Numerical control mechanical arm based on vision intelligence

Abstract

The invention discloses a numerical control mechanical arm based on vision intelligence, and belongs to the technical field of industrial robots, the numerical control mechanical arm based on vision intelligence comprises a base, a first mechanical arm, a connecting shaft, a second mechanical arm and a vision intelligent device, the top of the base is rotatably provided with the first mechanical arm through the connecting shaft, and the second mechanical arm is rotatably provided with the second mechanical arm through the connecting shaft; the numerical control mechanical arm comprises a first mechanical arm body and a third mechanical arm body, one end of the first mechanical arm body is rotationally provided with a second mechanical arm body through a connecting shaft, one end of the third mechanical arm body is provided with visual intelligent equipment, and when the third mechanical arm body is used, a first telescopic arm, a second telescopic arm and a third telescopic arm can stretch out of the second mechanical arm body; and when the first telescopic arm, the second telescopic arm and the third telescopic arm can be matched through the angle adjusting assembly, the angles of the second telescopic arm and the third telescopic arm can be adjusted according to the working requirement of the visual intelligent equipment, and the use flexibility cannot be reduced after the extension of the mechanical arm is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a CNC robotic arm based on visual intelligence. Background Art

[0002] As the core equipment of industrial automation, the technological evolution of CNC robotic arms has always revolved around improving precision, flexibility and autonomy, and has gradually become a key productivity tool in modern manufacturing, logistics and special operations. With the rise of visual technology, the spatial perception ability of robotic arms has been significantly improved.

[0003] Authorization announcement No. CN112720572B discloses a robotic arm. The invention relates to the field of mechanical structures, specifically to a robotic arm, including: a fixing device; an arm No. 1, one end of which is rotatably connected to the fixing device; an arm No. 2, one end of which is rotatably connected to the other end of the arm No. 1, and the other end has a first channel along the axial direction of the arm No. 2; an arm No. 3, one end of which is slidably arranged in the first channel; a telescopic device, which is detachably fixed to the arm No. 2, and the driving end of the telescopic device is connected to the arm No. 3, for driving the arm No. 3 to slide back and forth in the first channel. The telescopic device is detachably fixed to the No. 2 arm and the No. 3 arm. When it is necessary to change the telescopic length of the No. 3 arm in the No. 2 arm, the telescopic device can be replaced with a telescopic device that meets the usage requirements, so there is no need to replace the entire robotic arm, thereby improving the applicability of the robotic arm. In this invention, the No. 3 arm can move inside the No. 2 arm through the work of the telescopic device, thereby increasing the length of the robotic arm. However, as the No. 3 arm is extended, the flexibility of the No. 2 arm will be greatly reduced, and the length that the telescopic device can extend is fixed. When the No. 3 arm needs to extend beyond the length of the telescopic device, the telescopic device needs to be replaced, which is more troublesome and inconvenient to fully extend and retract the No. 3 arm. Summary of the Invention

[0004] The purpose of the present invention is to provide a CNC robotic arm based on visual intelligence, which can realize the extension and retraction of the first telescopic arm, the second telescopic arm and the third telescopic arm inside the second robotic arm through the cooperation of the second gear and the first tooth groove, thereby increasing the applicability of the robotic arm, and the angles between the telescopic arms can be adjusted through the cooperation of the mounting seat and the rotating ring, thereby increasing the flexibility of the robotic arm after extension.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a CNC robotic arm based on visual intelligence, comprising: a base, a first robotic arm, a connecting shaft, a second robotic arm, and a visual intelligence device, wherein the first robotic arm is rotatably mounted on the top of the base via the connecting shaft, the second robotic arm is rotatably mounted on one end of the first robotic arm via the connecting shaft, a third robotic arm for increasing the working range of the visual intelligence device is slidably mounted inside the second robotic arm, and the visual intelligence device is mounted on one end of the third robotic arm;

[0006] The third robotic arm includes a first telescopic arm, a second telescopic arm, a third telescopic arm, a movable telescopic assembly and an angle adjustment assembly for increasing the working range of the visual intelligent device, and a correction assembly for recovering and correcting the first telescopic arm, the second telescopic arm, and the third telescopic arm;

[0007] A first telescopic arm, a second telescopic arm and a third telescopic arm are movably mounted inside the second robotic arm through an assembly slot, and the first telescopic arm, the second telescopic arm and the third telescopic arm are connected through an angle adjustment component;

[0008] One end of the third telescopic arm away from the angle adjustment component is fixedly mounted on the bottom of the visual intelligent device, and a movable telescopic component is mounted on the side of the second mechanical arm;

[0009] A deviation correction component is installed on the second robotic arm.

