An intelligent robot alignment device

Abstract

The present invention provides an intelligent robot alignment device, which relates to the technical field of robot alignment. It includes a robot base, a rotating disk is rotatably arranged at the upper end of the robot base, the rotating disk is connected to a driving motor I inside the robot base, a robotic arm is arranged at the upper end of the rotating disk, the robotic arm is respectively connected to an alignment clamping mechanism and a stabilizing mechanism, the stabilizing mechanism is connected to the rotating disk, a vision guiding mechanism and a distance measuring mechanism are installed on the alignment clamping mechanism. The alignment clamping mechanism can first clamp the object to be grasped, and then adsorb and connect the object to be grasped, improving the grasping firmness of the alignment clamping mechanism for the object to be grasped and avoiding the phenomenon of the object to be grasped falling off. When the distance measuring mechanism detects that the distance between its installation position and the object to be grasped changes, it means that the alignment clamping mechanism does not grasp the object to be grasped firmly, resulting in the deviation of the object to be grasped.

Description

Technical Field

[0001] The present invention relates to the technical field of robot alignment, and specifically to an intelligent robot alignment device. Background Art

[0002] A robot is a machine device that automatically performs work. It can accept human commands, run pre-programmed programs, or act according to the principles and guidelines formulated by artificial intelligence technology. Its task is to assist or replace human work. Robots usually have several degrees of freedom to grasp and move objects (tools or workpieces). Robot vision refers to a system that enables a robot to have visual perception functions and is one of the important components of a robot system. Robot vision can obtain images of the environment through a vision camera and analyze them through a vision processor, enabling the robot to identify objects and determine their positions, so that the robot can align and grasp the objects. However, existing vision cameras can only judge the position of an object and cannot judge whether the grasped object is firm. If only relying on the gripper to grasp the object, it is easy for the object to break away due to lack of firmness, making it difficult to move the object. Summary of the Invention

[0003] The present invention provides an intelligent robot alignment device to solve the above-mentioned technical problem that existing vision cameras can only judge the position of an object and cannot judge whether the grasped object is firm. If only relying on the gripper to grasp the object, it is easy for the object to break away due to lack of firmness, making it difficult to move the object.

[0004] To solve the above technical problem, the present invention discloses an intelligent robot alignment device, which includes a robot base. A rotating disk is rotatably provided at the upper end of the robot base. The rotating disk is connected to a driving motor I inside the robot base. A robotic arm is provided at the upper end of the rotating disk. The robotic arm is respectively connected to an alignment clamping mechanism and a stabilizing mechanism. The stabilizing mechanism is connected to the rotating disk. A vision guiding mechanism and a distance measuring mechanism are installed on the alignment clamping mechanism. After the alignment clamping mechanism aligns and grasps the object to be grasped, the distance measuring mechanism judges the distance between the installation position of the distance measuring mechanism and the object to be grasped.

[0005] Preferably, the robotic arm includes an electric telescopic rod III. The fixed section of the electric telescopic rod III is fixedly connected to the rotating disk. The movable section of the electric telescopic rod III is fixedly connected to a connecting shaft III. Connecting blocks I are symmetrically provided at the front and rear ends of the connecting shaft III. A sliding groove is provided at the left end of the connecting block I. A sliding block is slidably provided in the sliding groove. A connecting shaft I and a support shaft are rotatably provided between the sliding blocks on the front and rear sides. The connecting shaft I penetrates through the sliding block on the front side and is fixedly connected to a driving motor II. The driving motor II is fixedly connected to the sliding block on the front side.

[0006] Preferably, a switching mechanism is installed on the robotic arm. The switching mechanism includes a first electric telescopic rod. The fixed section of the first electric telescopic rod is fixedly connected to the first connecting block on the front side. The movable section of the first electric telescopic rod penetrates through the first connecting block on the front side and is fixedly connected to the first gear and the second connecting block. The first gear meshes with the second gear and the third gear correspondingly. Both the second gear and the third gear are fixedly connected to the third connecting shaft, and the second gear is concentrically arranged with the third connecting shaft, while the third gear is eccentrically arranged with the third connecting shaft. The second connecting block is fixedly connected to the clamping block, and the clamping block is correspondingly matched with the serrations of the first rack. The first rack is fixedly connected to the sliding block on the front side.

[0007] Preferably, the stabilizing mechanism includes a sliding table. The sliding table is slidably connected to the fixed section of the third electric telescopic rod. Spring rods are respectively arranged at the lower end corners of the sliding table. The lower ends of the spring rods are slidably connected to the annular grooves on the upper end of the rotating disk. A driving shaft is rotatably arranged in the left end groove of the sliding table. The driving shaft is fixedly connected to the first rotating block. The first rotating block is fixedly connected to the fixed section of the second electric telescopic rod. The movable section of the second electric telescopic rod is fixedly connected to the second rotating block. The second rotating block is rotatably connected to the support shaft.

[0008] Preferably, open slots are symmetrically arranged on the front and rear sides of the upper end of the sliding table. The driving shaft penetrates through the side end of the left end groove of the sliding table and enters the open slot and is fixedly connected to the fourth gear. The fourth gear meshes with the second rack. The second rack meshes with the fifth gear. The fifth gear is fixedly connected to the second connecting shaft. The second connecting shaft is rotatably connected to the right side of the open slot. The second connecting shaft is fixedly connected to the first large gear. The first large gear meshes with the third rack. The third rack meshes with the second large gear. The third rack penetrates through the right end of the open slot and is fixedly connected to the external mounting block. The second large gear is fixedly connected to the third driving shaft. Both the second rack and the third rack are slidably connected to the open slot. The third driving shaft penetrates through the side end of the open slot and enters the right end groove of the sliding table and is fixedly connected to the rope winding cylinder. A pull rope is wound around the rope winding cylinder. The pull rope is fixedly connected to the counterweight block. The counterweight block is fixedly connected to the mounting block.

