Industrial robot gripper clamp based on machine vision

Abstract

The invention provides an industrial robot gripper clamp based on machine vision, which comprises a movable bottom plate, a multi-direction adjusting clamp combination and a machine vision module, and a group of movable seats for flexibly guiding and moving a multi-axis adjusting main body are arranged at the upper end of a movable guide rail; and a group of multi-axis adjusting main bodies used for providing multi-axis angle adjustment for the multi-direction adjusting clamp combination are arranged at the upper end of the moving seat. Compared with the prior art, the multi-axis angle adjusting device has the following beneficial effects that the coordinate and posture data of an object on the material loading guiding and conveying belt are obtained in real time through an integrated vision algorithm; the moving seat slides to a target area along a preset path on the moving guide rail, the multi-axis adjusting body drives the main supporting frame to horizontally rotate to adjust the azimuth angle through the first rotating motor, the second rotating motor controls the pitching angle of the upper supporting rotating seat, and the third rotating motor is in linkage with the telescopic column to achieve axial stretching and retracting and tail end overturning actions of the clamp combination. And the pushing electric cylinder and the driving head act synergistically.

Description

Technical Field

[0001] The invention relates to an industrial robot gripper fixture based on machine vision, belonging to the technical field of industrial robots. Background Art

[0002] Existing industrial robotic grippers suffer from numerous shortcomings when it comes to grasping diverse workpieces, primarily in terms of adaptability, flexibility, and cost-effectiveness. Traditional grippers are typically designed for workpieces of specific shapes and sizes, lacking sufficient adaptability. This results in an inability to ensure stable and efficient grasping of workpieces of varying shapes, sizes, and materials. These shortcomings stem from the limitations of mechanical grippers' structures and control algorithms, which often require pre-configuration or complex programming to adapt to new workpieces. Conventional approaches include using customized grippers, multi-finger dexterous hands, or vision-assisted grasping strategies. Customized grippers improve grasping efficiency by designing specialized fixtures for specific workpieces, but this approach is costly, time-consuming, and lacks versatility. Multi-finger dexterous hands offer improved flexibility and adaptability by mimicking the human hand's grip, but their control systems are complex and expensive. Furthermore, these solutions often require additional integration and debugging, increasing system complexity and maintenance costs. Therefore, there is an urgent need for a machine vision-based industrial robotic gripper to address these issues. Summary of the Invention

[0003] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide an industrial robot gripper fixture based on machine vision, including: a movable base plate, a multi-directional adjustable fixture combination and a machine vision module, so as to solve the problems raised in the above background technology.

[0004] Base comprises support, castor, and frame upper is provided with guide rail, and support and conveyer frames movable end contact site are provided with recoil spring or rubber cushion, and castor is arranged on the pin of base bottom four, to carry mobile handler location.

[0005] The multi-axis adjustment body includes a bottom shaft base and a rotation motor three, the bottom shaft base is fixed to the movable seat by bolts, the length and width of the cross-section of the bottom shaft base when viewed from above are the same as the length and width of the cross-section of the movable seat when viewed from above, the cross-section of the front side of the bottom shaft base is a convex structure, a group of motors for driving the lower rotating seat to rotate left and right are provided inside the middle position of the bottom shaft base, a group of external power connectors for connecting to the power supply of the motor one are provided on the left side of the bottom shaft base, the specific structure of the external power connector matches the specific use model of the motor one, and the upper end of the motor one is the driving end;

[0006] The cam is fixed to the bottom of the main support frame, and the upper end of the main support frame is provided with an inner fitting groove for mutually positioning and fitting with the left side of the bottom of the main support frame. The left side of the lower end of the main support frame is provided with a group of inner limiting fitting rods for mutually positioning and fitting with the inner fitting groove. The inner limiting fitting rod and the main support frame are an integral structure. The middle position of the inner limiting fitting rod is provided with a group of driving heads for supporting and controlling the left and right movement of the main support frame. The left side of the driving head is provided with a group of pushing electric cylinders for pushing the driving head to extend and retract left and right. The front side of the lower end of the main support frame is provided with a group of rotating motor 1 for controlling the left and right flipping of the main support frame, and the rear side of the upper end of the main support frame is provided with a group of rotating motor 2 for controlling the left and right flipping of the upper support rotating seat, and the driving end of the rotating motor is connected to the main support frame.