[0010] Preferably, the telescopic assembly includes a second gear and a first tooth groove for moving the first telescopic arm, the second telescopic arm and the third telescopic arm, and a first gear and a gear belt for rotating the first rotating rod and the second gear;

[0011] The outer surfaces of the first telescopic arm, the second telescopic arm and the third telescopic arm are each provided with a first tooth groove, and at least two second gears are movably mounted inside the first tooth groove near the upper portion of the second mechanical arm;

[0012] One end of the first rotating rod is fixedly mounted inside each of the second gears through an assembly groove, and the other end of each of the first rotating rods passes through the inner wall of the second mechanical arm and is fixedly mounted with the first gear;

[0013] The two first gears are connected via a gear belt.

[0014] Preferably, the telescopic assembly further comprises a first mounting cover for mounting the first gear and the gear belt, and a first driving motor for rotating the first rotating rod;

[0015] A first mounting cover is fixedly mounted on the outer surface of the second robotic arm close to the first gear and the gear belt, and a first driving motor is fixedly mounted on the first mounting cover;

[0016] The output end of the first driving motor passes through the surface of the first mounting cover and is connected to the end of the first rotating rod.

[0017] Preferably, the angle adjustment assembly includes a rotating shaft for rotating the second telescopic arm and the third telescopic arm, a first gear set and a second drive motor for rotating the rotating shaft, and a first mounting groove for mounting the rotating shaft, the first gear set and the second drive motor;

[0018] A first mounting groove is provided inside the upper portion of each of the first telescopic arm and the second telescopic arm, and a rotating shaft is axially penetrated and rotatably connected to the axial center of the first mounting groove;

[0019] A second drive motor is installed inside the first installation slot, and an output end of the second drive motor is connected to the outer surface of the rotating shaft through a first gear set.

[0020] Preferably, the angle adjustment assembly further comprises a mounting seat and a rotating ring for swinging the second telescopic arm and the third telescopic arm, and a rotating groove for assembling the rotating ring;

[0021] A mounting seat is fixedly mounted on the top end of the rotating shaft, and a rotating groove is provided on the surface of the mounting seat;

[0022] A rotating ring is rotatably connected inside the rotating groove, and the side surface of the rotating ring is fixedly installed on the bottom ends of the second telescopic arm and the third telescopic arm.

[0023] Preferably, the angle adjustment assembly further comprises a second tooth groove and a third gear for rotating the rotating ring, a second mounting groove for assembling the third gear, and a second rotating rod for rotating the third gear;

[0024] A second mounting groove is formed inside the mounting seat, and a second rotating rod is rotatably mounted on one side of the inner wall of the second mounting groove;

[0025] A third gear is fixedly mounted on one end of the second rotating rod close to the second mounting slot, and a side surface of the third gear is connected to the second tooth groove through an assembly slot;

[0026] The second tooth groove is formed on the inner wall of the rotating ring.

[0027] Preferably, the angle adjustment assembly further comprises a second gear set for rotating the third gear, a third drive motor for rotating the second gear set, and a second mounting cover for assembling the third drive motor and the second gear set;

[0028] A second mounting cover is fixedly mounted on one side of the mounting base close to the second rotating rod, and a third driving motor is fixedly mounted on the side of the second mounting cover;

[0029] The output end of the third driving motor passes through the outer surface of the second mounting cover, and the output end of the third driving motor is connected to the other end of the second rotating rod through a second gear set.

