Robot vision automatic grabbing device

Abstract

The invention discloses a robot vision automatic grabbing device which comprises a base, a rotating seat is arranged in the middle of the top end of the base, a first adjusting arm is connected to the top end of the rotating seat, a second adjusting arm is connected to the end, away from the rotating seat, of the first adjusting arm, and a rotating frame is connected to the other end of the second adjusting arm. The side wall of the rotating frame is connected with a rotating arm, the other end of the rotating arm is connected with a mounting frame, a first motor is mounted on the surface of one end of the mounting frame, and the output end of the first motor is connected with a rotating seat. Through the arrangement of structures such as an air cylinder, a movable plate, a linkage rod and a clamping seat, an object can be conveniently and effectively clamped when the whole grabbing device is used for clamping and grabbing the object subsequently, and the situation that the subsequent object falls off due to the poor clamping effect when the grabbing structure grabs the object is prevented; and follow-up handling such as object lifting is affected, and the overall practicability is higher.

Description

Technical Field

[0001] The present invention relates to the field of processing of robot vision automatic grasping devices, and particularly to a robot vision automatic grasping device. Background Art

[0002] Robot vision automatic grasping technology is an advanced technology that combines the two fields of computer vision and robot control. It allows a robot to obtain image information of a target object through an image acquisition device such as a camera without human intervention, and through a series of processing and analysis, finally achieve precise positioning and grasping operations.

[0003] When the existing robot vision automatic grasping device uses a mechanical claw to grasp an item, since the mechanical claw mostly has a fixed shape, when grasping some irregular items, the grasping may be unstable during the grasping process, resulting in the grasped item falling off during the subsequent movement of the entire robotic arm, thus causing unnecessary trouble and poor overall practicality. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides a robot vision automatic grasping device, which can solve the technical problem that when the existing robot vision automatic grasping device uses a mechanical claw to grasp an item, since the mechanical claw mostly has a fixed shape, when grasping some irregular items, the grasping may be unstable during the grasping process, resulting in the grasped item falling off during the subsequent movement of the entire robotic arm, thus causing unnecessary trouble and poor overall practicality.

[0005] To solve the above technical problem, the present invention provides the following technical solution: A robot vision automatic grasping device, including a base, a rotating seat is arranged in the middle of the top end of the base, and a first adjusting arm is connected to the top end of the rotating seat. One end of the first adjusting arm away from the rotating seat is connected to a second adjusting arm, and the other end of the second adjusting arm is connected to a rotating frame. A rotating arm is connected to the side wall of the rotating frame, and the other end of the rotating arm is connected to a mounting frame. A first motor is installed on the surface of one end of the mounting frame, and the output end of the first motor is connected to a rotating seat. A clamping seat is connected to one side of the rotating seat, and a vision cabinet is installed on the top end of the clamping seat. A connecting disk is distributed on the side of the clamping seat away from the rotating seat, and a connecting seat is arranged on the other side of the connecting disk. A grasping structure is arranged inside the connecting seat; The grasping structure includes a cylinder disposed in the inner cavity of the connecting seat, and the output end of the cylinder is connected to a movable plate. One side of the movable plate is connected to a linkage rod, and the other side of the linkage rod is connected to an adjusting seat. A second motor is installed on the surface of one end of the adjusting seat, and the output end of the second motor is connected to a clamping seat. A first spring is fixedly connected to the inner side wall of the clamping seat, and the other end of the first spring is connected to a rubber head.

[0006] As a preferred technical solution of the present invention, slots are provided at the corners of the clamping seat, positioning holes are provided on the side wall of the clamping seat, and a cross groove is provided in the middle of the clamping seat.

[0007] As a preferred technical solution of the present invention, a plug rod is provided at the corner of one side of the connecting disk, and a second spring is fixedly connected to the inner cavity of the plug rod. The other end of the second spring is connected to a positioning rod, and an auxiliary sliding plate is sleeved on the outer side of one end of the positioning rod. A cross block is provided in the middle of the side of the connecting disk away from the connecting seat.