[0007] As a preferred embodiment, the front side of the second driving end of the rotation motor is connected to the rear side of the left end of the upper support rotary seat, and the right side of the upper support rotary seat is provided with a group of connecting flange seats for connecting and fixing the telescopic column, and the upper support rotary seat is connected and fixed to the left side of the telescopic column through the connecting flange seat. The telescopic column is an electric telescopic rod, and the right side of the telescopic column is provided with a group of rotation motors three for further driving the machine vision module and the multi-directional adjustment clamp combination to flip left and right. The driving end of the third rotation motor is connected and fixed to the left side of the multi-directional adjustment combination. In actual use, the coordinates and posture data of the object on the loading guide belt are obtained in real time through the integrated visual algorithm, and the moving seat slides to the target area along the preset path on the moving guide rail. Its double guide wheel interlocking structure ensures that the movement process is smooth and accurate, and the multi-axis adjustment body drives the main support frame to rotate horizontally to adjust the azimuth angle through the rotation motor one, and the rotation motor two controls the upper support The pitch angle of the rotating seat and the three-way rotary motors link the telescopic column to realize the axial extension and end flipping of the fixture combination. The push-to-electric cylinder and the drive head work together to push the main support frame to fine-tune the lateral displacement to align the clamping point, and cooperate with the length adjustment of the electric telescopic column to adapt to objects of different sizes. Before the multi-directional adjustment fixture combination contacts the object, the vision module verifies the clamping position deviation for the second time, triggering the three-way rotary motor to compensate the gripping angle of the end of the fixture in real time. During the clamping process, the connecting flange seat bears the mechanical load, combined with the rigid constraint of the internal limit rod to maintain the clamping stability. After completing the grasping, the mobile seat returns to the initial position along the guide rail, and the rotary motor resets the main support frame to prepare for the next operation. The drive system and the vision module form a closed-loop control to realize continuous material transfer. The entire process achieves high-precision and high-flexibility automated grasping operations through the deep integration of multi-axis collaborative motion and visual feedback.

[0008] As a preferred embodiment, the multi-directional adjustment clamp combination includes a rear seat and a chuck assembly three, the rear seat is connected to the three driving ends of the rotation motor, and a group of control seats for loading the machine vision module, the adjustment motor, the chuck assembly one, the chuck assembly two and the chuck assembly three driving control components are provided on the right side of the rear seat. The rear seat is sealed and fixed to the control seat, and a group of inspection covers are provided on the upper end of the control seat for easy maintenance by the staff. A group of machine vision modules for providing machine vision functions to the industrial robot are provided on the front side of the control seat, and a group of connecting brackets are provided on the rear side of the machine vision module, and the connecting brackets are connected and fixed to the front side of the control seat.

[0009] As a preferred embodiment, a group of adjusting motors for controlling the forward and backward rotation adjustment of the front rotating head is provided on the right side of the control seat, the adjusting motor driving end is located on the right side, and a group of front rotating heads for rotationally adjusting and supporting the chuck assembly 1, chuck assembly 2 and chuck assembly 3 is provided on the right side of the adjusting motor driving end, the upper end of the front rotating head is provided with a group of chuck assembly 1 for anti-slip protection clamping of small rectangular workpieces, the rear side of the front rotating head is provided with a group of chuck assembly 2 for anti-slip protection clamping of cylindrical workpieces, and the bottom of the front rotating head is provided with a group of chuck assembly 3 for clamping irregular workpieces, and the chuck assembly 1, chuck assembly 2 and chuck assembly 3 are all connected and fixed to the front rotating head. In actual use, the three-dimensional posture recognition and coordinate positioning of the target workpiece are performed by using a machine vision module, and real-time closed-loop feedback is formed by combining the driving control component inside the control seat. After receiving the positioning data, the adjusting motor drives the front rotating head to rotate axially, so that the chuck assemblies 1, 2 and 3 are aligned with the workpiece clamp at a preset angle. The clamping surface is that the first chuck component adapts to rectangular workpieces through V-shaped clamping jaws with anti-slip grooves on both sides, the second chuck component adopts an arc-shaped clamping surface to match the contour of cylindrical objects, and the third chuck component realizes adaptive enveloping clamping of irregular workpieces through a multi-degree-of-freedom micro-link mechanism. During the clamping process, the third rotary motor transmits torque through the rear seat, forming a compound motion compensation with the rotation adjustment of the front rotary head to eliminate the posture deviation residual from the visual positioning. When the chuck assembly contacts the workpiece, the pressure sensor in the control seat monitors the clamping force in real time, and dynamically adjusts the rotation angle of the front rotary head by adjusting the motor to maintain constant force clamping. After clamping is completed, the chuck assembly moves to the designated workstation along the moving guide rail with the moving seat. At this time, the front rotary head can be rotated a second time to adjust the workpiece placement angle. The inspection cover adopts a quick-opening structure with a sealed connection design, which is convenient for maintenance personnel to troubleshoot or replace parts of the drive control components inside the control seat. The entire process realizes precise and flexible clamping of multiple types of workpieces through the integrated application of multi-chuck rapid switching, compound rotation adjustment and real-time force feedback.