[0030] Preferably, the correction assembly includes a guide block for vertically correcting the second telescopic arm and the third telescopic arm, and an arc groove, a slide groove and a correction plate for angularly correcting the second telescopic arm and the third telescopic arm;

[0031] A plurality of guide blocks are fixedly mounted on the top ends of the first telescopic arm and the second telescopic arm in a circular array, and arc-shaped grooves are provided on the bottom ends of the second telescopic arm and the third telescopic arm;

[0032] The outer surfaces of the first telescopic arm, the second telescopic arm and the third telescopic arm close to the arc groove are all provided with sliding grooves, and the sliding grooves are movably connected with a correction plate, which is fixedly installed on the inner wall of the inner cavity of the second mechanical arm.

[0033] Compared with the prior art, the beneficial effects of the present invention are: the CNC robotic arm based on visual intelligence;

[0034] 1. A third robotic arm is provided, which allows the first, second, and third telescopic arms to extend into the interior of the second robotic arm when in use. When the first, second, and third telescopic arms cooperate with each other through an angle adjustment assembly, the second and third telescopic arms can adjust their angles according to the working needs of the visual intelligent device, making it convenient to extend the arm span of the robotic arm without reducing its flexibility during use.

[0035] 2. A first driving motor is provided which, when working, can drive the two sets of first rotating rods, the first gear and the second gear to rotate through the cooperation of a gear belt. When the two second gears rotate, they can drive the first telescopic arm, the second telescopic arm and the third telescopic arm to move through the cooperation of the first tooth groove. When the two second gears move to the connection point of the two telescopic arms, the first second gear will first mesh with the first tooth groove on the adjacent telescopic arm. At this time, the second second gear is still in the first tooth groove of the previous telescopic arm. When the first second gear is fully meshed and rotated to the inside of the first tooth groove of the adjacent telescopic arm, the second second gear will separate from the previous telescopic arm. As the adjacent telescopic arm moves, the first tooth groove and the second second gear will be driven to mesh and move, thereby completing the movement of the two second gears between the two telescopic arms, making it easier for the first telescopic arm, the second telescopic arm and the third telescopic arm to be more stable during extension and retraction.

[0036] 3. A guide block is provided which can squeeze the crooked position of the bottom ends of the second telescopic arm and the third telescopic arm by its own tilt surface, so that the second telescopic arm and the third telescopic arm remain in a vertical state. When the bottom ends of the second telescopic arm and the third telescopic arm move to the inside of the second mechanical arm, the arc groove will be driven to contact one side of the correcting plate. When the angles of the second telescopic arm and the third telescopic arm are not accurate, the correcting plate will squeeze the arc surface of the arc groove. The extrusion of the arc groove drives the second telescopic arm and the third telescopic arm to rotate. When the second telescopic arm and the third telescopic arm rotate to the specified angle, the slide groove and the correcting plate will be driven to slide. When the correcting plate slides inside the slide groove, the verticality and angle of the first telescopic arm, the second telescopic arm and the third telescopic arm can be ensured, which makes it easier for the verticality and angle of the first telescopic arm, the second telescopic arm and the third telescopic arm to be more accurate when they are recovered. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0038] Figure 2 This is a schematic diagram of the enlarged structure of the second mechanical arm of the present invention from a first perspective;

[0039] Figure 3 This is a schematic diagram of the enlarged structure of the second mechanical arm of the present invention from a second perspective;

[0040] Figure 4 1 is a schematic diagram of a cross-sectional structure from the perspective of a second robotic arm of the present invention;

[0041] Figure 5 2 is a schematic diagram of the cross-sectional structure of the second mechanical arm of the present invention;

[0042] Figure 6 This invention Figure 4 A schematic diagram of the enlarged structure of part A;

[0043] Figure 7 This invention Figure 5 Enlarged structural diagram of part B.

[0044] In the figure: 100, base;

[0045] 200, first robotic arm;

[0046] 300, connecting shaft;

[0047] 400, second robotic arm;

[0048] 500, third robotic arm; 510, first telescopic arm; 520, second telescopic arm; 530, third telescopic arm;

[0049] 540, telescopic assembly; 541, first mounting cover; 542, first drive motor; 543, first rotating rod; 544, first gear; 545, gear belt; 546, second gear; 547, first tooth groove;

[0050] 550, angle adjustment assembly; 551, first mounting slot; 552, second drive motor; 553, rotating shaft; 554, first gear set; 555, mounting base; 556, second mounting cover; 557, third drive motor; 558, second rotating rod; 559, second gear set; 5510, third gear; 5511, second mounting slot; 5512, rotating slot; 5513, rotating ring; 5514, second tooth groove;

[0051] 560, deviation correction component; 561, guide block; 562, arc groove; 563, slide groove; 564, deviation correction plate; 600, visual intelligent device. DETAILED DESCRIPTION

[0052] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0053] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate for the embodiments of the present application described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or vehicle that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or vehicles.

