Six-axis mechanical arm visual grabbing mechanism

Abstract

The invention discloses a six-axis mechanical arm visual grabbing mechanism. The six-axis mechanical arm visual grabbing mechanism comprises a multi-stage rotating device, a connecting device, a visual device and a grabbing device. The connecting device comprises a connecting disc, a multi-stage rotating device is arranged below the connecting disc, a grabbing device is arranged above the connecting disc, and a visual device is slidably connected to the side wall of the connecting disc. The multi-stage rotating device comprises a motor I, a first support, a second support, a motor II, a third support and a motor III. The grabbing device comprises a driving mechanism, a grabbing mechanism and a driving motor. The visual device comprises a rotating motor, a gear, a rotating motor and a camera. Matched multi-stage rotation among all stages of supports is achieved through all stages of bodies, the driving motor drives the grabbing mechanism to rotate so that the grabbing precision and the grabbing effect can be improved, meanwhile, the rotating motor drives the gear to rotate so that the position of the camera in the circumferential direction of the connecting disc can be changed, the rotating motor drives the camera to rotate, and the grabbing precision and the grabbing effect can be improved. The shooting angle of the camera is adjusted.

Description

Technical Field

[0001] The invention relates to the field of mechanical arms, in particular to a six-axis mechanical arm visual grasping mechanism. Background Art

[0002] A robotic arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof and other fields. In some high-risk production environments, manufacturers will choose to install robotic arms to replace manual work, or manually operate robotic arms for production. When manually operating robotic arms to produce some high-precision products, cameras will be installed on the robotic arms to facilitate observation of the products and facilitate the grabbing, transfer and use of items.

[0003] However, the current robotic arms cannot identify and observe certain objects well due to the limited shooting range of the camera when they are used. They cannot accurately grasp objects and may easily cause the objects to fall during transfer. Therefore, a camera mechanical gripper arm with all-round observation has emerged.

[0004] However, in actual use, it is quite difficult to achieve all-round observation. The reason is that it is necessary to observe both the clamping part of the robot arm (i.e. the contact point between the robot arm and the clamped part) and the posture of the clamped part. Only by combining the two can a more accurate judgment be achieved. However, observing the clamping part of the robot arm requires the camera to be close, while observing the posture of the clamped part requires the camera to be far away, so that the visual range of the clamped part can meet the requirements.

[0005] Therefore, there is an urgent need for a six-axis robotic arm visual grasping mechanism that can not only observe the clamping part of the robotic arm, but also solve the problem of insufficient camera shooting range affecting the grasping effect. Summary of the invention

[0006] The object of the present invention is to provide a six-axis robot arm visual grasping mechanism, comprising a multi-stage rotating device, a connecting device, a visual device and a grasping device.

[0007] The multi-stage rotating device includes a support seat, a motor I fixed on the top surface of the support seat, a first bracket, a second bracket, a motor II, a third bracket, a motor III and a connecting seat.

[0008] The first bracket, the second bracket and the third bracket are U-shaped brackets. The two vertical sections of the first bracket are hinged to the output end of the bottom of the motor I, the horizontal section of the first bracket is fixedly connected to the horizontal section of the second bracket, and the two vertical sections of the second bracket are hinged to the output end of the bottom of the motor II. The top of the motor II is fixedly connected to the horizontal section of the third bracket, and the two vertical sections of the third bracket are hinged to the output end of the motor III.

[0009] A connecting seat is fixed on the top surface of the motor III.

[0010] The connecting device comprises a connecting plate fixed on the top surface of the connecting seat.

[0011] The visual device comprises a connection box, a rotating motor, a gear, a connection frame, a rotating motor and a camera.

[0012] One end of the connection box is rotatably connected to the side wall of the connection plate, and the other end is fixed with a connection frame. The connection frame is a U-shaped frame, the bottom plate of the U-shaped frame is fixed to the connection box, and a rotating motor is arranged on the plate surface of a side plate of the U-shaped frame away from the notch, and the output shaft of the rotating motor passes through the side plate and is fixedly connected to the camera arranged in the notch of the U-shaped frame.