[0010] As a preferred embodiment, the chuck assembly includes an external wire connector and an internal positioning shaft, and a group of protective shells for protecting the internal drive motor and the internal positioning bearings are provided at the lower end of the external wire connector, and a group of internal positioning bearings for maintaining the rotational positioning of the upper end of the inner rotating rod are provided inside the middle position of the protective shell, and a group of internal drive motors for driving the driving gear to rotate are provided on the rear side of the internal positioning bearings, and a group of driving gears for driving the main rotating seat gear to rotate are provided at the lower end of the internal drive motor, and the driving gear is connected to the driving end of the internal drive motor.

[0011] The worm gear is a gear which is connected to the drive gear of the driving gear by a toothed connection, and the toothed connection is connected with the toothed connection of the driving gear to the driving gear.

[0012] As a preferred embodiment, the outer side of the outer support arm is provided with a group of movably connected to the adjustment guide arm through a group of outer movable hinge shafts, the lower end of the outer movable hinge shaft is provided with a group of adjustment guide arms for adjusting the retraction action of the clamping claw body, the inner side of the middle position of the adjustment guide arm is provided with a group of inner adjustment arms for maintaining its adjustable support strength, the inner adjustment arm is a movable mechanism, the left and right sides of the inner adjustment arm are provided with a group of concave movable inner grooves, the inner adjustment arm and the bearing base and the adjustment guide arm are all movably connected through the inner movable hinge shaft and are respectively engaged with the bearing base and the outer side of the adjustment guide arm, the adjustment A group of clamping claw bodies for clamping objects are provided at the lower end of the section guide arm. The clamping claw body and the adjusting guide arm are an integrated structure, and a group of inner positioning clamp seats for increasing the clamping friction are provided on the inner side of the clamping claw body, and a group of rubber clamping pads are provided on the inner side of the inner positioning clamp seats. The inner side of the clamping pads are provided with several groups of inner anti-slip grooves with inverted diamond patterns and concave-convex staggered structures. The inner side of the clamping claw body is a straight line structure and is made of tungsten steel. In actual use, the inner drive motor is first started by connecting to the power supply through the external wire connector, and the inner rotating rod is driven to rotate through the meshing transmission of the driving gear and the inner rotating seat gear, and the worm is driven by the inner rotating rod. The synchronous rotation of the inner rotating rod drives the worm gears on both sides to generate angular displacement. The worm gear pushes the outer support arm to rotate around the axis through the inner positioning shaft. The outer support arm pulls the adjustment guide arm inward through the external movable hinge shaft, and the double-link compound motion trajectory is guided by the concave movable inner groove of the inner adjustment arm. The clamping jaw body is symmetrically and synchronously retracted along with the linkage of the adjustment guide arm. The linear clamping surface made of tungsten steel is buffered by the rubber clamping pad of the inner positioning clamp seat at the moment of contact with the workpiece. The inverted diamond anti-skid pattern on the surface produces a microscopic bite effect with the workpiece surface to prevent slippage. During the clamping process, the speed of the internal drive motor is converted into high torque output through the worm gear reduction mechanism. The radial support of the rotating shaft by the internal locating bearing maintains transmission stability. When releasing, the internal drive motor rotates in the opposite direction to drive the worm gear to reverse, and the outer support arm swings outward to drive the adjustment guide arm to expand. The clamping jaw body quickly resets to the maximum opening and closing angle. The protective shell is fully sealed to prevent dust from invading the gear transmission system. The bearing base maintains the vertical rotation accuracy of the worm through the bottom fixed point. The articulated structure of the internal adjustment arm dynamically adjusts the force distribution during the clamping process to avoid mechanism jamming. The entire clamping cycle is achieved through the mechanical optimization of the gear-worm secondary reduction and the four-bar linkage to achieve balanced control of high-rigidity clamping force and adaptive enveloping action.

[0013] As a preferred embodiment, the second clamping assembly includes an adjusting electric cylinder and a support platform, the lower end of the adjusting electric cylinder is provided with a group of lower support ring seats for supporting its lower end, the lower support ring seat and the adjusting electric cylinder are fixed by bolts, and the left and right sides of the lower support ring seat are respectively provided with a group of outer sealing shells for protecting the inner adjustment seat and the inner telescopic rod lamp-related components, the front side of the outer sealing shell is provided with a group of front maintenance shells for easy opening and maintenance by the staff, the interior of the outer sealing shell is provided with a group of inner adjustment cavities for movable adjustment of the two groups of outer support clamping arms, the lower end of the adjusting electric cylinder is provided with a group of inner telescopic rods for driving the inner adjustment seat to move up and down, the inner telescopic rods pass through the interior of the inner adjustment seat and are connected and fixed thereto, the lower end of the inner telescopic rod is provided with a group of limit heads for limiting the telescopic height of the telescopic rod, and the interior of the limit heads is a hollow structure.