[0054] Furthermore, the terms "installed," "disposed," "provided with," "connected," "connected," and "socketed" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integral structures; mechanical connections or electrical connections; direct connections, indirect connections through an intermediary, or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0055] See also Figure 1-Figure 5 The present invention provides an embodiment: a CNC robotic arm based on visual intelligence, comprising: a base 100, a first robotic arm 200, a connecting shaft 300, a second robotic arm 400 and a visual intelligence device 600, wherein the first robotic arm 200 is rotatably mounted on the top of the base 100 via the connecting shaft 300, the second robotic arm 400 is rotatably mounted on one end of the first robotic arm 200 via the connecting shaft 300, a third robotic arm 500 for increasing the working range of the visual intelligence device 600 is slidably mounted inside the second robotic arm 400, and the visual intelligence device 600 is mounted on one end of the third robotic arm 500;

[0056] It should be noted that the base 100 should be installed at the designated position by bolts before use. The base 100 can be used after installation. The connecting shaft 300 can be rotated by the driving member. When the connecting shaft 300 rotates, it can drive the first robotic arm 200 and the second robotic arm 400 to rotate. When the first robotic arm 200 and the second robotic arm 400 rotate, they can drive the visual intelligent device 600 to move. When the visual intelligent device 600 moves, it can detect the workpiece and can also increase the working range of the visual intelligent device 600 by operating the third robotic arm 500.

[0057] like Figure 1-Figure 7 As shown, the third robotic arm 500 includes a first telescopic arm 510, a second telescopic arm 520, a third telescopic arm 530, a movable telescopic assembly 540 and an angle adjustment assembly 550 for increasing the working range of the visual intelligent device 600, and a correction assembly 560 for recovering and correcting the first telescopic arm 510, the second telescopic arm 520 and the third telescopic arm 530. The first telescopic arm 510, the second telescopic arm 520 and the third telescopic arm 530 are movably installed inside the second robotic arm 400 through an assembly slot. The first telescopic arm 510, the second telescopic arm 520 and the third telescopic arm 530 are connected by an angle adjustment assembly 550. The end of the third telescopic arm 530 away from the angle adjustment assembly 550 is fixedly installed at the bottom of the visual intelligent device 600. The movable telescopic assembly 540 is installed on the side of the second robotic arm 400, and the correction assembly 560 is installed on the second robotic arm 400.

[0058] It can be imagined that when the telescopic component 540 is working, it can drive the first telescopic arm 510, the second telescopic arm 520 and the third telescopic arm 530 to move. When the third telescopic arm 530 moves, it can drive the visual intelligent device 600 to move. When the visual intelligent device 600 moves to the specified position, the angle adjustment component 550 can be used to flexibly adjust the detection angle of the visual intelligent device 600. When the first telescopic arm 510, the second telescopic arm 520 and the third telescopic arm 530 are recovered, they can be accurately docked through the correction component 560.

[0059] like Figure 1-Figure 7 As shown, the telescopic assembly 540 includes a second gear 546 and a first tooth groove 547 for moving the first telescopic arm 510, the second telescopic arm 520 and the third telescopic arm 530, as well as a first rotating rod 543 for rotating the second gear 546 and a first gear 544 and a gear belt 545 for rotating the first rotating rod 543. The outer surfaces of the first telescopic arm 510, the second telescopic arm 520 and the third telescopic arm 530 are all provided with a first tooth groove 547. It should be noted here that the first tooth groove 547 on the first telescopic arm 510, the second telescopic arm 520 and the third telescopic arm 530 is a complete tooth groove. At least two second gears 546 are movably installed in the first tooth groove 547 near the upper part of the second robotic arm 400. One end of the first rotating rod 543 is fixedly installed in the interior of each second gear 546 through an assembly groove. The other end of each first rotating rod 543 passes through the inner wall of the second robotic arm 400 and is fixedly installed with a first gear 544. The two first gears 544 are connected by a gear belt 545.