[0009] Preferably, the alignment and clamping mechanism includes a fixed disk. The fixed disk is fixedly connected to the first connecting shaft. A positioning control block is rotatably arranged at the left end of the fixed disk. A number of push rods are circumferentially and evenly arranged on the positioning control block. The push rods penetrate through the positioning control block and are rotatably connected to the guiding balls. The guiding balls connected by the number of push rods are in one-to-one contact with a number of guiding fixed blocks. The number of guiding fixed blocks are circumferentially and evenly arranged at the left end of the fixed disk. The end of the push rod away from the guiding ball is fixedly connected to the clamping block. A first spring is arranged between the clamping block and the positioning control block. The first spring is sleeved on the push rod. The number of guiding fixed blocks are fixedly connected to a number of fixed shells in one-to-one correspondence.

[0010] Preferably, the clamping block is also fixedly connected to a contact elastic rod, the contact elastic rod is connected to a pushing arc-shaped block, the pushing arc-shaped block is slidably connected to a slider, the left end of the fixed disk and the left and right ends of the fixed shell are provided with through grooves, the slider is slidably connected to the through grooves, a third spring is fixedly arranged between the slider and the through grooves, the lower end of the slider is fixedly connected to an elastic connecting rod, the elastic connecting rod is fixedly connected to a rough block, the rough block is in corresponding contact with a contact disk, the contact disk is fixedly connected to an alignment control block, and the fixed disk is provided with a movable hole for installing the contact disk, the elastic connecting rod and the rough block.

[0011] Preferably, one end of the contact disk away from the alignment control block is fixedly connected to a connecting sleeve, the connecting sleeve is arranged in the movable hole of the fixed disk, the connecting sleeve is rotatably connected to a suction cup, the suction cup is arranged in the middle of the fixed disk and the alignment control block, a suction hole inside the connecting sleeve is communicated with the suction cup, a sealing plate is slidably arranged in the left side of the suction hole, the sealing plate is fixedly connected to a threaded rod, the threaded rod is threadedly connected to a threaded sleeve, the threaded sleeve is rotatably connected to the fixed disk, the threaded sleeve penetrates through the right end of the fixed disk and is fixedly connected to a third driving motor, the third driving motor is fixedly connected to the right end of the fixed disk, a plurality of matching grooves are circumferentially and uniformly arranged in the right side of the suction hole inside the connecting sleeve, the plurality of matching grooves are slidably connected to a plurality of matching blocks one by one, a second spring is fixedly arranged between the matching grooves and the matching blocks, and the inclined end of the matching block is in corresponding contact with a fixed block, and the fixed block is fixedly connected to the threaded sleeve.

[0012] Preferably, the vision guiding mechanism includes a plurality of mounting grooves circumferentially and uniformly arranged on the alignment control block, a first vision camera is rotatably arranged in the mounting grooves, the first vision camera is fixedly connected to a motor, the motor is fixedly arranged in the mounting grooves, and the first vision camera is electrically connected to a first electric telescopic rod, a second electric telescopic rod, a third electric telescopic rod, a first driving motor and a second driving motor respectively through a first controller.

[0013] Preferably, the distance measuring mechanism includes a plurality of distance sensors circumferentially and uniformly arranged on one side of the alignment control block away from the fixed disk, the distance sensors are arranged in a staggered manner with the clamping block, the distance sensors are used for detecting the distance between the object to be grabbed and the alignment control block after the clamping block grabs the object to be grabbed, and the plurality of distance sensors are respectively electrically connected to an alarm through a third controller.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The counterpoint clamping mechanism can first clamp the object to be grasped, and then adsorb and connect to the object to be grasped, improving the grasping firmness of the counterpoint clamping mechanism for the object to be grasped and avoiding the phenomenon of the object to be grasped falling off. After the counterpoint clamping mechanism grabs and positions the object to be grasped, the ranging mechanism judges the distance between the installation position of the ranging mechanism and the object to be grasped. If the ranging mechanism detects that the distance between its installation position and the object to be grasped has changed, it means that the counterpoint clamping mechanism does not grasp the object to be grasped firmly, resulting in the deviation of the object to be grasped. At this time, the movement process of the object to be grasped should be stopped immediately, and the object to be grasped should be re-positioned and grasped. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, and do not constitute a limitation to the present invention. In the drawings:

[0017] Figure 1 is a structural schematic of the present invention Figure 1 ;

[0018] Figure 2 is a structural schematic of the present invention Figure 2 ;

[0019] Figure 3 is a schematic diagram of the robotic arm connection structure of the present invention;

[0020] Figure 4 is a schematic diagram of the sliding table connection structure of the present invention;

[0021] Figure 5 is a schematic diagram of the counterpoint clamping mechanism structure of the present invention;

[0022] Figure 6 is a schematic diagram of the counterpoint control block connection structure of the present invention;

[0023] Figure 7 is a schematic diagram of the suction cup connection structure of the present invention Figure 1 ;

[0024] Figure 8 is a schematic diagram of the suction cup connection structure of the present invention Figure 2 ;

[0025] Figure 9 is a schematic diagram of the sealing plate connection structure of the present invention.

[0026] In the figure: 1, robot base; 2, rotating disc; 3, annular groove; 4, spring rod; 5, mounting block; 6, electric telescopic rod III; 7, sliding table; 8, vision camera II; 9, rotating block I; 10, rack III; 11, electric telescopic rod II; 12, connecting block I; 13, connecting shaft III; 14, sliding block; 15, driving motor II; 16, connecting shaft I; 17, fixed disc; 18, electric telescopic rod I; 19, gear II; 20, gear III; 21, gear I; 22, rack I; 23, connecting block II; 24, clamping block; 25, rotating block II; 26, rack II; 27, driving shaft; 28, gear IV; 29, gear V; 30, large gear I; 31, large gear II; 32, guiding and fixing block; 33, fixed shell; 34, sliding groove; 35, spring III; 36, slider; 37, pushing arc-shaped block; 38, threaded rod; 39, clamping block; 40, vision camera I; 41, motor; 42, contact elastic rod; 43, fitting block; 44, spring I; 45, mounting groove; 46, guiding ball; 47, suction cup; 48, opening groove; 49, elastic connecting rod; 50, rough block; 51, contact disc; 52, driving motor III; 53, connecting sleeve; 54, threaded sleeve; 55, alignment control block; 56, pushing rod; 57, sealing plate; 58, support shaft; 59, fixed block; 60, rope winding cylinder; 61, driving shaft III; 62, counterweight block; 63, pulling rope. Detailed implementation manners

[0027] The following describes the preferred embodiments of the present invention with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only for the purpose of illustration and explanation of the present invention, and are not used to limit the present invention.

