right-angled trapezoidal plate slidably connected to the sliding groove, with the inclined surface of the right-angled trapezoidal plate facing downward, and a plurality of evenly distributed traction springs are installed between the upper end of the right-angled trapezoidal plate and the top wall of the sliding groove, and sliders are integrally formed at both the front and rear ends of the right-angled trapezoidal plate, and the sliders are slidably connected to the corresponding guide inclined grooves, and a connecting rod located in the sliding through hole is installed on the right-angled trapezoidal plate, and a semicircular plate is installed at the end of the connecting rod away from the right-angled trapezoidal plate.

5. The mechanical arm driven by a visual system according to claim 4, characterized in that: The extended branch chain includes two lifting rods which are symmetrically distributed frontward and rearward and slidably connected to the lower end of the clamping plate. An extension plate is commonly installed at the lower ends of the two lifting rods. A square plate located below the semicircular plate is installed on the extension plate and the clamping plate. The two square plates are symmetrically distributed up and down. An adjusting screw is rotatably connected to the square plate located below, and the adjusting screw is threadedly connected to the square plate located above.

6. The robotic arm driven by a visual system according to claim 1, characterized in that: The limiting device also includes an L-shaped rod for pressing down the self-locking branch chain.

7. The robotic arm driven by a visual system according to claim 1, characterized in that: The pushing mechanism also includes two positioning plates which are symmetrically distributed on the left and right sides and are respectively installed at the lower ends of the left and right sides of the U-shaped plate.

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