[0060] It is worth noting that when the first rotating rod 543 rotates, it can drive the first gear 544 to rotate. When the first gear 544 rotates, it can drive another first gear 544 to rotate through the gear belt 545. When the other first gear 544 rotates, it can drive another first rotating rod 543 to rotate. When the two first rotating rods 543 rotate, they can rotate on the second robotic arm 400. When the two first rotating rods 543 rotate, they can drive the two second gears 546 to rotate. When the two second gears 546 rotate, they can drive the first telescopic arm 510, the second telescopic arm 520 and the third telescopic arm 510 through the cooperation of the first tooth groove 547. 30 moves, when the two second gears 546 move to the connection point of the two telescopic arms, the first second gear 546 will first engage and connect with the first tooth groove 547 on the adjacent telescopic arm. At this time, the second second gear 546 is still in the first tooth groove 547 of the previous telescopic arm. When the first second gear 546 is fully engaged and rotated to the inside of the first tooth groove 547 of the adjacent telescopic arm, the second second gear 546 will be separated from the previous telescopic arm. As the adjacent telescopic arm moves, the first tooth groove 547 will be driven to engage and move with the second second gear 546, thereby completing the movement of the two second gears 546 between the two telescopic arms.

[0061] like Figures 1-6As shown, the telescopic assembly 540 further includes a first mounting cover 541 for mounting the first gear 544 and the gear belt 545, and a first drive motor 542 for rotating the first rotating rod 543. The first mounting cover 541 is fixedly mounted on the outer surface of the second robotic arm 400 near the first gear 544 and the gear belt 545. The first drive motor 542 is fixedly mounted on the first mounting cover 541. The output end of the first drive motor 542 passes through the surface of the first mounting cover 541 and is connected to the end of the first rotating rod 543.

[0062] It can be understood that when the first driving motor 542 is working, it can drive the first rotating rod 543 close to the first driving motor 542 to rotate. When the first rotating rod 543 rotates, it can drive the first gear 544 and the second gear 546 on the surface to rotate. When the first gear 544 rotates, it can drive another set of first rotating rods 543, first gears 544 and second gears 546 to rotate through the gear belt 545, so that the two sets of first rotating rods 543, first gears 544 and second gears 546 can achieve the same rotation speed.

[0063] like Figure 1-Figure 7 As shown, the angle adjustment assembly 550 includes a rotating shaft 553 for rotating the second telescopic arm 520 and the third telescopic arm 530, a first gear set 554 and a second drive motor 552 for rotating the rotating shaft 553, and a first mounting groove 551 for mounting the rotating shaft 553, the first gear set 554 and the second drive motor 552. The first mounting groove 551 is provided inside the upper portion of the first telescopic arm 510 and the second telescopic arm 520. The rotating shaft 553 is axially penetrated and rotatably connected to the axial center of the first mounting groove 551. The second drive motor 552 is mounted inside the first mounting groove 551, and the output end of the second drive motor 552 is connected to the outer surface of the rotating shaft 553 via the first gear set 554.

[0064] It should be considered that when the second drive motor 552 is working, it can drive the rotating shaft 553 to rotate through the first gear set 554. When the rotating shaft 553 rotates, it can rotate at the top of the first telescopic arm 510 and the second telescopic arm 520 through the cooperation of the bearing. When the rotating shaft 553 rotates, it can drive the second telescopic arm 520 and the third telescopic arm 530 to rotate through the mounting seat 555 and the rotating ring 5513. The rotation of the third telescopic arm 530 can adjust the working angle of the visual intelligent device 600.

[0065] like Figure 1-Figure 7As shown, the angle adjustment assembly 550 also includes a mounting base 555 and a rotating ring 5513 for swinging the second telescopic arm 520 and the third telescopic arm 530, as well as a rotating groove 5512 for assembling the rotating ring 5513. The mounting base 555 is fixedly mounted on the top of the rotating shaft 553. The rotating groove 5512 is formed on the surface of the mounting base 555. The rotating ring 5513 is rotatably connected to the rotating groove 5512. The side of the rotating ring 5513 is fixedly mounted on the bottom ends of the second telescopic arm 520 and the third telescopic arm 530.