[0028] In addition, in the present invention, descriptions such as "first" and "second" are only for descriptive purposes, and do not particularly refer to the order or sequence. Nor are they used to limit the present invention. They are merely used to distinguish components or operations described with the same technical terms, and should not be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions and technical features between various embodiments can be combined with each other, but it must be based on the fact that those skilled in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0029] The present invention provides the following embodiments Embodiment 1

[0030] The embodiment of the present invention provides an intelligent robot alignment device, as Figures 1-9As shown in the figure, it includes a robot base 1. A rotating disc 2 is rotatably provided at the upper end of the robot base 1. The rotating disc 2 is connected to a driving motor one inside the robot base 1. A robotic arm is provided at the upper end of the rotating disc 2. The robotic arm is respectively connected to an alignment clamping mechanism and a stabilizing mechanism. The stabilizing mechanism is connected to the rotating disc 2. A vision guiding mechanism and a ranging mechanism are installed on the alignment clamping mechanism. After the alignment clamping mechanism grabs the object to be grabbed, the ranging mechanism judges the distance between the installation position of the ranging mechanism and the object to be grabbed.

[0031] The working principle of the above technical solution is as follows:

[0032] When the driving motor one works, it drives the rotating disc 2 to rotate. The rotating disc 2 drives the robotic arm to rotate. The robotic arm can drive the alignment clamping mechanism to move freely in three-dimensional space. The alignment clamping mechanism is used to grab the object to be grabbed. The setting of the stabilizing mechanism can make the robotic arm stable when moving. The setting of the vision guiding mechanism can play a guiding role in the alignment and grasping of the alignment clamping mechanism, the movement of the robotic arm, and the movement of the robot base 1. When aligning and grasping the object to be grabbed, the alignment clamping mechanism can accurately align and grasp the object to be grabbed and move it to the target area. The alignment clamping mechanism can first clamp and fix the object to be grabbed, and then adsorb and connect the object to be grabbed, improving the grasping firmness of the alignment clamping mechanism for the object to be grabbed and avoiding the phenomenon of the object to be grabbed falling off. After the alignment clamping mechanism grabs the object to be grabbed, the ranging mechanism detects the distance between the installation position of the ranging mechanism and the object to be grabbed. If the detected value of the ranging mechanism changes when the object to be grabbed starts to move, it means that the alignment clamping mechanism does not grasp the object to be grabbed firmly, resulting in the deviation of the object to be grabbed. At this time, the movement process of the object to be grabbed should be stopped immediately, and the object to be grabbed should be re-aligned and grabbed, solving the technical problem that the existing vision camera can only judge the position of the object and cannot judge whether the grabbed object is firm. If only the gripper is used to grab the object, it is easy for the object to fall off due to lack of firmness and it is difficult to move the object. Embodiment 2

[0033] On the basis of Embodiment 1, as Figures 1-4 shown, the robotic arm includes an electric telescopic rod three 6. The fixed section of the electric telescopic rod three 6 is fixedly connected to the rotating disc 2. The movable section of the electric telescopic rod three 6 is fixedly connected to a connecting shaft three 13. Connecting blocks one 12 are symmetrically arranged at the front and rear ends of the connecting shaft three 13. A sliding groove is provided at the left end of the connecting block one 12. A sliding block 14 is slidably arranged in the sliding groove. A connecting shaft one 16 and a support shaft 58 are rotatably arranged between the sliding blocks 14 on the front and rear sides. The connecting shaft one 16 penetrates through the sliding block 14 on the front side and is fixedly connected to a driving motor two 15. The driving motor two 15 is fixedly connected to the sliding block 14 on the front side;

[0034] A switching mechanism is installed on the robotic arm. The switching mechanism includes a first electric telescopic rod 18. The fixed section of the first electric telescopic rod 18 is fixedly connected to the first connecting block 12 on the front side. The movable section of the first electric telescopic rod 18 penetrates through the first connecting block 12 on the front side and is fixedly connected to the first gear 21 and the second connecting block 23. The first gear 21 meshes with the second gear 19 and the third gear 20 correspondingly. Both the second gear 19 and the third gear 20 are fixedly connected to the third connecting shaft 13, and the second gear 19 is concentrically arranged with the third connecting shaft 13, while the third gear 20 is eccentrically arranged with the third connecting shaft 13. The second connecting block 23 is fixedly connected to the clamping block 24, and the clamping block 24 is correspondingly matched with the teeth of the first rack 22. The first rack 22 is fixedly connected to the sliding block 14 on the front side.