[0014] As a preferred embodiment, the lower end of the inner telescopic rod passes through the inner side of the limit head, and a group of limit blocks for mutual limiting engagement with the inner side of the limit head are provided at its lower end, and the limit blocks are movably limited and engaged with the inner side of the limit head. The lower end of the limit head is provided with a group of support platforms for supporting the bottom of the limit head, and the support platforms are fixed to the outer sealing shell and the front maintenance shell by bolts. A group of connecting arms for driving the outer support clamping arms to retract and expand are respectively provided on the left and right sides of the inner adjustment seat, and each group of the connecting arms is movably connected to one side of a group of inner adjustment seats by a rotating shaft, and a group of supporting devices are provided on the outside of each group of the connecting arms. The outer support clamping arm is used to improve the strength of the connecting arm and drive the movement of the clamping body. The lower ends of each group of the outer support clamping arms and a group of connecting arms are provided with a group of clamping bodies for anti-slip protection clamping of columnar workpieces. The inner side of each group of the clamping bodies is provided with a group of anti-slip pads for improving the clamping friction and providing flexible support. The inner side of the anti-slip pads has evenly distributed hemispherical or cylindrical protrusions, and disperses the pressure through point contact. The inner side of the clamping body of the anti-slip pad is an arc structure. In actual use, the adjusting electric cylinder drives the inner telescopic rod to extend downward, driving the inner adjustment seat to move in the vertical direction, connecting The arm is pulled by the internal adjustment seat to rotate around the axis of rotation, pushing the external support clamping arm to expand outward to the preset clamping radius. When the cylindrical workpiece enters the arc-shaped clamping area of the chuck body, the hemispherical protrusions of the anti-slip pad contact the surface of the workpiece, and flexible contact and local deformation compensation are achieved through point pressure distribution to avoid surface scratches. During the clamping process, the electric cylinder is adjusted to continuously apply pressure. The limit block at the end of the inner telescopic rod is embedded in the limit head to form a mechanical hard limit to prevent damage to the mechanism due to overload. The internal adjustment cavity inside the outer sealing shell provides movement space for the connecting arm and the external support clamping arm, while blocking external dust from invading the precision transmission components. When the workpiece is released, the electric cylinder is adjusted to retract in the opposite direction, the inner adjustment seat moves up to drive the connecting arm to swing back, the outer support clamping arm is synchronously retracted and reset, and the chuck body is quickly separated from the workpiece surface. The front maintenance shell is fixed with bolts to achieve quick disassembly and assembly, which is convenient for technicians to lubricate and maintain the connecting arm hinge point inside the outer sealing shell or replace parts. The dual load-bearing design of the support platform and the lower support ring seat disperses the axial load during the clamping process, ensuring that the inner telescopic rod maintains the vertical movement accuracy. The entire clamping cycle is achieved through the motion conversion of the electric cylinder linear drive and the four-bar linkage mechanism to achieve adaptive envelope clamping and pressure balance control of the cylindrical workpiece.

[0015] After adopting the above technical solution, the beneficial effects of the present invention are as follows: the coordinates and posture data of the object on the material-carrying guide belt are acquired in real time through the integrated visual algorithm, the mobile seat slides along the preset path to the target area on the mobile guide rail, and its double guide wheel interlocking structure ensures a smooth and accurate movement process. The multi-axis adjustment body drives the main support frame to rotate horizontally to adjust the azimuth angle through the rotary motor 1, the rotary motor 2 controls the pitch angle of the upper support rotary seat, and the rotary motor 3 drives the telescopic column to realize the axial extension and end flipping action of the clamp assembly, and the push electric cylinder and the drive head work together;

[0016] By using a machine vision module to perform three-dimensional posture recognition and coordinate positioning of the target workpiece, combined with the drive control components inside the control seat to form real-time closed-loop feedback, the motor is adjusted to receive positioning data and drive the front rotary head to perform axial rotation, so that the first, second, and third chuck components are aligned with the workpiece clamping surface at a preset angle. The first chuck component uses V-shaped jaws with anti-slip grooves on both sides to adapt to rectangular workpieces. The second chuck component uses a curved clamping surface to match the contour of cylindrical objects. The third chuck component uses a multi-degree-of-freedom micro-link mechanism to achieve adaptive enveloping clamping of irregular workpieces.