[0008] As a preferred technical solution of the present invention, a third motor is installed on the surface of one end of the rotating seat, a fourth motor is installed on one side of the top end of the first adjusting arm, and the output end of the fourth motor is connected to a gear. An extension rod is provided on the side wall of the second adjusting arm close to the first adjusting arm, and a guiding block is provided on the surface of one end of the extension rod. A rack is distributed above the extension rod. A fifth motor is installed inside the end of the second adjusting arm away from the extension rod, and a sixth motor is installed on the side of the rotating frame away from the rotating arm.

[0009] As a preferred technical solution of the present invention, hydraulic cylinders are installed at the corners of the top end of the base, and the output ends of the hydraulic cylinders are connected to the feet.

[0010] As a preferred technical solution of the present invention, a rotational connection is formed between the linkage rod and the connecting seat, and the linkage rods are symmetrically distributed along the vertical center line of the connecting seat.

[0011] As a preferred technical solution of the present invention, a rotational connection is formed between the clamping seat and the adjusting seat, and the rubber heads are equidistantly distributed along the inner side wall of the clamping seat.

[0012] As a preferred technical solution of the present invention, the slots are equidistantly distributed along the center point of the clamping seat, and the slots and the clamping seat form an integral structure.

[0013] As a preferred technical solution of the present invention, a sliding connection is formed between the positioning rod and the plug rod through the second spring, and the plug rods are circumferentially and equidistantly distributed along the center point of the connecting disk.

[0014] As a preferred technical solution of the present invention, the extension rod forms a sliding connection with the first adjusting arm through the guiding block, and the extension rods are symmetrically distributed along the vertical center line of the second adjusting arm.

[0015] Compared with the prior art, the beneficial effects that the present invention can achieve are as follows: 1. Through the structures such as the cylinder, the movable plate, the linkage rod and the clamping seat, it is convenient to effectively clamp and grab the article by using the whole grabbing device subsequently, preventing the article from falling off due to poor clamping effect when the grabbing structure grabs the article, which affects subsequent handling such as hoisting of the article. The overall practicality is higher. When the cylinder works, it will push the movable plate, so that the movable plate slides inside the connecting seat. When the movable plate slides, it will drive the linkage rod to move accordingly. At this time, the linkage rod drives the adjusting seat to move accordingly, and then the movement of the two adjusting seats drives the clamping seat to clamp the article. When the clamping seat contacts the article, the rubber head will contact the surface of the article. Since there are multiple rubber heads, the combination of multiple rubber heads and the first spring can effectively clamp and limit the irregular positions of the article; 2. By combining the structures such as the insertion rod, the second spring, the positioning rod and the clamping seat, it is convenient to quickly disassemble and install the grabbing structure successively, and it is convenient to replace the whole grabbing structure according to actual use requirements subsequently, which is more convenient and fast, and has higher flexibility. When the insertion rod is input into the slot opened inside the clamping seat, the reverse force generated by the deformation of the second spring will push the positioning rod, so that one end of the positioning rod is input into the positioning hole. The arranged auxiliary slide plate can improve the stability of the positioning rod during its movement. When one ends of multiple positioning rods are all input into the positioning hole, the quick connection between the connecting disc and the clamping seat can be realized, and it is also easy to disassemble subsequently. When the cross block is input into the cross groove, the clamping stability between the two can be further improved; 3. By combining the structures such as the fourth motor, the gear, the rack and the extension rod, it is convenient to adjust the extension length of the second adjusting arm according to actual use requirements during subsequent use, so as to better grab articles, etc., with higher flexibility. When the fourth motor works, the gear connected to its output end will rotate accordingly. At this time, since the gear and the rack form a meshing connection, the rotation of the gear will drive the rack to extend accordingly. Then the rack pushes the second adjusting arm, so that the second adjusting arm drives the extension rod to move inside the first adjusting arm, realizing the extension process of the second adjusting arm, and it is convenient to adjust the distance between the two extension arms according to actual use requirements. Description of the Drawings

[0016] Figure 1Schematic structural diagram of the robot vision automatic grasping device of the present invention; Figure 2 Schematic side view structure diagram of the first adjusting arm of the robot vision automatic grasping device of the present invention; Figure 3 Schematic side view structure diagram of the connecting seat of the robot vision automatic grasping device of the present invention; Figure 4 Schematic side view structure diagram of the second adjusting arm of the robot vision automatic grasping device of the present invention; Figure 5 Schematic side view structure diagram of the clamping seat of the robot vision automatic grasping device of the present invention; Figure 6 Schematic rear view structure diagram of the connecting disc of the robot vision automatic grasping device of the present invention; Figure 7 Schematic partial cross-sectional structure diagram of the connecting seat of the robot vision automatic grasping device of the present invention; Figure 8 For the robot vision automatic grasping device of the present invention Figure 7 Enlarged structure diagram at position A.