[0035] The working principle of the above technical solution is as follows:

[0036] When the rotating disk 2 rotates, it drives the electric telescopic rod three 6 to rotate. When the electric telescopic rod one 18 expands and contracts, it drives the gear one 21 to move. When the gear one 21 meshes with the gear three 20, the clamping block 24 is not engaged with the teeth of the rack one 22. When the connecting block one 12 rotates around the connecting shaft three 13 as the axis, it drives the gear one 21 to rotate. At this time, since the gear three 20 and the connecting shaft three 13 are eccentrically arranged, the gear one 21 cannot rotate around the gear three 20. Therefore, the connecting block one 12 cannot rotate around the connecting shaft three 13 as the axis. At the same time, the clamping block 24 is not engaged with the teeth of the rack one 22. Therefore, the sliding block 14 can slide along the sliding groove. The sliding block 14 drives the connecting shaft one 16 and the support shaft 58 to move along the length direction of the connecting block one 12, which is equivalent to realizing the elongation function of the connecting block one 12 and the sliding block 14 at the target height. When the gear one 21 meshes with the gear two 19, the clamping block 24 is engaged with the teeth of the rack one 22. At this time, the sliding block 14 cannot slide along the sliding groove. Since the gear two 19 and the connecting shaft three 13 are concentrically arranged, the gear one 21 can rotate around the gear two 19. Therefore, the connecting block one 12 can rotate around the connecting shaft three 13 as the axis, which is equivalent to realizing the angle adjustment function of the connecting block one 12 in the up and down direction at the target height. When the gear one 21 meshes with both the gear three 20 and the gear two 19, the clamping block 24 is still engaged with the teeth of the rack one 22. Therefore, the connecting block one 12 cannot rotate around the connecting shaft three 13 as the axis, and the sliding block 14 cannot slide along the sliding groove. At this time, when the electric telescopic rod three 6 expands and contracts, it drives the connecting shaft three 13 to move up and down. At this time, the connecting block one 12 will move up and down synchronously with the up and down movement of the connecting shaft three 13. The connecting block one 12 drives the connecting shaft one 16, the support shaft 58 and the sliding block 14 to move up and down. Specifically, when the electric telescopic rod one 18 drives the gear one 21 to mesh with the gear three 20, the connecting block one 12 needs to be adjusted to the initial horizontal state first, to avoid that due to the eccentric setting of the gear three 20, when the connecting block one 12 rotates to other angles, the gear one 21 cannot be meshed with the gear three 20. The setting of the electric telescopic rod one 18 can switch the movement state of the connecting block one 12, and there is no need for multiple electrical components to drive the connecting block one 12 to move separately, which saves costs. Only by controlling the electric telescopic rod one 18 to work, it is convenient to operate. Embodiment 3

[0037] On the basis of Embodiment 2, as Figures 1-4 shown, the stabilizing mechanism includes a sliding table 7. The sliding table 7 is slidably connected to the fixed section of the electric telescopic rod three 6. At the lower end corners of the sliding table 7, a spring rod 4 is respectively provided. The lower end of the spring rod 4 is slidably connected to the annular groove 3 on the upper end of the rotating disk 2. A driving shaft 27 is rotatably provided in the left end groove of the sliding table 7. The driving shaft 27 is fixedly connected to the rotating block one 9. The rotating block one 9 is fixedly connected to the fixed section of the electric telescopic rod two 11. The movable section of the electric telescopic rod two 11 is fixedly connected to the rotating block two 25. The rotating block two 25 is rotatably connected to the support shaft 58;

[0038] Open slots 48 are symmetrically provided on the front and rear sides of the upper end of the sliding table 7. A cover plate is provided at the upper end of the open slot 48. The drive shaft 27 penetrates the side end of the groove at the left end of the sliding table 7 and enters the open slot 48 and is fixedly connected to the fourth gear 28. The fourth gear 28 meshes with the second rack 26. The second rack 26 meshes with the fifth gear 29. The fifth gear 29 is fixedly connected to the second connecting shaft. The second connecting shaft is rotatably connected to the right side of the open slot 48. The second connecting shaft is fixedly connected to the first large gear 30. The first large gear 30 meshes with the third rack 10. The third rack 10 meshes with the second large gear 31. The third rack 10 penetrates the right end of the open slot 48 and is fixedly connected to the external mounting block 5. The second large gear 31 is fixedly connected to the third drive shaft 61. Both the second rack 26 and the third rack 10 are slidably connected to the open slot 48. The third drive shaft 61 penetrates the side end of the open slot 48 and enters the groove at the right end of the sliding table 7 and is fixedly connected to the rope winding cylinder 60. A pulling rope 63 is wound around the rope winding cylinder 60. The pulling rope 63 is fixedly connected to the counterweight 62. The counterweight 62 is fixedly connected to the mounting block 5.

[0039] The working principle of the above technical solution is as follows:

[0040] By setting the spring rod 4, the sliding table 7 has a buffering effect, so that the connection between the sliding table 7 and the third electric telescopic rod 6 is kept stable. By setting the second electric telescopic rod 11, when the first gear 21 meshes with both the third gear 20 and the second gear 19, since the first connecting block 12 will move up and down synchronously with the up and down movement of the third connecting shaft 13, when the third electric telescopic rod 6 expands and contracts, the second electric telescopic rod 11 also expands and contracts. When the first gear 21 meshes with the second gear 19, the third electric telescopic rod 6 stops expanding and contracting. By controlling the expansion and contraction of the second electric telescopic rod 11, the second electric telescopic rod 11 drives the support shaft 58 to move. Since the clamping block 24 cooperates with the teeth of the first rack 22, at this time, the sliding block 14 cannot slide along the sliding groove. The support shaft 58 drives the first connecting block 12 to rotate around the third connecting shaft 13 as the axis. At this time, the first gear 21 rotates around the second gear 19. When the first gear 21 meshes with the third gear 20, the third electric telescopic rod 6 also stops expanding and contracting. Since the clamping block 24 does not cooperate with the teeth of the first rack 22, at this time, the sliding block 14 can slide along the sliding groove. Since the third gear 20 and the third connecting shaft 13 are eccentrically arranged, the first gear 21 cannot rotate around the third gear 20. By controlling the expansion and contraction of the second electric telescopic rod 11, the second electric telescopic rod 11 drives the support shaft 58 to move. The support shaft 58 drives the sliding block 14 to slide along the sliding groove. The second electric telescopic rod 11 can also be used as a support rod to support the sliding block 14 and the alignment clamping mechanism connected thereto, improving the stability of the alignment clamping mechanism during the process of grasping the object to be grasped;