[0013] A rotating motor is arranged inside the connection box, and the output shaft of the rotating motor passes through the connection box and is connected with the shaft hole of the gear, and the gear is externally meshed with a plurality of teeth arranged on the side wall of the connection disk.

[0014] The grabbing device comprises a support rod, a support plate, a driving mechanism, a grabbing mechanism and a driving motor.

[0015] A driving motor is fixed on the plate surface of the connecting plate, and a plurality of supporting rods are arranged on the same side plate surface around the driving motor, and the other side of the supporting rods is fixed on the plate surface of the supporting plate.

[0016] The output shaft of the driving motor passes through the plate surface of the supporting plate and is connected to a driving mechanism fixed on the supporting plate, and a grabbing mechanism is arranged at the output end of the driving mechanism.

[0017] Furthermore, the connecting disk includes a solid disk and an annular connecting ring, and the disk and the connecting ring are connected via teeth.

[0018] An annular groove is provided on the side wall of the disc, a sliding block is sleeved in the annular groove, and the sliding block is fixedly connected to the connection box.

[0019] Furthermore, a roller is provided at one end of the sliding block facing the annular groove, and the roller is in contact with the inner wall of the annular groove.

[0020] Furthermore, threads are provided at both ends of the teeth.

[0021] Furthermore, the axial direction of the teeth is parallel to the length direction of the support rod.

[0022] Furthermore, there are four support rods, which are arranged on the connecting plate at intervals around the driving motor.

[0023] Furthermore, the bottom of the support seat is fixed on the mounting seat, and a plurality of mounting holes are opened on the mounting seat, and the mounting holes are arranged at intervals around the support seat.

[0024] The six-axis robot arm visual grasping mechanism is fixed by a mounting seat.

[0025] Furthermore, the output ends of the rotating motor and the rotary motor are both connected to a reducer.

[0026] Furthermore, the motor I is arranged in a notch of the first bracket.

[0027] The motor II is arranged in the notch of the second bracket.

[0028] The motor III is arranged in the notch of the third bracket.

[0029] When in use, the first bracket is driven to rotate by motor I, and then the second bracket and the third bracket are driven to rotate, thereby realizing multi-level rotation adjustment of the grasping mechanism 15; the gear is driven to rotate by the rotating motor, so that the camera rotates along the circumference of the connecting disk; and the shooting angle of the camera is controlled by the rotating motor.

[0030] The technical effect of the present invention is undoubted, and the beneficial effects of the present invention are as follows:

[0031] 1. The present invention uses a camera to shoot and identify the object to be grasped to ensure a more accurate grasping effect; the connecting box is rotated along the connecting disk by rotating the motor to drive the gear to rotate, thereby changing the position of the camera in the circumferential direction of the connecting disk, and at the same time, the rotating motor drives the rotation of the camera to adjust the camera's shooting angle (that is, change the angle between the camera and the central axis of the connecting disk 11), thereby increasing the camera's shooting range, which is beneficial to the grasping work.

[0032] 2. The present invention can grab and transfer items through the grabbing mechanism. Through the action of motor I, motor II and motor III, the first bracket, the second bracket and the third bracket can be rotated in multiple stages. At the same time, the grabbing mechanism driven by the driving motor can be rotated to realize the flexible operation of the mechanical arm, with high grabbing accuracy and improved item grabbing effect. That is, through the installation position of the camera, the camera can shoot the clamping part at 360° without viewing angle. Under this premise, the camera shooting range can be improved by adjusting the camera shooting angle, solving the problem that the camera shooting range is insufficient to affect the grabbing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a three-dimensional diagram of the visual grasping mechanism of the six-axis robot arm of the present invention;

[0034] Figure 2 for Figure 1 A magnified image of point A;

[0035] Figure 3 It is a three-dimensional diagram of the local structure of the connection disk of the present invention.