[0017] Wherein: 1. Base; 2. Rotating seat; 3. First adjusting arm; 4. Second adjusting arm; 5. Rotating frame; 6. Rotating arm; 7. Installation frame; 8. First motor; 9. Rotating seat; 10. Clamping seat; 11. Vision cabinet; 12. Connecting disc; 13. Connecting seat; 14. Cylinder; 15. Movable plate; 16. Linking rod; 17. Adjusting seat; 18. Second motor; 19. Clamping seat; 20. First spring; 21. Rubber head; 22. Slot; 23. Positioning hole; 24. Cross slot; 25. Insert rod; 26. Second spring; 27. Positioning rod; 28. Auxiliary sliding plate; 29. Cross block; 30. Third motor; 31. Fourth motor; 32. Gear; 33. Extension rod; 34. Guide block; 35. Rack; 36. Fifth motor; 37. Sixth motor; 38. Hydraulic cylinder; 39. Foot. Specific embodiments

[0018] In order to make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the present invention will be further described below with reference to specific embodiments. However, the following embodiments are only the preferred embodiments of the present invention, not all of them. Based on the embodiments in the implementation manners, other embodiments obtained by those skilled in the art without creative efforts all belong to the protection scope of the present invention.

[0019] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 ,Figure 7 and Figure 8 As shown in Figure 8 , the present invention provides a robot vision automatic grasping device, including a base 1. A rotating base 2 is arranged in the middle of the top end of the base 1. The top end of the rotating base 2 is connected with a first adjusting arm 3. One end of the first adjusting arm 3 away from the rotating base 2 is connected with a second adjusting arm 4. The other end of the second adjusting arm 4 is connected with a rotating frame 5. A rotating arm 6 is connected to the side wall of the rotating frame 5. The other end of the rotating arm 6 is connected with a mounting frame 7. A first motor 8 is installed on the surface of one end of the mounting frame 7. The output end of the first motor 8 is connected with a rotating seat 9. One side of the rotating seat 9 is connected with a clamping seat 10. A vision cabinet 11 is installed on the top end of the clamping seat 10. A connecting disk 12 is distributed on the side of the clamping seat 10 away from the rotating seat 9. A connecting seat 13 is arranged on the other side of the connecting disk 12. A grasping structure is arranged inside the connecting seat 13; The grasping structure includes a cylinder 14 arranged in the inner cavity of the connecting seat 13. The output end of the cylinder 14 is connected with a movable plate 15. One side of the movable plate 15 is connected with a linkage rod 16. The other side of the linkage rod 16 is connected with an adjusting seat 17. A second motor 18 is installed on the surface of one end of the adjusting seat 17. The output end of the second motor 18 is connected with a clamping seat 19. A first spring 20 is fixedly connected to the inner side wall of the clamping seat 19. The other end of the first spring 20 is connected with a rubber head 21; During use, first, the connecting disk 12 forms a clamping connection with the connecting seat 13 through structures such as a plug rod 25. Subsequently, the structures such as the adjusting arm and the rotating arm 6 are used to adjust the position and angle of the grasping structure. After the adjustment is completed, the work of structures such as the clamping seat 19 can be used to realize the grasping process of the article; As a further implementation manner of this embodiment, as shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8As shown in the figure, a rotating seat 2 is provided in the middle of the top end of the base 1, and a first adjusting arm 3 is connected to the top end of the rotating seat 2. One end of the first adjusting arm 3 away from the rotating seat 2 is connected to a second adjusting arm 4, and the other end of the second adjusting arm 4 is connected to a rotating frame 5. A rotating arm 6 is connected to the side wall of the rotating frame 5, and the other end of the rotating arm 6 is connected to a mounting frame 7. A first motor 8 is installed on one end surface of the mounting frame 7, and the output end of the first motor 8 is connected to a rotating seat 9. A clamping seat 10 is connected to one side of the rotating seat 9, and a vision cabinet 11 is installed on the top end of the clamping seat 10. A connecting disk 12 is distributed on the side of the clamping seat 10 away from the rotating seat 9, and a connecting seat 13 is provided on the other side of the connecting disk 12. A grasping structure is arranged inside the connecting seat 13; the grasping structure includes a cylinder 14 arranged in the inner cavity of the connecting seat 13, and the output end of the cylinder 14 is connected to a movable plate 15. A linkage rod 16 is connected to one side of the movable plate 15, and an adjusting seat 17 is connected to the other side of the linkage rod 16. A rotational connection is formed between the linkage rod 16 and the connecting seat 13, and the linkage rod 16 is symmetrically distributed along the vertical center line of the connecting seat 13. A second motor 18 is installed on one end surface of the adjusting seat 17, and the output end of the second motor 18 is connected to a clamping seat 19. A rotational connection is formed between the clamping seat 19 and the adjusting seat 17, and rubber heads 21 are equidistantly distributed along the inner side wall of the clamping seat 19. A first spring 20 is fixedly connected to the inner side wall of the clamping seat 19, and the other end of the first spring 20 is connected to a rubber head 21; When it is necessary to use the clamping seat 19 to grab and process an item, first, drive the rotating seat 9 to rotate around the mounting frame 7 through the first motor 8 to adjust the inclination angle of the clamping seat 10. At this time, the vision cabinet 11 mounted on the clamping seat 10 will also move accordingly. Then, use the vision structure arranged inside the vision cabinet 11 to perform vision positioning processing on the item to be grabbed. After the vision positioning is completed, the position of the clamping seat 10 can be adjusted by using the working of structures such as the adjusting arm and the rotating arm 6. Subsequently, the synchronous movement of the connecting seat 13 can be achieved by the movement of the clamping seat 10. When grabbing and processing the item, the cylinder 14 is used to push the movable plate 15 connected to its output