[0066] It can be imagined that the rotating ring 5513 can rotate through the cooperation of the third gear 5510 and the second tooth groove 5514. When the rotating ring 5513 rotates, it can rotate inside the rotating groove 5512. The rotating ring 5513 can drive the second telescopic arm 520 or the third telescopic arm 530 to swing left and right. When the second telescopic arm 520 and the third telescopic arm 530 swing left and right, the working angle of the visual intelligent device 600 can be adjusted.

[0067] like Figure 2-Figure 5 and Figure 7 As shown, the angle adjustment assembly 550 also includes a second tooth groove 5514 and a third gear 5510 for rotating the rotating ring 5513, as well as a second mounting groove 5511 for assembling the third gear 5510 and a second rotating rod 558 for rotating the third gear 5510. The mounting base 555 is provided with a second mounting groove 5511. A second rotating rod 558 is rotatably mounted on one side of the inner wall of the second mounting groove 5511. The third gear 5510 is fixedly mounted on one end of the second rotating rod 558 close to the second mounting groove 5511. The side surface of the third gear 5510 is connected to the second tooth groove 5514 through an assembly groove. The second tooth groove 5514 is provided on the inner wall of the rotating ring 5513.

[0068] It is worth noting that when the second rotating rod 558 rotates, it can drive the third gear 5510 to rotate in the second mounting groove 5511. When the third gear 5510 rotates, it can drive the second tooth groove 5514 to engage and rotate. When the second tooth groove 5514 engages and rotates, it can drive the rotating ring 5513 to rotate. When the rotating ring 5513 rotates, it can drive the second telescopic arm 520 or the third telescopic arm 530 to swing left and right.

[0069] like Figure 2-Figure 5 and Figure 7As shown, the angle adjustment assembly 550 also includes a second gear set 559 for rotating the third gear 5510, a third drive motor 557 for rotating the second gear set 559, and a second mounting cover 556 for assembling the third drive motor 557 and the second gear set 559. The second mounting cover 556 is fixedly mounted on one side of the mounting base 555 close to the second rotating rod 558, and the third drive motor 557 is fixedly mounted on the side of the second mounting cover 556. The output end of the third drive motor 557 passes through the outer surface of the second mounting cover 556, and the output end of the third drive motor 557 is connected to the other end of the second rotating rod 558 through the second gear set 559.

[0070] It should be understood that when the third drive motor 557 rotates, it can drive the second gear set 559 to work, and when the second gear set 559 works, it can drive the second rotating rod 558 to rotate. When the second rotating rod 558 rotates, it can rotate in the mounting seat 555 through the bearing, and when the second rotating rod 558 rotates, it can drive the third gear 5510 to rotate.

[0071] like Figure 1-Figure 7 As shown, the correction component 560 includes a guide block 561 for vertically correcting the second telescopic arm 520 and the third telescopic arm 530, and an arc-shaped groove 562, a slide groove 563 and a correction plate 564 for angularly correcting the second telescopic arm 520 and the third telescopic arm 530. The top ends of the first telescopic arm 510 and the second telescopic arm 520 are fixedly installed with a plurality of guide blocks 561 in a circular array, and the bottom ends of the second telescopic arm 520 and the third telescopic arm 530 are both provided with an arc-shaped groove 562. The outer surfaces of the first telescopic arm 510, the second telescopic arm 520 and the third telescopic arm 530 near the arc-shaped groove 562 are all provided with a slide groove 563. The slide groove 563 is movably connected to the correction plate 564, and the correction plate 564 is fixedly installed on the inner wall of the inner cavity of the second robotic arm 400.