[0036] In the figure: mounting base 1, mounting hole 2, supporting base 3, motor I4, first bracket 5, second bracket 6, motor II7, third bracket 8, motor III9, connecting base 10, connecting disk 11, supporting rod 12, supporting plate 13, driving mechanism 14, grabbing mechanism 15, driving motor 16, connecting box 17, slider 18, annular groove 19, rotating motor 20, gear 21, teeth 22, connecting frame 23, rotating motor 24, camera 25. DETAILED DESCRIPTION

[0037] The present invention is further described below in conjunction with the embodiments, but it should not be understood that the above subject matter of the present invention is limited to the following embodiments. Without departing from the above technical ideas of the present invention, various substitutions and changes are made according to the common technical knowledge and customary means in the art, which should all be included in the protection scope of the present invention.

[0038] Embodiment 1:

[0039] A six-axis mechanical arm visual grasping mechanism comprises a multi-stage rotating device, a connecting device, a visual device for photographing an object to be grasped, and a grasping device for grasping the object to be grasped.

[0040] The multi-stage rotating device includes a support seat 3, a motor I4 fixed on the top surface of the support seat 3, a first bracket 5, a second bracket 6, a motor II7, a third bracket 8, a motor III9 and a connecting seat 10.

[0041] The first bracket 5, the second bracket 6 and the third bracket 8 are U-shaped brackets. The two vertical sections of the first bracket 5 are hinged to the output end of the bottom of the motor I4, the horizontal section of the first bracket 5 is fixedly connected to the horizontal section of the second bracket 6, and the two vertical sections of the second bracket 6 are hinged to the output end of the bottom of the motor II7. The top of the motor II7 is fixedly connected to the horizontal section of the third bracket 8, and the two vertical sections of the third bracket 8 are hinged to the output end of the motor III9.

[0042] A connecting seat 10 is fixed to the top surface of the motor III9.

[0043] The connecting device includes a connecting plate 11 fixed on the top surface of the connecting seat 10.

[0044] The visual device includes a connection box 17 , a rotating motor 20 , a gear 21 , a connection frame 23 , a rotating motor 24 and a camera 25 .

[0045] One end of the connection box 17 is rotatably connected to the side wall of the connection disk 11, and the other end is fixed with a connection frame 23. The connection frame 23 is a U-shaped frame, the bottom plate of the U-shaped frame is fixed to the connection box 17, and a rotating motor 24 is arranged on the plate surface of a side plate of the U-shaped frame away from the notch, and the output shaft of the rotating motor 24 passes through the side plate and is fixedly connected to a camera 25 arranged in the notch of the U-shaped frame.

[0046] A rotating motor 20 is disposed inside the connection box 17 , and an output shaft of the rotating motor 20 passes through the connection box 17 and is connected to an axial hole of a gear 21 . The gear 21 is externally meshed with a plurality of teeth 22 disposed on the side wall of the connection disk 11 .

[0047] The grabbing device includes a support rod 12 , a support plate 13 , a driving mechanism 14 , a grabbing mechanism 15 and a driving motor 16 .

[0048] A driving motor 16 is fixed on the plate surface of the connecting plate 11 , and a plurality of supporting rods 12 are arranged around the driving motor 16 on the same side plate surface, and the other side of the supporting rods 12 is fixed on the plate surface of the supporting plate 13 .

[0049] The output shaft of the driving motor 16 passes through the plate surface of the supporting plate 13 and is connected to the driving mechanism 14 fixed on the supporting plate 13 . The output end of the driving mechanism 14 is provided with a grabbing mechanism 15 .

[0050] Embodiment 2:

[0051] The main structure of this embodiment is the same as that of Embodiment 1. Furthermore, the connecting disk 11 includes a solid disk and an annular connecting ring. The disk and the connecting ring are connected via teeth 22 .

[0052] An annular groove 19 is provided on the side wall of the disc. A slider 18 is sleeved in the annular groove 19 . The slider 18 is fixedly connected to the connection box 17 .

[0053] Embodiment 3:

[0054] The main structure of this embodiment is the same as that of Embodiment 2. Furthermore, a roller is provided at one end of the slider 18 facing the annular groove 19 , and the roller contacts the inner wall of the annular groove 19 .