end. At this time, the movable plate 15 slides along the chute opened inside the connecting seat 13, and then pushes the linkage rods 16 rotatably connected at both ends. Since the linkage rods 16 are rotatably connected to the connecting seat 13, the movement of the linkage rods 16 will drive the adjusting seat 17 to move accordingly. Then, the synchronous movement of the clamping seat 19 is achieved by the movement of the adjusting seat 17, which facilitates the subsequent grabbing and clamping of the item by the clamping seat 19. When the second motor 18 works, the angle between the clamping seat 19 and the adjusting seat 17 can be adjusted, which is convenient for better grabbing the item by the clamping seats 19 on both sides subsequently. When the clamping seat 19 contacts the item for clamping processing, the rubber heads 21 will contact the surface of the item. Since the multiple rubber heads 21 are all slidably connected to the clamping seat 19 through the first springs 20, under the action of the irregular surface of the item, some rubber heads 21 will squeeze the first springs 20, thereby realizing the deformation of the first springs 20, and some rubber heads 21 will remain different. And because the surface of the item is irregular, the movement degrees of the multiple rubber heads 21 are all different. Therefore, with the reverse force generated by the deformation of the first springs 20 and the multiple rubber heads 21, the irregular item can be effectively clamped to ensure that the item will not fall off during the subsequent clamping process; As a further implementation manner of this embodiment, as Figure 1 , Figure 2 , Figure 5 , Figure 6 and Figure 7 shown, slots 22 are opened at the corners of the clamping seat 10. The slots 22 are equidistantly distributed along the center point of the clamping seat 10, and the slots 22 form an integral structure with the clamping seat 10. Positioning holes 23 are opened on the side wall of the clamping seat 10, and a cross slot 24 is opened in the middle of the clamping seat 10. One side corner of the connecting disk 12 is provided with an insertion rod 25, and a second spring 26 is fixedly connected to the inner cavity of the insertion rod 25. The other end of the second spring 26 is connected to a positioning rod 27, and an auxiliary sliding plate 28 is sleeved on the outer side of one end of the positioning rod 27. The positioning rod 27 forms a sliding connection with the insertion rod 25 through the second spring 26, and the insertion rods 25 are circumferentially equidistantly distributed along the center point of the connecting disk 12. A cross block 29 is arranged in the middle of the side of the connecting disk 12 away from the connecting seat 13; When it is necessary to achieve a quick connection between the card socket 10 and the connection plate 12, first, the cross block 29 provided in the middle of one end of the connection plate 12 is engaged in the cross groove 24 opened in the middle of one side of the card socket 10. At this time, the insertion rod 25 will be input into the inner side of the insertion slot 22. When the insertion rod 25 is completely input into the inner side of the insertion slot 22, the reverse force generated by the deformation of the second spring 26 will push the positioning rod 27 in the reverse direction, and then one end of the positioning rod 27 will be input into the inner side of the positioning hole 23. When multiple positioning rods 27 are input into the inner side of the positioning hole 23, the quick connection between the connection plate 12 and the card socket 10 can be achieved, and it is also easy to disassemble subsequently; As a further implementation manner of this embodiment, as Figure 1 、 Figure 2 and Figure 4 shown, a third motor 30 is installed on the surface of one end of the rotating base 2, a fourth motor 31 is installed on one side of the top end of the first adjusting arm 3, and the output end of the fourth motor 31 is connected to a gear 32. An extension rod 33 is provided on the side wall of the second adjusting arm 4 close to the first adjusting arm 3, and a guide block 34 is provided on the surface of one end of the extension rod 33. The extension rod 33 is slidably connected to the first adjusting arm 3 through the guide block 34, and the extension rod 33 is symmetrically distributed along the vertical center line of the second adjusting arm 4. A rack 35 is distributed above the extension rod 33. A fifth motor 36 is installed inside the end of the second adjusting arm 4 away from the extension rod 33. A sixth motor 37 is installed on the side of the rotating frame 5 away from the rotating arm 6. A hydraulic cylinder 38 is installed at the top corner of the base 1, and the output end of the hydraulic cylinder 38 is connected to a base foot 39; Move the base 1 to the designated position. Subsequently, the hydraulic cylinder 38 operates to longitudinally push the foot 39 connected to its bottom. Thus, by using the cooperation of the foot 39 and the movement of the hydraulic cylinder 38, the adjustment of the position height of the entire grasping device can be achieved. Since an independent motor is provided in the inner cavity of the base 1, the rotation of the rotating seat 2 can be conveniently realized by using the operation of this independent motor. When the rotating seat 2 rotates, the structures such as the adjusting arm will be rotated. When the extension of the second adjusting arm 4 needs to be realized, the fourth motor 31 operates to drive the gear 32 connected to its output end to rotate accordingly. Since the gear 32 and the rack 35 are connected by tooth engagement, the movement of the rack 35 can be realized by using the rotation of the gear 32. Then, the movement of the rack 35 is used to push the second adjusting arm 4. At this time, the second adjusting arm 4 drives the extension rod 33 to slide along the first adjusting arm 3, and the cooperatively arranged guide block 34 can improve the stability of the extension rod 33 during the movement, thereby realizing the extension of the second adjusting arm 4. When the fifth motor 36 operates, it will drive the rotating frame 5 to rotate along one end of the second adjusting arm 4, further realizing the subsequent adjustment of the grasping structure. When the sixth motor 37 operates, it will realize the rotation of the rotating arm 6, and then use the rotation of the rotating arm 6 to realize the rotation of the clamping seat 10, facilitating the subsequent flipping of the clamped item, etc.