[0072] It can be imagined that before the second telescopic arm 520 and the third telescopic arm 530 are retracted into the second robotic arm 400, they need to be reset to their verticality and angle through the angle adjustment component 550. However, in actual use, the second telescopic arm 520 and the third telescopic arm 530 may not be very accurate due to external factors or their own factors. As a result, when the second telescopic arm 520 and the third telescopic arm 530 are retracted through the telescopic component 540, the guide block 561 can squeeze the skewed position of the bottom end of the second telescopic arm 520 and the third telescopic arm 530 by its own tilt, so that the second telescopic arm 520 and the third telescopic arm 530 remain in a vertical state. When the second telescopic arm 520 and the third telescopic arm 530 are retracted, the guide block 561 can squeeze the skewed position of the bottom end of the second telescopic arm 520 and the third telescopic arm 530 by its own tilt, so that the second telescopic arm 520 and the third telescopic arm 530 remain in a vertical state. When the bottom end of the third telescopic arm 530 moves to the inside of the second robotic arm 400, it will drive the arc groove 562 to contact one side of the correcting plate 564. When the angle between the second telescopic arm 520 and the third telescopic arm 530 is inaccurate, the correcting plate 564 will squeeze the arc surface of the arc groove 562. The arc groove 562 is squeezed and drives the second telescopic arm 520 and the third telescopic arm 530 to rotate. When the second telescopic arm 520 and the third telescopic arm 530 rotate to the specified angle, it will drive the slide groove 563 and the correcting plate 564 to slide. When the correcting plate 564 slides inside the slide groove 563, it can ensure the verticality and angle of the first telescopic arm 510, the second telescopic arm 520 and the third telescopic arm 530.

[0073] The above are only preferred specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A CNC robotic arm based on visual intelligence, comprising: A base (100), a first mechanical arm (200), a connecting shaft (300), a second mechanical arm (400) and a visual intelligent device (600), wherein the top of the base (100) is rotatably mounted with the first mechanical arm (200) via the connecting shaft (300), one end of the first mechanical arm (200) is rotatably mounted with the second mechanical arm (400) via the connecting shaft (300), a third mechanical arm (500) for increasing the working range of the visual intelligent device (600) is slidably mounted inside the second mechanical arm (400), and one end of the third mechanical arm (500) is mounted with the visual intelligent device (600), characterized in that; The third mechanical arm (500) includes a first telescopic arm (510), a second telescopic arm (520), a third telescopic arm (530), a movable telescopic assembly (540), and an angle adjustment assembly (550) for increasing the working range of the visual intelligent device (600), and a correction assembly (560) for recovering and correcting the first telescopic arm (510), the second telescopic arm (520), and the third telescopic arm (530); A first telescopic arm (510), a second telescopic arm (520) and a third telescopic arm (530) are movably mounted inside the second mechanical arm (400) through an assembly slot, and the first telescopic arm (510), the second telescopic arm (520) and the third telescopic arm (530) are connected via an angle adjustment assembly (550); One end of the third telescopic arm (530) away from the angle adjustment component (550) is fixedly mounted on the bottom of the visual intelligent device (600), and a movable telescopic component (540) is mounted on the side of the second mechanical arm (400); A deviation correction component (560) is installed on the second mechanical arm (400).

2. The CNC robotic arm based on visual intelligence according to claim 1, characterized in that: The telescopic assembly (540) includes a second gear (546) and a first tooth groove (547) for moving the first telescopic arm (510), the second telescopic arm (520) and the third telescopic arm (530), as well as a first rotating rod (543) for rotating the second gear (546) and a first gear (544) and a gear belt (545) for rotating the first rotating rod (543); The outer surfaces of the first telescopic arm (510), the second telescopic arm (520) and the third telescopic arm (530) are all provided with a first tooth groove (547), and at least two second gears (546) are movably installed inside the first tooth groove (547) near the upper part of the second mechanical arm (400); One end of the first rotating rod (543) is fixedly mounted inside each second gear (546) through an assembly groove, and the other end of each first rotating rod (543) passes through the inner wall of the second mechanical arm (400) and is fixedly mounted with a first gear (544); The two first gears (544) are connected via a gear belt (545).