[0055] By providing the roller, the friction between the slider 18 and the annular groove 19 can be reduced (the sliding friction between the slider 18 and the annular groove 19 can be converted into rolling friction), which can increase the service life.

[0056] Embodiment 4:

[0057] The main structure of this embodiment is the same as any one of Embodiments 1 to 3. Furthermore, threads are provided at both ends of the tooth 22, one end is connected to the disc of the connecting disc 11, and the other end is connected to the connecting ring of the connecting disc 11.

[0058] Embodiment 5:

[0059] The main structure of this embodiment is the same as any one of Embodiments 1 to 4. Furthermore, the axial direction of the teeth 22 is parallel to the length direction of the support rod 12 .

[0060] Embodiment 6:

[0061] The main structure of this embodiment is the same as any one of Embodiments 1 to 5. Furthermore, the axial direction of the tooth 22 is the vertical direction, and the horizontal cross-sectional shape of the tooth can be circular, which can reduce the difficulty of processing.

[0062] Embodiment 7:

[0063] The main structure of this embodiment is the same as any one of Embodiments 1 to 6. Furthermore, there are four support rods 12 , which are arranged on the connecting plate 11 at intervals around the driving motor 16 .

[0064] Embodiment 8:

[0065] The main structure of this embodiment is the same as any one of Embodiments 1 to 7. Furthermore, the bottom of the support seat 3 is fixed on the mounting seat 1. The mounting seat 1 is provided with a plurality of mounting holes 2. The mounting holes 2 are arranged at intervals around the support seat 3.

[0066] The six-axis robot arm visual grasping mechanism is fixed by a mounting base 1 .

[0067] Embodiment 9:

[0068] The main structure of this embodiment is the same as any one of Embodiments 1 to 8. Furthermore, the output ends of the rotating motor 20 and the rotating motor 24 are both connected to a reducer, which increases the torque of the rotating motor and the rotating motor, reduces the speed of the rotating motor and the rotating motor, and makes control more convenient.

[0069] Embodiment 10:

[0070] The main structure of this embodiment is the same as any one of Embodiments 1 to 9. Furthermore, the motor I4 is arranged in the notch of the first bracket 5.

[0071] The motor II7 is arranged in the notch of the second bracket 6 .

[0072] The motor III9 is ​​arranged in the notch of the third bracket 8 .

[0073] Embodiment 11:

[0074] The main structure of this embodiment is the same as any one of Embodiments 1 to 10. Furthermore, when in use, the first bracket 5 is driven to rotate by the motor I4, and then the second bracket 6 and the third bracket 8 are driven to rotate, thereby realizing multi-stage rotation adjustment of the grasping mechanism 15; the gear 21 is driven to rotate by the rotating motor 20, so that the camera 25 rotates along the circumference of the connecting disk 11; the shooting angle of the camera 25 is controlled by the rotating motor 24.

[0075] Embodiment 12:

[0076] The main structure of this embodiment is the same as any one of Embodiments 1 to 11. Furthermore, a six-axis robot arm visual grasping mechanism includes a connecting seat 10, the top of which is fixedly connected to a connecting disk 11, the top of which is fixedly connected to a support rod 12, and the top of the support rod 12 is fixedly connected to a support plate 13.

[0077] The top of the connecting plate 11 is fixedly connected to a driving motor 16 , and an output end of the driving motor 16 is rotatably connected to the supporting plate 13 .

[0078] The left end of the connection disk 11 is slidably connected to the connection box 17, and the end of the connection box 17 close to the connection disk 11 is fixedly connected to the slider 18, and the slider 18 is slidably connected to the connection disk 17. The interior of the connection box 17 is fixedly connected to the rotating motor 20, and the output end of the rotating motor 20 penetrates the connection box 17 and is rotatably connected to the connection box 17. The output end of the rotating motor 20 is fixedly connected to the gear 21, and the end of the gear 21 close to the connection disk 11 is meshed with the teeth 22, and the teeth 22 are fixedly connected to the connection disk 17. The end of the connection box 17 away from the connection disk 11 is fixedly connected to the connection frame 23, and the front end of the connection frame 23 is fixedly connected to the rotating motor 24, and the output end of the rotating motor 24 penetrates the connection frame 23 and is rotatably connected to the connection frame 23. The output end of the rotating motor 24 is fixedly connected to the camera 25, and the camera 25 is rotatably connected to the connection frame 23.