[0020] Specific working principle: First, the cross block 29 provided in the middle of one end of the connecting plate 12 is engaged in the cross groove 24 opened in the middle of one side of the clamping seat 10. At this time, the insertion rod 25 will be input into the inner side of the insertion slot 22. When the insertion rod 25 is completely input into the inner side of the insertion slot 22, the reverse force generated by the deformation of the second spring 26 will push the positioning rod 27 in the reverse direction, and then one end of the positioning rod 27 will be input into the inner side of the positioning hole 23. When multiple positioning rods 27 are all input into the inner side of the positioning hole 23, the quick connection between the connecting plate 12 and the clamping seat 10 can be realized, and it is also easy to disassemble subsequently. Then, the base 1 is moved to the specified position. Subsequently, the hydraulic cylinder 38 works to longitudinally push the base feet 39 connected to its bottom. Then, by using the cooperation of the base feet 39 and the movement of the hydraulic cylinder 38, the adjustment of the position height of the entire grasping device can be realized. Since there is an independent motor provided in the inner cavity of the base 1, the rotation of the rotating seat 2 can be conveniently realized by using the work of this independent motor. When the rotating seat 2 rotates, the rotation processing of structures such as the adjusting arm will be realized. The work of the third motor 30 will realize the rotation of the first adjusting arm 3 along the rotating seat 2, which is convenient for adjusting the inclination angle of the grasping structure subsequently. When it is necessary to realize the extension processing of the second adjusting arm 4, the fourth motor 31 works to drive the gear 32 connected to its output end to rotate accordingly. Since the gear 32 and the rack 35 are connected by tooth engagement, the movement of the rack 35 can be realized by using the rotation of the gear 32. Then, the movement of the rack 35 is used to push the second adjusting arm 4. At this time, the second adjusting arm 4 drives the extension rod 33 to slide along the first adjusting arm 3, and the provided guide block 34 can improve the stability of the extension rod 33 during the movement process. Then, the extension processing of the second adjusting arm 4 is realized in this way. When the fifth motor 36 works, it will drive the rotating frame 5 to rotate along one end of the second adjusting arm 4, so as to further realize the subsequent adjustment processing of the grasping structure. When the sixth motor 37 works, the rotation of the rotating arm 6 will be realized. Then, the rotation of the rotating arm 6 is used to realize the rotation of the clamping seat 10, which is convenient for driving the clamped item to be turned over subsequently. When it is necessary to use the clamping seat 19 to grasp an item, first, the work of the first motor 8 is used to realize the rotation of the rotating seat 9 along the installation frame 7, so as to adjust the inclination angle of the clamping seat 10. At this time, the vision cabinet 11 installed on the clamping seat 10 will also move accordingly. Then, the vision structure provided inside the vision cabinet 11 is used to perform visual positioning processing on the item to be grasped. After the visual positioning is completed, the adjustment of the position of the clamping seat 10 can be realized by using the work of structures such as the adjusting arm and the rotating arm 6. Then, the synchronous movement of the connecting seat 13 can be realized by using the movement of the clamping seat 10. When grasping an item, the air cylinder 14 is used to push the movable plate 15 connected to its output end. At this time, the movable plate 15 slides along the chute opened in the inner side of the connecting seat 13, and then pushes the linkage rods 16 rotatably connected to both of its ends. Since the linkage rods 16 form a rotational connection with the connecting seat 13,Therefore, the movement of the linkage rod 16 will drive the adjustment seat 17 to move accordingly, and then the synchronous movement of the clamping seat 19 is realized by the movement of the adjustment seat 17, which facilitates the subsequent grasping and clamping of items by the clamping seat 19. When the second motor 18 works, the angle between the clamping seat 19 and the adjustment seat 17 can be adjusted, which is convenient for better grasping of items by the clamping seats 19 on both sides in the future. When the clamping seat 19 contacts the item for clamping, the rubber head 21 will contact the surface of the item. Since multiple rubber heads 21 are slidably connected to the clamping seat 19 through the first spring 20, under the action of the irregular surface of the item, some rubber heads 21 will squeeze the first spring 20, thus realizing the deformation of the first spring 20, while some rubber heads 21 will remain different. And because the surface of the item is irregular, the movement degrees of multiple rubber heads 21 are all different. Therefore, with the reverse force generated by the deformation of the first spring 20 and multiple rubber heads 21, the irregular item can be effectively clamped to ensure that the item will not fall off during the subsequent clamping process.