[0041] When the electric telescopic rod II 11 expands and contracts, it drives the rotation of the first rotating block 9. The first rotating block 9 drives the rotation of the drive shaft 27. When the drive shaft 27 rotates, it drives the rotation of the fourth gear 28. The fourth gear 28 drives the movement of the second rack 26. The second rack 26 drives the rotation of the fifth gear 29. The fifth gear 29 drives the rotation of the first large gear 30 through the second connecting shaft. The first large gear 30 drives the rotation of the second large gear 31 through the third rack 10. The second large gear 31 drives the rotation of the rope winding drum 60 through the third drive shaft 61. The third rack 10 drives the movement of the mounting block 5. The mounting block 5 drives the movement of the counterweight 62. When the rope winding drum 60 rotates, the pulling rope 63 wound thereon can move along with the counterweight 62, playing a guiding role in the movement of the counterweight 62. When the electric telescopic rod II 11 moves away from the electric telescopic rod III 6, the counterweight 62 will move along the direction in which the sliding blocks 14 move away from each other. The setting of the second large gear 31 makes the movement stroke of the counterweight 62 long enough when the drive shaft 27 rotates a certain angle, ensuring that when the sliding block 14 slides along the sliding groove, since a counterpoint clamping mechanism is provided on the side of the sliding block 14 away from the electric telescopic rod III 6, when the counterpoint clamping mechanism gradually moves away from the electric telescopic rod III 6, the moment of the counterpoint clamping mechanism and the sliding table 7 will change. Therefore, when the counterweight 62 moves along the direction in which the sliding blocks 14 move away from each other, the moment of the counterweight 62 and the sliding table 7 also changes. Since the moving directions of the counterweight 62 and the counterpoint clamping mechanism are away from each other, the setting of the counterweight 62 can play a balancing role when the counterpoint clamping mechanism moves along with the sliding block 14, making the force exerted on the left end of the sliding table 7 by the counterpoint clamping mechanism and the force exerted on the right end of the sliding table 7 by the counterweight 62 as balanced as possible, thereby ensuring the stable state of the sliding table 7 on the electric telescopic rod III 6 and further making the counterpoint clamping mechanism stable during the process of grasping and aligning the object to be grasped. Embodiment 4

[0042] On the basis of Embodiment 2, as Figures 1-9 shown, the counterpoint clamping mechanism includes a fixed disk 17. The fixed disk 17 is fixedly connected to the first connecting shaft 16. A counterpoint control block 55 is rotatably provided at the left end of the fixed disk 17. A plurality of push rods 56 are circumferentially and uniformly arranged on the counterpoint control block 55. The push rods 56 penetrate through the counterpoint control block 55 and are rotatably connected to the guide balls 46. The guide balls 46 connected by the plurality of push rods 56 are in one-to-one contact with a plurality of guide fixing blocks 32. The plurality of guide fixing blocks 32 are circumferentially and uniformly arranged at the left end of the fixed disk 17. The end of the push rod 56 away from the guide ball 46 is fixedly connected to the clamping block 39. A first spring 44 is provided between the clamping block 39 and the counterpoint control block 55. The first spring 44 is sleeved on the push rod 56. The plurality of guide fixing blocks 32 are fixedly connected to a plurality of fixed shells 33 in one-to-one correspondence;

[0043] The clamping block 39 is also fixedly connected to the contact elastic rod 42. The contact elastic rod 42 is connected to the pushing arc-shaped block 37. The pushing arc-shaped block 37 is slidably connected to the slider 36. The left end of the fixed disk 17 and the left and right ends of the fixed shell 33 are provided with sliding grooves 34. The slider 36 is slidably connected to the sliding groove 34. A third spring 35 is fixedly arranged between the slider 36 and the sliding groove 34. The lower end of the slider 36 is fixedly connected to the elastic connecting rod 49. The elastic connecting rod 49 is fixedly connected to the rough block 50. The rough block 50 is in corresponding contact with the contact disk 51. The contact disk 51 is fixedly connected to the alignment control block 55. The fixed disk 17 is provided with a movable hole for installing the contact disk 51, the elastic connecting rod 49 and the rough block 50.

[0044] One end of the contact disk 51 away from the alignment control block 55 is fixedly connected to the connecting sleeve 53. The connecting sleeve 53 is arranged in the movable hole of the fixed disk 17. The connecting sleeve 53 is rotatably connected to the suction cup 47. The suction cup 47 is arranged in the middle of the fixed disk 17 and the alignment control block 55. The suction hole inside the connecting sleeve 53 is communicated with the suction cup 47. A sealing plate 57 is slidably arranged in the left side of the suction hole. The sealing plate 57 is fixedly connected to the threaded rod 38. The threaded rod 38 is threadedly connected to the threaded sleeve 54. The threaded sleeve 54 is rotatably connected to the fixed disk 17. The threaded sleeve 54 penetrates through the right end of the fixed disk 17 and is fixedly connected to the third driving motor 52. The third driving motor 52 is fixedly connected to the right end of the fixed disk 17. A plurality of matching grooves are circumferentially and uniformly arranged in the right side of the suction hole inside the connecting sleeve 53. A plurality of matching grooves and a plurality of matching blocks 43 are slidably connected in a one-to-one correspondence. A second spring is fixedly arranged between the matching groove and the matching block 43. The inclined end of the matching block 43 is in corresponding contact with the fixed block 59. The fixed block 59 is fixedly connected to the threaded sleeve 54.