[0017] The inner rotating rod is driven to rotate through the meshing transmission of the driving gear and the inner rotating seat gear. The worm rotates synchronously with the inner rotating rod to drive the worm wheels on both sides to generate angular displacement. The worm wheel pushes the outer support arm to rotate around the axis through the inner positioning shaft. The outer support arm pulls the adjustment guide arm inward through the external movable hinge shaft, and is guided by the concave movable inner groove of the inner adjustment arm to form a double-link compound motion trajectory. The clamping jaw body is symmetrically and synchronously retracted along with the linkage of the adjustment guide arm. Its tungsten steel linear clamping surface is buffered by the rubber clamping pad of the inner positioning clamp seat at the moment of contact with the workpiece. The inverted diamond anti-skid pattern on the surface produces a microscopic bite effect with the workpiece surface to prevent slippage. During the clamping process, the speed of the internal drive motor is converted into high torque output through the worm gear reduction mechanism, and the radial support of the rotating shaft by the inner positioning bearing maintains transmission stability.

[0018] When the cylindrical workpiece enters the arc-shaped clamping area of the chuck body, the hemispherical protrusions of the anti-slip pad contact the surface of the workpiece, achieving flexible contact and local deformation compensation through point pressure distribution to avoid surface scratches. During the clamping process, the electric cylinder is adjusted to continuously apply pressure, and the limit block at the end of the inner telescopic rod is embedded in the limit head to form a mechanical hard limit to prevent damage to the mechanism due to overload. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 This is a schematic diagram of a left oblique front top view of an industrial robot gripper based on machine vision according to the present invention;

[0021] Figure 2 This is a schematic diagram of a left oblique top view of the structure of multiple adjustment bodies in a machine vision-based industrial robot gripper fixture of the present invention;

[0022] Figure 3This is a schematic diagram of a left oblique top view of a multi-directional adjustable fixture assembly in a machine vision-based industrial robot gripper fixture of the present invention;

[0023] Figure 4 This is a schematic diagram of the left oblique structure of the clamping head assembly in the industrial robot gripper based on machine vision of the present invention when it is rotated to the bottom;

[0024] Figure 5 This is a schematic diagram of the structure of the interior of the second outer sealed shell of the clamp assembly in the industrial robot gripper based on machine vision of the present invention from a left oblique side view;

[0025] Figure 6 This is a schematic diagram of the left oblique structure of a middle chuck assembly in a machine vision-based industrial robot gripper fixture of the present invention when it is rotated to the bottom;

[0026] Figure 7 This is a schematic diagram of the left oblique structure inside the protective shell of the clamping head assembly 1 in the machine vision-based industrial robot gripper clamp of the present invention;

[0027] In the figure: 1-movable base plate, 2-material carrying guide belt, 3-movable guide rail, 4-movable seat, 5-multi-axis adjustment body, 6-multi-directional adjustment fixture assembly, 7-machine vision module;

[0028] 51- bottom shaft base, 52- external power connector, 53- lower rotary seat, 54- push cylinder, 55- drive head, 56- main support frame, 57- rotation motor 1, 58- rotation motor 2, 59- upper support rotary seat, 501- connecting flange seat, 502- telescopic column, 503- rotation motor 3;

[0029] 61-rear connector, 62-control connector, 63-adjustment motor, 64-front rotary head, 65-chuck assembly 1, 66-chuck assembly 2, 67-chuck assembly 3;

[0030] 65a-external wire connector, 65b-protective shell, 65c-driving gear, 65d-main rotating seat gear, 65e-internal rotating rod, 65f-worm, 65g-worm wheel, 65h-external support arm, 65i-adjustment guide arm, 65j-internal adjustment arm, 65k-clamping jaw body, 65l-internal positioning clamp seat, 65m-internal drive motor, 65n-internal positioning bearing, 65o-external movable hinge shaft, 65p-internal movable hinge shaft, 65q-internal positioning shaft;