[0021] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot vision automatic grasping device, comprising a base (1), characterized in that: A rotating seat (2) is provided at the middle of the top of the base (1), and the top of the rotating seat (2) is connected to a first adjustment arm (3), an end of the first adjustment arm (3) away from the rotating seat (2) is connected to a second adjustment arm (4), and the other end of the second adjustment arm (4) is connected to a rotating frame (5), a side wall of the rotating frame (5) is connected to a rotating arm (6), and the other end of the rotating arm (6) is connected to a mounting frame (7), a first motor (8) is mounted on the surface of one end of the mounting frame (7), and the output end of the first motor (8) is connected to the rotating seat (9), a clamping seat (10) is connected to one side of the rotating seat (9), and a visual cabinet (11) is mounted on the top of the clamping seat (10), a connecting plate (12) is distributed on the side of the clamping seat (10) away from the rotating seat (9), and a connecting seat (13) is arranged on the other side of the connecting plate (12), and a grabbing structure is arranged on the inner side of the connecting seat (13); The gripping structure comprises a cylinder (14) arranged in the inner cavity of the connecting seat (13), and the output end of the cylinder (14) is connected to a movable plate (15), one side of the movable plate (15) is connected to a linkage rod (16), and the other side of the linkage rod (16) is connected to an adjustment seat (17), a second motor (18) is mounted on one end surface of the adjustment seat (17), and the output end of the second motor (18) is connected to a clamping seat (19), the inner side wall of the clamping seat (19) is fixedly connected to a first spring (20), and the other end of the first spring (20) is connected to a rubber head (21).