[0045] The working principle of the above technical solution is as follows:

[0046] When the second driving motor 15 works, it can drive the fixed disk 17 to rotate through the first connecting shaft 16, which is used to adjust the angle of the fixed disk 17 and the clamping block 39 connected thereto. When grasping and fixing the object to be grasped, when the third driving motor 52 works, it will drive the threaded sleeve 54 to rotate. When the threaded sleeve 54 rotates, it drives the fixed block 59 to rotate. When the fixed block 59 rotates, it contacts the inclined section of the mating block 43, driving the connecting sleeve 53 to rotate. When the connecting sleeve 53 rotates, it drives the contact disk 51 to rotate. The contact disk 51 drives the alignment control block 55 to rotate. When the alignment control block 55 rotates, it drives a number of push rods 56 to rotate. The number of the plurality of push rods 56 is three. Using the principle of three-point centering, the grasped object is located at the center of the fixed disk 17, and the central axis of the fixed disk 17 coincides with the central axis of the alignment control block 55. When the push rods 56 move towards each other, the first spring 44 is stretched. When the contact disk 51 drives the alignment control block 55 to rotate in the reverse direction, the first spring 44 will drive the push rods 56 to return to their original positions through the clamping block 39, ensuring that the guide balls 46 always slide along the guide fixed block 32, thereby loosening the grasped object;

[0047] When clamping and fixing the object to be grasped, the clamping block 39 also drives the pushing arc block 37 to slide along the slider 36 through the contact elastic rod 42. The central axis of the pushing arc block 37 coincides with the central axis of the alignment control block 55. During the rotation process of the clamping block 39, when the clamping block 39 drives the pushing arc block 37 to move towards the object to be grasped through the contact elastic rod 42, the pushing arc block 37 drives the slider 36 to slide along the sliding groove 34, and the slider 36 drives the third spring 35 to deform. When the slider 36 moves, it drives the elastic connecting rod 49 to move. The elastic connecting rod 49 drives the rough block 50 to move towards the contact disk 51 until the rough block 50 contacts the contact disk 51. At this time, the elastic connecting rod 49 begins to deform until the clamping block 39 squeezes and fixes the object to be grasped and cannot move further. Then the alignment control block 55 cannot rotate further. At the same time, the rough block 50 is in extrusion contact with the contact disk 51, and the contact disk 51 remains fixed, further preventing the alignment control block 55 from rotating. The settings of the contact disk 51 and the rough block 50 can assist in controlling the alignment control block 55 to stop rotating after the clamping block 39 squeezes and fixes the object, avoiding excessive squeezing force of the clamping block 39 on the object due to continuous rotation of the alignment control block 55 and causing damage to the object;

[0048] During the process of the clamping block 39 grasping the object to be grasped, it will push the object to be grasped towards the center of the fixed disk 17. When several clamping blocks 39 do not contact the object to be grasped, the fixed disk 17 is controlled to move towards the object to be grasped, so that the suction cup 47 is in pressing and sealing contact with the object to be grasped. The suction cup 47 is made of rubber material and can always maintain pressing and sealing contact with the object to be grasped when the object to be grasped moves with the pressing contact of several clamping blocks 39. After the clamping block 39 makes pressing contact with the object to be grasped, since the contact disk 51 cannot rotate, the connecting sleeve 53 cannot rotate. At this time, when the fixed block 59 rotates with the threaded sleeve 54, it contacts the inclined section of the mating block 43 and pushes the mating block 43 into the mating groove, and the second spring is compressed. The elastic force of the second spring is large enough, and the second spring does not deform when the clamping block 39 does not press and fix the object to be grasped. At this time, due to the rotation of the threaded sleeve 54, the connecting sleeve 53 and the sealing plate 57 slidably arranged inside it do not rotate with the threaded rod 38. Therefore, a relative rotation phenomenon occurs between the threaded sleeve 54 and the threaded rod 38, and the threaded rod 38 will drive the sealing plate 57 to move along the suction hole inside the connecting sleeve 53, thereby sucking the inside of the suction cup 47, so that the suction cup 47 tightly adsorbs on the object to be grasped. Since the suction cup 47 is also arranged at the center of the fixed disk 17, it further ensures that the object to be grasped is located in the central area of the fixed disk 17;

[0049] Only by operating the driving motor three 52, the grasping of the clamping block 39 and the adsorption of the suction cup 47 can be carried out in sequence, without separately setting driving parts for the two, which is convenient for operation. And when loosening and taking the object to be grasped, control the driving motor three 52 to work in reverse. The connecting sleeve 53 drives the alignment control block 55 to rotate in reverse, so that the clamping block 39 releases the object until the guide ball 46 connected to the push rod 56 reaches the maximum stroke along the sliding of the guide fixed block 32 and cannot slide continuously, and the alignment control block 55 stops rotating. The sealing plate 57 starts to move in reverse and returns to its original position and cannot move. At this time, the suction cup 47 no longer adsorbs the object to be grasped, and the step of releasing the object to be grasped is completed. Embodiment 5

[0050] On the basis of Embodiment 4, as Figures 1-9 shown, the vision guiding mechanism includes a plurality of mounting grooves 45 evenly arranged circumferentially on the alignment control block 55. A vision camera one 40 is rotatably arranged in the mounting groove 45. The vision camera one 40 is fixedly connected to the motor 41. The motor 41 is fixedly arranged in the mounting groove 45. The vision camera one 40 is electrically connected to the electric telescopic rod one 18, the electric telescopic rod two 11, the electric telescopic rod three 6, the driving motor one and the driving motor two 15 through the controller one respectively;

[0051] The vision guiding mechanism further includes two vision cameras 8 symmetrically arranged on the front and rear sides of the left end of the sliding table 7. Driving wheels are respectively installed at the lower end corners of the robot base 1. The two vision cameras 8 are electrically connected to the driving wheels through a second controller;

[0052] The distance measuring mechanism includes a plurality of distance sensors evenly arranged circumferentially on the side of the alignment control block 55 away from the fixed disk 17. The distance sensors are arranged in a staggered manner with the clamping block 39. After the clamping block 39 grabs the object to be grabbed, the distance sensors are used to detect the distance between the object to be grabbed and the alignment control block 55. The plurality of distance sensors are respectively electrically connected to the alarm through a third controller.