[0079] Furthermore, it also includes a mounting seat, a mounting hole is provided inside the mounting seat, the top of the mounting seat is fixedly connected to the support seat, the top of the support seat is fixedly connected to the motor I, the outer side of the motor I is hinged to the first bracket, the first bracket is fixedly connected to the output end of the motor I, the top of the first bracket is fixedly connected to the second bracket, the upper inner side of the second bracket is hinged to the motor II, the output end of the motor II is fixedly connected to the second bracket, the top of the motor II is fixedly connected to the third bracket, the upper inner side of the third bracket is hinged to the motor III, the output end of the motor III is fixedly connected to the third bracket, and the top of the motor III is fixedly connected to the connecting seat.

[0080] Furthermore, the top of the support plate is fixedly connected to a driving mechanism, the driving mechanism is fixedly connected to an output end of a driving motor, and a grabbing mechanism is provided at the output end of the driving mechanism.

[0081] Furthermore, the number of the mounting holes is four, and the four mounting holes are evenly distributed on the mounting base.

[0082] Furthermore, the number of the support rods is four, and the four support rods are evenly distributed in a ring shape on the top of the connecting plate.

[0083] Furthermore, an annular groove is provided inside the connecting disk, and a sliding block is slidably sleeved inside the annular groove.

[0084] Furthermore, there are multiple teeth, and the multiple teeth are annular and evenly distributed inside the connecting disk.

[0085] Furthermore, a roller is provided on the sliding block, and the roller contacts the inner wall of the annular groove.

[0086] Furthermore, the axial direction of the teeth is a vertical direction.

[0087] Furthermore, the output ends of the rotary motor and the rotating motor are both connected to a reducer.

[0088] Embodiment 13:

[0089] The main structure of this embodiment is the same as any one of Embodiments 1 to 12, and further, Figure 1 , Figure 2 , Figure 3 As shown, the mechanism includes a mounting seat 1, and a mounting hole 2 is opened inside the mounting seat 1. The number of the mounting holes 2 is four, and the four mounting holes 2 are evenly distributed on the mounting seat 1. By designing the mounting holes 2, the mounting seat 1 and the overall structure thereon can be installed and used through the mounting holes 2.

[0090] The top of the mounting base 1 is fixedly connected to the supporting base 3, the top of the supporting base 3 is fixedly connected to the motor I4, the outer side of the motor I4 is hinged to the first bracket 5, the first bracket 5 is fixedly connected to the output end of the motor I4, the top of the first bracket 5 is fixedly connected to the second bracket 6, the upper inner side of the second bracket 6 is hinged to the motor II7, the output end of the motor II7 is fixedly connected to the second bracket 6, the top of the motor II7 is fixedly connected to the third bracket 8, the upper inner side of the third bracket 8 is hinged to the motor III9, the output end of the motor III9 is ​​fixedly connected to the third bracket 8, and the top of the motor III9 is ​​fixedly connected to the connecting base 10.

[0091] like Figure 1 , Figure 2 , Figure 3As shown, the top of the connection seat 10 is fixedly connected to the connection disk 11, and the top of the connection disk 11 is fixedly connected to the support rod 12. There are four support rods 12, and the four support rods 12 are annular and evenly distributed on the top of the connection disk 11. By designing the support rods 12, the support plate 13 can be supported, and the top of the support rods 12 is fixedly connected to the support plate 13. The top of the connection disk 11 is fixedly connected to the drive motor 16, and the output end of the drive motor 16 is rotatably connected to the support plate 13. The top of the support plate 13 is fixedly connected to the drive mechanism 14, and the drive mechanism 14 is fixedly connected to the output end of the drive motor 16. A grabbing mechanism 15 is set at the output end of the drive mechanism 14. By designing the grabbing mechanism 15, objects can be grabbed and transferred for use.