3. The CNC robotic arm based on visual intelligence according to claim 2, characterized in that: The telescopic assembly (540) further includes a first mounting cover (541) for mounting the first gear (544) and the gear belt (545), and a first driving motor (542) for rotating the first rotating rod (543); A first mounting cover (541) is fixedly mounted on the outer surface of the second mechanical arm (400) near the first gear (544) and the gear belt (545), and a first driving motor (542) is fixedly mounted on the first mounting cover (541); The output end of the first driving motor (542) passes through the surface of the first mounting cover (541) and is connected to the end of the first rotating rod (543).

4. The CNC robotic arm based on visual intelligence according to claim 1, characterized in that: The angle adjustment assembly (550) includes a rotating shaft (553) for rotating the second telescopic arm (520) and the third telescopic arm (530), a first gear set (554) and a second drive motor (552) for rotating the rotating shaft (553), and a first mounting groove (551) for mounting the rotating shaft (553), the first gear set (554), and the second drive motor (552); A first mounting groove (551) is provided inside the upper portion of each of the first telescopic arm (510) and the second telescopic arm (520), and a rotating shaft (553) is axially penetrated and rotatably connected to the axial center of the first mounting groove (551); A second drive motor (552) is installed inside the first installation slot (551), and an output end of the second drive motor (552) is connected to the outer surface of the rotating shaft (553) via a first gear set (554).

5. The CNC robotic arm based on visual intelligence according to claim 4, characterized in that: The angle adjustment assembly (550) further comprises a mounting seat (555) and a rotating ring (5513) for swinging the second telescopic arm (520) and the third telescopic arm (530), and a rotating groove (5512) for assembling the rotating ring (5513); A mounting seat (555) is fixedly mounted on the top end of the rotating shaft (553), and a rotating groove (5512) is formed on the surface of the mounting seat (555); A rotating ring (5513) is rotatably connected inside the rotating groove (5512), and the side surface of the rotating ring (5513) is fixedly installed on the bottom ends of the second telescopic arm (520) and the third telescopic arm (530).

6. The CNC robotic arm based on visual intelligence according to claim 5, characterized in that: The angle adjustment assembly (550) further includes a second tooth groove (5514) and a third gear (5510) for rotating the rotating ring (5513), a second mounting groove (5511) for assembling the third gear (5510), and a second rotating rod (558) for rotating the third gear (5510). A second mounting groove (5511) is provided inside the mounting seat (555), and a second rotating rod (558) is rotatably installed through one side of the inner wall of the second mounting groove (5511); A third gear (5510) is fixedly mounted on one end of the second rotating rod (558) close to the second mounting groove (5511), and a side surface of the third gear (5510) is connected to the second tooth groove (5514) via an assembly groove; The second tooth groove (5514) is provided on the inner wall of the rotating ring (5513).

7. The CNC robotic arm based on visual intelligence according to claim 6, characterized in that: The angle adjustment assembly (550) further includes a second gear set (559) for rotating the third gear (5510), a third drive motor (557) for rotating the second gear set (559), and a second mounting cover (556) for assembling the third drive motor (557) and the second gear set (559); A second mounting cover (556) is fixedly mounted on one side of the mounting seat (555) close to the second rotating rod (558), and a third driving motor (557) is fixedly mounted on the side of the second mounting cover (556); The output end of the third drive motor (557) passes through the outer surface of the second mounting cover (556), and the output end of the third drive motor (557) is connected to the other end of the second rotating rod (558) through a second gear set (559).

8. The CNC robotic arm based on visual intelligence according to claim 1, characterized in that: The correction component (560) comprises a guide block (561) for vertically correcting the second telescopic arm (520) and the third telescopic arm (530), and an arcuate groove (562), a sliding groove (563) and a correction plate (564) for angularly correcting the second telescopic arm (520) and the third telescopic arm (530). A plurality of guide blocks (561) are fixedly mounted on the top ends of the first telescopic arm (510) and the second telescopic arm (520) in a circular array, and arc-shaped grooves (562) are provided on the bottom ends of the second telescopic arm (520) and the third telescopic arm (530); The outer surfaces of the first telescopic arm (510), the second telescopic arm (520) and the third telescopic arm (530) close to the arc groove (562) are all provided with a sliding groove (563), and the sliding groove (563) is movably connected to a correction plate (564) inside, and the correction plate (564) is fixedly installed on the inner wall of the inner cavity of the second mechanical arm (400).

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