[0031] 66a-adjusting electric cylinder, 66b-lower support ring seat, 66c-outer sealing shell, 66d-front maintenance shell, 66e-outer support clamp arm, 66f-inner support arm, 66g-clamp body, 66h-anti-slip pad, 66i-clamp body, 66j-inner telescopic rod, 66k-inner adjustment seat, 66l-limit head, 66m-connecting arm, 66n-support platform. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0033] See also Figure 1-Figure 7 As a first embodiment of the present invention: an industrial robot gripper fixture based on machine vision, comprising: a movable base plate 1, a multi-axis adjustment body 5, a multi-directional adjustment fixture assembly 6 and a machine vision module 7, the upper end of the movable base plate 1 is provided with two groups of movable guide rails 3 for guiding the movable seat 4 to move, the movable guide rails 3 and the movable base plate 1 are an integral structure, and a group of loading guide belts 2 for guiding and transporting the clamped object is provided on the right side of the movable base plate 1, wherein the loading guide belt 2 is a conveyor belt of a belt conveyor, and the top view shape of the movable base plate 1 and the movable guide rail 3 is determined according to the required industrial robot movement path or the length of the loading guide belt 2 and the specific structural shape, the upper end of the movable guide rail 3 is provided with a group of movable seats 4 for flexibly guiding the movement of the multi-axis adjustment body 5, the lower end of the movable seat 4 is provided with a group of inner fitting grooves for mutual engagement with the movable guide rail 3, the movable seat 4 and the movable guide rail 3 are movably engaged with each other through double guide wheels, and the upper end of the movable seat 4 is provided with a group of multi-axis adjustment bodies 5 for providing multi-axis angle adjustment for the multi-directional adjustment fixture assembly 6;

[0034] The multi-axis adjustment body 5 includes a bottom shaft base 51 and a rotation motor 3 503. The bottom shaft base 51 is fixed to the movable base 4 by bolts. The length and width of the cross-section of the bottom shaft base 51 when viewed from above are the same as those of the movable base 4 when viewed from above. The cross-section of the bottom shaft base 51 when viewed from the front side is a convex structure. A group of motors 1 for driving the lower rotating base 53 to rotate left and right are provided in the middle position of the bottom shaft base 51. A group of external power connectors 52 for connecting to the power supply of motor 1 are provided on the left side of the bottom shaft base 51. The specific structure of the external power connector 52 matches the specific model of motor 1. The upper end of motor 1 is the driving end.

[0035] The first driving end of the motor is connected and fixed to the middle position of the bottom of the lower rotary seat 53, and the upper end of the lower rotary seat 53 is provided with an inner fitting groove for mutual positioning and interlocking with the left side of the bottom of the main support frame 56. The left side of the lower end of the main support frame 56 is provided with a group of inner limit rods for mutual positioning and interlocking with the inner fitting groove. The inner limit rod and the main support frame 56 are an integral structure. The middle position of the inner limit rod is provided with a group of driving heads 55 for supporting and controlling the left and right movement of the main support frame 56. The left side of the driving head 55 is provided with a group of pushing electric cylinders 54 for pushing the driving head 55 to extend and retract left and right. The front side of the lower end of the main support frame 56 is provided with a group of rotation motor 1 57 for controlling the left and right flipping of the main support frame 56. The rear side of the upper end of the main support frame 56 is provided with a group of rotation motor 2 58 for controlling the left and right flipping of the upper support rotary seat 59. The driving end of the rotation motor 1 57 is connected to the main support frame 56.

[0036] The front side of the driving end of the second rotation motor 58 is connected to the rear side of the left end of the upper support rotary seat 59. A group of connecting flange seats 501 for connecting and fixing the telescopic column 502 is provided on the right side of the upper support rotary seat 59. The upper support rotary seat 59 is connected and fixed to the left side of the telescopic column 502 through the connecting flange seat 501. The telescopic column 502 is an electric telescopic rod. A group of rotation motors 3 503 is provided on the right side of the telescopic column 502 for further driving the machine vision module 7 and the multi-directional adjustment fixture assembly 6 to flip left and right. The driving end of the third rotation motor 503 is connected and fixed to the left side of the multi-directional adjustment assembly.

[0037] See also Figure 1-Figure 7 In actual use, the coordinates and posture data of the object on the loading guide belt 2 are obtained in real time through the integrated visual algorithm. The mobile seat 4 slides along the preset path on the mobile guide rail 3 to the target area. Its double guide wheel interlocking structure ensures a smooth and accurate movement process. The multi-axis adjustment body 5 drives the main support frame 56 to rotate horizontally to adjust the azimuth angle through the rotation motor 1 57. The rotation motor 2 58 controls the pitch angle of the upper support rotary seat 59. The rotation motor 3 503 links the telescopic column 502 to realize the axial extension and end flipping action of the clamp combination. The push cylinder 54 and the drive head 55 work together to push the main support frame 56 to fine-tune the lateral displacement to align the clamping point, coordinating with the length of the electric telescopic column 502 To adapt to objects of different sizes, the multi-directional adjustment fixture assembly 6 will use the vision module to check the clamping position deviation for the second time before contacting the object, triggering the rotation motor 3 503 to compensate the gripping angle of the end of the fixture in real time. During the clamping process, the connecting flange seat 501 is subjected to mechanical loads, combined with the rigid constraint of the internal limit rod to maintain the clamping stability. After completing the grasping, the mobile seat 4 returns to the initial position along the guide rail, and the rotation motor 1 57 resets the main support frame 56 to prepare for the next operation. The drive system and the vision module form a closed-loop control to realize continuous material transfer. The entire process achieves high-precision and high-flexibility automated grasping operations through the deep integration of multi-axis collaborative motion and visual feedback.