[0053] The working principle of the above technical solution is as follows:

[0054] When the alignment control block 55 rotates, it can drive the first vision camera 40 to rotate, thereby increasing the visual detection range of the first vision camera 40. After the clamping block 39 grasps the object to be grasped, several distance sensors respectively detect the distance between their corresponding positions installed on the alignment control block 55 and the object to be grasped. When the alignment detection mechanism drives the object to be grasped to start moving, the detection value of the ranging mechanism changes. If the detection value of any one or more of the distance sensors changes, it means that the clamping block 39 does not grasp the object to be grasped firmly, resulting in the deviation of the object to be grasped. At this time, the distance sensor controls the alarm to work through the third controller, reminding the operator to immediately stop the movement of the object to be grasped. When the motor 41 works, it drives the first vision camera 40 to rotate. The first vision camera 40 first judges the position of the object to be grasped, and then automatically controls the first electric telescopic rod 18, the second electric telescopic rod 11, the third electric telescopic rod 6, the first driving motor and the second driving motor 15 to work through the first controller, so that the clamping block 39 can move arbitrarily in three-dimensional space. After the object to be grasped is grasped by controlling the third driving motor 52, the angle of the first vision camera 40 is adjusted by the motor 41, so that the first vision camera 40 faces the clamping block 39 and the object it grasps, which is used to judge whether the clamping block 39 has completed the grasping and releasing of the object to be grasped. The motor 41 and the third driving motor 52 can be electrically connected to the first vision camera 40 through the first controller, so as to automatically perform alignment grasping on the object to be grasped, further improving the intelligent effect of the intelligent robot of the present invention. The number of several installation grooves 45 is set to three, which can make the three first vision cameras 40 rotate synchronously. When the three first vision cameras 40 photograph the environment where the object to be grasped is located, there is an overlapping area. When the overlapping area photographed by the three first vision cameras 40 coincides with the position where the object to be grasped is located, it means that the center of the fixed disk 17 corresponds to the position where the object to be grasped is located. At this time, control the sliding block 14 to move along the sliding groove, so that the clamping block 39 corresponds to the object to be grasped, and the subsequent grasping work can be carried out. When the first gear 21 meshes with the third gear 20 and the second gear 19 at the same time, if the third electric telescopic rod 6 does not extend or retract, at this time, the extension and retraction of the second electric telescopic rod 11 will drive the sliding table 7 to slide up and down along the third electric telescopic rod 6, so that the vertical height of the second vision camera 8 can be adjusted according to the actual situation. The second vision camera 8 is provided to control the driving wheel to work through the second controller. The driving wheel drives the robot base 1 and the robotic arm and the alignment clamping mechanism connected thereto to move, which can realize the automatic walking process of the intelligent robot, facilitate moving to the placement area of the object to be grasped for subsequent alignment grasping work, and drive the grasped object to move to the target area;

[0055] The above-mentioned vision camera 1-40, vision camera 2-8, controller 1, controller 2, controller 3, and distance sensor all adopt existing devices. The method of determining the position of an object through vision camera 1-40 and vision camera 2-8, as well as the method of controlling electrical components through vision camera 1-40, vision camera 2-8, and the controller, such as the method of controlling the electric telescopic cylinder 1-18 to work by vision camera 1-40 through controller 1, all adopt existing technologies. The robotic arm can also adopt an existing robotic arm, and a positioning clamping mechanism is connected to the grasping end of the robotic arm. The present invention will not elaborate further on this.

[0056] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. An intelligent robot alignment device, characterized in that: The robot comprises a robot base (1), wherein a rotating disk (2) is rotatably provided at the upper end of the robot base (1), the rotating disk (2) is connected to a driving motor inside the robot base (1), a mechanical arm is provided at the upper end of the rotating disk (2), the mechanical arm is respectively connected to an alignment clamping mechanism and a stabilizing mechanism, the stabilizing mechanism is connected to the rotating disk (2), a visual guidance mechanism and a distance measuring mechanism are installed on the alignment clamping mechanism, and the distance measuring mechanism determines the installation position of the distance measuring mechanism and the distance of the object to be grasped after the alignment clamping mechanism aligns and grasps the object to be grasped; The mechanical arm comprises an electric telescopic rod three (6), the fixed section of the electric telescopic rod three (6) is fixedly connected to the rotating disk (2), the movable section of the electric telescopic rod three (6) is fixedly connected to the connecting shaft three (13), the front and rear ends of the connecting shaft three (13) are symmetrically provided with connecting blocks one (12), the left end of the connecting block one (12) is provided with a sliding groove, a sliding block (14) is slidably provided in the sliding groove, a connecting shaft one (16) and a support shaft (58) are rotatably provided between the sliding blocks (14) on the front and rear sides, the connecting shaft one (16) passes through the sliding block (14) on the front side and is fixedly connected to the driving motor two (15), and the driving motor two (15) is fixedly connected to the sliding block (14) on the front side; The mechanical arm is provided with a switching mechanism, which comprises an electric telescopic rod 1 (18), a fixed section of the electric telescopic rod 1 (18) being fixedly connected to a connecting block 1 (12) at the front side, a movable section of the electric telescopic rod 1 (18) penetrating the connecting block 1 (12) at the front side and being fixedly connected to a gear 1 (21) and a connecting block 2 (23), the gear 1 (21) being correspondingly meshed with a gear 2 (19) and a gear 3 (20), the gear 2 (19) and the gear 3 (20) being both fixedly connected to a connecting shaft 3 (13), the gear 2 (19) being concentrically arranged with the connecting shaft 3 (13), the gear 3 (20) being eccentrically arranged with the connecting shaft 3 (13), the connecting block 2 (23) being fixedly connected to a clamping block (24), the clamping block (24) being correspondingly matched with the saw teeth of a rack 1 (22), and the rack 1 (22) being fixedly connected to a sliding block (14) at the front side; The stabilizing mechanism comprises a sliding platform (7), the sliding platform (7) is slidably connected to the fixed section of the electric telescopic rod three (6), a spring rod (4) is respectively provided at the top corner of the lower end of the sliding platform (7), the lower end of the spring rod (4) is slidably connected to the annular groove (3) at the upper end of the rotating disk (2), a driving shaft (27) is rotatably provided in the groove at the left end of the sliding platform (7), the driving shaft (27) is fixedly connected to the rotating block one (9), the rotating block one (9) is fixedly connected to the fixed section of the electric telescopic rod two (11), the movable section of the electric telescopic rod two (11) is fixedly connected to the rotating block two (25), and the rotating block two (25) is rotatably connected to the support shaft (58); The upper end of the sliding table (7) is symmetrically provided with an open groove (48) on both sides. The driving shaft (27) passes through the side end of the groove at the left end of the sliding table (7) and enters the open groove (48) and is fixedly connected to the gear four (28). The gear four (28) is meshed with the rack two (26). The rack two (26) is meshed with the gear five (29). The gear five (29) is fixedly connected to the connecting shaft two. The connecting shaft two is rotationally connected to the right side of the open groove (48). The connecting shaft two is fixedly connected to the large gear one (30). The large gear one (30) is meshed with the rack three (10). The rack three (10) is meshed with the large gear two (3 1) meshing, rack three (10) passes through the right end of the opening slot (48) and is fixedly connected to the external mounting block (5), large gear two (31) is fixedly connected to drive shaft three (61), rack two (26) and rack three (10) are both slidably connected to the opening slot (48), drive shaft three (61) passes through the side end of the opening slot (48) and enters the right end groove of the sliding platform (7) and is fixedly connected to the rope drum (60), a pull rope (63) is wound around the rope drum (60), the pull rope (63) is fixedly connected to the counterweight block (62), and the counterweight block (62) is fixedly connected to the mounting block (5).