[0092] The left end of the connecting disk 11 is slidably connected to the connecting box 17, and the end of the connecting box 17 close to the connecting disk 11 is fixedly connected to the slider 18, and the slider 18 is slidably connected to the connecting disk 11. An annular groove 19 is opened inside the connecting disk 11, and the inside of the annular groove 19 is slidably sleeved with the slider 18. By designing the annular groove 19, the slider 18 can slide along the connecting disk 11.

[0093] The interior of the connecting box 17 is fixedly connected to the rotating motor 20, and the output end of the rotating motor 20 passes through the connecting box 17 and is rotatably connected to the connecting box 17. The output end of the rotating motor 20 is fixedly connected to a gear 21, and one end of the gear 21 close to the connecting disk 11 is meshed with teeth 22, and the teeth 22 are fixedly connected to the connecting disk 11. There are multiple teeth 22, and the multiple teeth 22 are annular and evenly distributed inside the connecting disk 11. By designing the teeth 22, when the gear 21 rotates, it can be made to rotate along the connecting disk 11.

[0094] One end of the connecting box 17 away from the connecting disk 11 is fixedly connected to the connecting frame 23, the front end of the connecting frame 23 is fixedly connected to the rotating motor 24, the output end of the rotating motor 24 passes through the connecting frame 23 and is rotatably connected to the connecting frame 23, the output end of the rotating motor 24 is fixedly connected to the camera 25, and the camera 25 is rotatably connected to the connecting frame 23.

[0095] When in use, motor I4 can drive the first bracket 5 to rotate, and the first bracket 5 drives the second bracket 6 to rotate. At the same time, motor II7 can rotate along the second bracket 6, and motor II7 can drive the third bracket 8 to rotate. The motor III9 arranged on the third bracket 8 can rotate along the third bracket 8, so as to realize multi-stage rotation adjustment of the grasping mechanism 15. In combination with the driving motor 16 to drive the rotation of the grasping mechanism 15, the flexible operation of the robot arm can be realized, the grasping accuracy is high, and the object grasping effect is improved.

[0096] When photographing the object to be grasped, the rotating motor 20 can be controlled to work, and the output end of the rotating motor 20 can drive the gear 21 to rotate. Through the engagement of the gear 21 and the teeth 22, the connecting box 17 can drive the slider 18 to slide along the annular groove 19, so that the camera 25 can be rotated and adjusted along the connecting disk 11. When the rotating motor 24 is started, the output end of the rotating motor 24 can drive the camera 25 to rotate, and the shooting angle of the camera 25 can be adjusted. The rotation and rotation adjustment of the camera 25 can effectively improve the shooting range of the camera 25, which is beneficial to the grasping work.

[0097] Embodiment 13:

[0098] The main structure of this embodiment is the same as any one of Embodiments 1 to 12. Furthermore, both ends of the teeth 22 are provided with threads, which can not only fix the two parts of the connecting plate 11 together, but also facilitate replacement.