[0038] See also Figure 1-Figure 3 , as the second embodiment of the present invention: based on the explanation in the first embodiment, further, the multi-directional adjustment clamp assembly 6 includes a rear seat 61, a chuck assembly 1 65, a chuck assembly 2 66 and a chuck assembly 3 67, the rear seat 61 is connected to the driving end of the rotation motor 3 503, and a group of control seats 62 for loading the machine vision module 7, the adjustment motor 63, the chuck assembly 1 65, the chuck assembly 2 66 and the chuck assembly 3 67 driving control components are provided on the right side of the rear seat 61, the rear seat 61 is sealed and fixed to the control seat 62, and a group of inspection covers are provided on the upper end of the control seat 62 for easy maintenance by the staff, and a group of machine vision modules 7 for providing machine vision functions to the industrial robot are provided on the front side of the control seat 62, and a group of connecting brackets are provided on the rear side of the machine vision module 7, and the connecting brackets are connected and fixed to the front side of the control seat 62.

[0039] See also Figure 3 , a group of adjusting motors 63 for controlling the forward and backward rotation adjustment of the front rotating head 64 is provided on the right side of the control seat 62, and the driving end of the adjusting motor 63 is located on the right side, and a group of supporting front rotating heads 64 for rotating and adjusting the chuck assembly 1 65, the chuck assembly 2 66 and the chuck assembly 3 67 is provided on the right side of the driving end of the adjusting motor 63. A group of chuck assembly 1 65 for anti-slip protection clamping of small rectangular workpieces is provided on the upper end of the front rotating head 64, a group of chuck assembly 2 66 for anti-slip protection clamping of columnar workpieces is provided on the rear side of the front rotating head 64, and a group of chuck assembly 3 67 for clamping irregular workpieces is provided at the bottom of the front rotating head 64, and the chuck assembly 1 65, the chuck assembly 2 66 and the chuck assembly 3 67 are all connected and fixed to the front rotating head 64;

[0040] In actual use, the three-dimensional posture recognition and coordinate positioning of the target workpiece are performed by using the machine vision module 7, and the drive control components inside the control seat 62 are combined to form a real-time closed-loop feedback. After the adjustment motor 63 receives the positioning data, it drives the front rotary head 64 to rotate axially, so that the chuck components 1 65, 2, and 3 are aligned with the workpiece clamping surface at a preset angle. The chuck component 1 65 adapts to the rectangular workpiece through the V-shaped clamping jaws with anti-slip grooves on both sides, the chuck component 2 66 adopts an arc-shaped clamping surface to match the contour of the cylindrical object, and the chuck component 3 67 realizes the adaptive enveloping clamping of irregular workpieces through a multi-degree-of-freedom micro-link mechanism. During the clamping process, the rotation motor 3 503 transmits torque through the rear seat 61, and the front rotary head 64 The rotation adjustment forms a compound motion compensation to eliminate the residual posture deviation of the visual positioning. When the chuck assembly contacts the workpiece, the pressure sensor in the control seat 62 monitors the clamping force in real time, and dynamically adjusts the rotation angle of the front rotary head 64 by adjusting the motor 63 to maintain constant force clamping. After the clamping is completed, the chuck assembly is transferred to the designated workstation along the movable guide rail 3 with the movable seat 4. At this time, the front rotary head 64 can be rotated a second time to adjust the workpiece placement angle. The inspection cover adopts a quick-opening structure with a sealed connection design, which is convenient for maintenance personnel to troubleshoot or replace parts of the drive control components inside the control seat 62. The entire process realizes precise and flexible clamping of multiple types of workpieces through the integrated application of multi-chuck rapid switching, compound rotation adjustment and real-time force feedback.