2. The intelligent robot alignment device according to claim 1, characterized in that: The alignment clamping mechanism comprises a fixed disk (17), the fixed disk (17) being fixedly connected to a connecting shaft (16), a left end of the fixed disk (17) being rotatably provided with an alignment control block (55), a plurality of push rods (56) being evenly arranged around the alignment control block (55), the push rods (56) penetrating the alignment control block (55) and being rotatably connected to a guide ball (46), the guide balls (46) connected to the plurality of push rods (56) being in one-to-one contact with a plurality of guide fixed blocks (32), the plurality of guide fixed blocks (32) being evenly arranged around the left end of the fixed disk (17), one end of the push rod (56) away from the guide ball (46) being fixedly connected to a clamping block (39), a spring (44) being provided between the clamping block (39) and the alignment control block (55), the spring (44) being sleeved on the push rod (56), and the plurality of guide fixed blocks (32) being fixedly connected to a plurality of fixed shells (33) being one-to-one correspondingly.

3. The intelligent robot alignment device according to claim 2, characterized in that: The clamping block (39) is also fixedly connected to the contact elastic rod (42), the contact elastic rod (42) is connected to the push arc block (37), the push arc block (37) is slidably connected to the slider (36), the left end of the fixed plate (17) and the left and right ends of the fixed shell (33) are penetrated by a slide groove (34), the slider (36) is slidably connected to the slide groove (34), a spring three (35) is fixedly provided between the slider (36) and the slide groove (34), the lower end of the slider (36) is fixedly connected to the elastic connecting rod (49), the elastic connecting rod (49) is fixedly connected to the rough block (50), the rough block (50) is in corresponding contact with the contact plate (51), the contact plate (51) is fixedly connected to the alignment control block (55), and the fixed plate (17) is provided with a movable hole for installing the contact plate (51), the elastic connecting rod (49) and the rough block (50).

4. The intelligent robot alignment device according to claim 3, characterized in that: One end of the contact plate (51) away from the alignment control block (55) is fixedly connected to the connecting sleeve (53), the connecting sleeve (53) is arranged in the movable hole of the fixed plate (17), the connecting sleeve (53) is rotatably connected to the suction cup (47), the suction cup (47) is arranged in the middle of the fixed plate (17) and the alignment control block (55), the suction hole inside the connecting sleeve (53) is connected to the suction cup (47), a sealing plate (57) is slidably provided in the left side of the suction hole, the sealing plate (57) is fixedly connected to the threaded rod (38), the threaded rod (38) is threadedly connected to the threaded sleeve (54), and the threaded sleeve (54) is threadedly connected to the threaded rod (38). 4) is rotatably connected to the fixed disk (17), the threaded sleeve (54) passes through the right end of the fixed disk (17) and is fixedly connected to the drive motor three (52), the drive motor three (52) is fixedly connected to the right end of the fixed disk (17), a plurality of matching grooves are evenly arranged in the circumferential direction on the right side of the suction hole inside the connecting sleeve (53), the plurality of matching grooves and the plurality of matching blocks (43) are slidably connected in a one-to-one correspondence, a spring two is fixedly provided between the matching grooves and the matching blocks (43), the inclined end of the matching block (43) is in corresponding contact with the fixed block (59), and the fixed block (59) is fixedly connected to the threaded sleeve (54).

5. The intelligent robot alignment device according to claim 2, characterized in that: The visual guidance mechanism comprises a plurality of mounting grooves (45) uniformly arranged around a positioning control block (55), a visual camera 1 (40) being rotatably arranged in the mounting groove (45), the visual camera 1 (40) being fixedly connected to a motor (41), the motor (41) being fixedly arranged in the mounting groove (45), and the visual camera 1 (40) being electrically connected to an electric telescopic rod 1 (18), an electric telescopic rod 2 (11), an electric telescopic rod 3 (6), a drive motor 1 and a drive motor 2 (15) respectively through a controller 1.

6. The intelligent robot alignment device according to claim 2, characterized in that: The distance measuring mechanism comprises a plurality of distance sensors uniformly arranged in the circumferential direction on one side of the alignment control block (55) away from the fixed disk (17); the distance sensors are arranged in a staggered manner with the clamping block (39); the distance sensors are used to detect the distance between the object to be grasped and the alignment control block (55) after the clamping block (39) grasps the object to be grasped; and the plurality of distance sensors are electrically connected to the alarm through controller 3.

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