Claims

1. A six-axis robotic arm visual grasping mechanism, characterized in that: It includes a multi-stage rotating device, a connecting device, a visual device and a grasping device; The multi-stage rotating device comprises a support seat (3), a motor I (4) fixed on the top surface of the support seat (3), a first bracket (5), a second bracket (6), a motor II (7), a third bracket (8), a motor III (9) and a connecting seat (10); The first bracket (5), the second bracket (6) and the third bracket (8) are U-shaped brackets; the two vertical sections of the first bracket (5) are hinged to the output end of the bottom of the motor I (4); the horizontal section of the first bracket (5) is fixedly connected to the horizontal section of the second bracket (6); the two vertical sections of the second bracket (6) are hinged to the output end of the bottom of the motor II (7); the top of the motor II (7) is fixedly connected to the horizontal section of the third bracket (8); the two vertical sections of the third bracket (8) are hinged to the output end of the motor III (9); A connecting seat (10) is fixed on the top surface of the motor III (9); The connecting device comprises a connecting plate (11) fixed on the top surface of the connecting seat (10); The visual device comprises a connection box (17), a rotating motor (20), a gear (21), a connection frame (23), a rotating motor (24) and a camera (25); One end of the connection box (17) is rotatably connected to the side wall of the connection plate (11), and the other end is fixed with a connection frame (23); the connection frame (23) is a U-shaped frame, the bottom plate of the U-shaped frame is fixed to the connection box (17), a rotating motor (24) is arranged on a plate surface of a side plate of the U-shaped frame away from the notch, and the output shaft of the rotating motor (24) passes through the side plate and is fixedly connected to a camera (25) arranged in the notch of the U-shaped frame; A rotating motor (20) is arranged inside the connecting box (17), and an output shaft of the rotating motor (20) passes through the connecting box (17) and is connected to an axial hole of a gear (21), and the gear (21) is externally meshed with a plurality of teeth (22) arranged on the side wall of the connecting plate (11); The grasping device comprises a support rod (12), a support plate (13), a driving mechanism (14), a grasping mechanism (15) and a driving motor (16); A driving motor (16) is fixed on the plate surface of the connecting plate (11), and a plurality of supporting rods (12) are arranged around the driving motor (16) on the same side plate surface, and the other side of the supporting rods (12) is fixed on the plate surface of the supporting plate (13); The output shaft of the driving motor (16) passes through the plate surface of the supporting plate (13) and is connected to a driving mechanism (14) fixed on the supporting plate (13); a gripping mechanism (15) is provided at the output end of the driving mechanism (14).

2. A six-axis robot arm visual grasping mechanism according to claim 1, characterized in that: The connecting disk (11) comprises a solid disk and an annular connecting ring; the disk and the connecting ring are connected via teeth (22); An annular groove (19) is provided on the side wall of the disc, a slider (18) is sleeved in the annular groove (19), and the slider (18) is fixedly connected to the connection box (17).

3. A six-axis robot arm visual grasping mechanism according to claim 2, characterized in that: A roller is provided at one end of the sliding block (18) facing the annular groove (19), and the roller is in contact with the inner wall of the annular groove (19).

4. The six-axis robot arm visual grasping mechanism according to claim 1, characterized in that: Both ends of the tooth (22) are provided with threads.

5. The six-axis robot arm visual grasping mechanism according to claim 1, characterized in that: The axial direction of the teeth (22) is parallel to the length direction of the support rod (12).

6. The six-axis robot arm visual grasping mechanism according to claim 1, characterized in that: There are four support rods (12), and the four support rods (12) are arranged on the connection disk (11) at intervals around the drive motor (16).

7. The six-axis robot arm visual grasping mechanism according to claim 1, characterized in that: The bottom of the support seat (3) is fixed on the mounting seat (1), and a plurality of mounting holes (2) are provided on the mounting seat (1), and the mounting holes (2) are arranged at intervals around the support seat (3). The six-axis mechanical arm visual grasping mechanism is fixed via a mounting seat (1).

8. The six-axis robot arm visual grasping mechanism according to claim 1, characterized in that: The output ends of the rotary motor (20) and the rotating motor (24) are both connected to a reducer.

9. The six-axis robot arm visual grasping mechanism according to claim 1, characterized in that: The motor I (4) is arranged in a notch of the first bracket (5); The motor II (7) is arranged in a notch of the second bracket (6); The motor III (9) is arranged in the notch of the third bracket (6).

10. The six-axis robot arm visual grasping mechanism according to claim 1, characterized in that: When in use, the motor 1 (4) drives the first bracket (5) to rotate, thereby driving the second bracket (6) and the third bracket (8) to rotate, thereby realizing multi-stage rotation adjustment of the grabbing mechanism 15. The motor (20) drives the gear (21) to rotate, thereby causing the camera (25) to rotate along the circumference of the connecting disk (11). The shooting angle of the camera (25) is controlled by the rotating motor (24).

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