2. The robot vision automatic grasping device according to claim 1, characterized in that: A slot (22) is provided at a corner of the clamping seat (10), a positioning hole (23) is provided on a side wall of the clamping seat (10), and a cross slot (24) is provided in the middle of the clamping seat (10).

3. A robot vision automatic grasping device according to claim 2, characterized in that: An insertion rod (25) is provided at a corner of one side of the connection disk (12), and a second spring (26) is fixedly connected to the inner cavity of the insertion rod (25), the other end of the second spring (26) is connected to a positioning rod (27), and an auxiliary slide plate (28) is sleeved on the outer side of one end of the positioning rod (27), and a cross block (29) is provided in the middle of one side of the connection disk (12) away from the connection seat (13).

4. The robot vision automatic grasping device according to claim 3 is characterized in that: A third motor (30) is mounted on one end surface of the rotating seat (2); a fourth motor (31) is mounted on one side of the top end of the first adjusting arm (3); and an output end of the fourth motor (31) is connected to a gear (32); an extension rod (33) is arranged on a side wall of the second adjusting arm (4) close to the first adjusting arm (3); a guide block (34) is arranged on one end surface of the extension rod (33); a rack (35) is arranged above the extension rod (33); a fifth motor (36) is mounted on the inner side of one end of the second adjusting arm (4) away from the extension rod (33); and a sixth motor (37) is mounted on a side of the rotating frame (5) away from the rotating arm (6).

5. The robot vision automatic grasping device according to claim 4, characterized in that: A hydraulic cylinder (38) is installed at the top corner of the base (1), and the output end of the hydraulic cylinder (38) is connected to a foot (39).

6. The robot vision automatic grasping device according to claim 5, characterized in that: The linkage rod (16) is rotationally connected to the connection seat (13), and the linkage rod (16) is symmetrically distributed along the vertical center line of the connection seat (13).

7. The robot vision automatic grasping device according to claim 6, characterized in that: The clamping seat (19) and the adjusting seat (17) are rotatably connected, and the rubber heads (21) are evenly distributed along the inner side wall of the clamping seat (19).

8. The robot vision automatic grasping device according to claim 2, characterized in that: The slots (22) are distributed at equal distances along the center point of the card connection seat (10), and the slots (22) and the card connection seat (10) form an integrated structure.

9. The robot vision automatic grasping device according to claim 3, characterized in that: The positioning rod (27) is slidably connected to the insertion rod (25) via the second spring (26), and the insertion rods (25) are equidistantly distributed along the circumference of the center point of the connection disk (12).

10. The robot vision automatic grasping device according to claim 4, characterized in that: The extension rod (33) is slidably connected to the first adjustment arm (3) via the guide block (34), and the extension rod (33) is symmetrically distributed along the vertical center line of the second adjustment arm (4).

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