[0041] See also Figure 1 、 Figure 3 as well as Figure 6-Figure 7 As a third embodiment of the present invention: Based on the description in the second embodiment, further, the chuck assembly 65 includes an outer wire connector 65a, an adjustment guide arm 65i, a clamping claw body 65k and an inner positioning shaft 65q. The lower end of the outer wire connector 65a is provided with a group of protective shells 65b for protecting the inner drive motor 65m and the inner positioning bearing 65n. A group of inner positioning bearings 65n for maintaining the rotational positioning of the upper end of the inner rotating rod 65e is provided inside the middle position of the protective shell 65b. A group of inner driving motors 65m for driving the driving gear 65c to rotate are provided on the rear side of the inner positioning bearing 65n. The lower end of the inner driving motor 65m is provided with a group of driving gears 65c for driving the main rotating seat gear 65d to rotate. The driving gear 65c is connected to the driving end of the inner driving motor 65m.

[0042] See also Figure 6-Figure 7, a group of inner rotating seat gears is provided on the front side of the driving gear 65c for driving the inner rotating rod 65e to rotate, the inner rotating seat gear and the driving gear 65c are meshed with each other, and the inner diameter length of the inner rotating seat gear is 5 times the inner diameter length of the driving gear 65c. A group of inner rotating rods 65e are provided in the middle position of the inner rotating seat gear for driving the two groups of worm gears 65g to rotate synchronously, the upper end of the inner rotating rod 65e is connected and fixed to the inside of the inner positioning bearing 65n, and a group of worms 65f are provided on the outer side of the lower end of the inner rotating rod 65e for driving the two groups of worm gears 65g to rotate, and the worm 65f The lower end is provided with a group of bearing bases for maintaining the rotational positioning of the lower end of the inner rotating rod 65e, and the lower end of the inner rotating rod 65e is fixedly connected to the inside of the bearing base. The left and right sides of the worm 65f are respectively provided with a group of worm gears 65g for controlling the angle adjustment of the two groups of outer support arms 65h. The outer side of each group of worm gears 65g is provided with a group of inner positioning shafts 65q for driving the outer support arms 65h to rotate, and the outer side of the inner positioning shafts 65q is provided with a group of outer support arms 65h for driving the adjustment guide arms 65i to flip and adjust. The outer support arms 65h are fixedly connected to the inner positioning shafts 65q.

[0043] See also Figure 6-Figure 7 The outer side of the outer support arm 65h is provided with a group of movable connections with the adjustment guide arm 65i through a group of outer movable hinge shafts 65o. The lower end of the outer movable hinge shaft 65o is provided with a group of adjustment guide arms 65i for adjusting the retraction action of the clamping claw body 65k. The inner side of the adjustment guide arm 65i is provided with a group of inner adjustment arms 65j for maintaining its adjustable support strength. The inner adjustment arm 65j is a movable mechanism. A group of concave movable inner grooves are provided on both sides of the inner adjustment arm 65j. The inner adjustment arm 65j and the bearing base and the adjustment guide arm 65i are all movable through the inner movable hinge shaft 65p. Dynamically connected and respectively engaged with the bearing base and the outer side of the adjustment guide arm 65i, the lower end of the adjustment guide arm 65i is provided with a group of clamping claw bodies 65k for clamping objects, the clamping claw body 65k and the adjustment guide arm 65i are an integrated structure, and the inner side of the clamping claw body 65k is provided with a group of inner positioning clamping seats 65l for increasing the clamping friction force, the inner side of the inner positioning clamping seat 65l is provided with a group of rubber material clamping pads, the inner side of the clamping pads is provided with several groups of inner anti-slip grooves with inverted diamond patterns and staggered concave and convex structures, the inner side of the clamping claw body 65k is a straight structure, and is made of tungsten steel material;

[0044] In actual use, first, the power supply is connected through the external wire connector 65a to start the internal drive motor 65m, and the internal rotating rod 65e is driven to rotate through the meshing transmission of the active gear 65c and the internal rotating seat gear. The worm 65f rotates synchronously with the internal rotating rod 65e to drive the worm wheels 65g on both sides to generate angular displacement. The worm wheel 65g pushes the outer support arm 65h to rotate around the axis through the internal positioning shaft 65q. The outer support arm 65h pulls the adjustment guide arm 65i inward through the external movable hinge shaft 65o, and is guided by the concave movable inner groove of the inner adjustment arm 65j to form a double-link compound motion trajectory. The clamping claw body 65k is symmetrically and synchronously retracted with the linkage of the adjustment guide arm 65i. Its tungsten steel linear clamping surface is buffered by the rubber clamping pad of the internal positioning clamp seat 65l at the moment of contact with the workpiece, and the inverted diamond anti-slip pattern on the surface produces a micro-bite effect with the workpiece surface to prevent slippage. During the clamping process, the rotation speed of the inner drive motor 65m is converted into high-torque output through the worm gear 65g and worm 65f reduction mechanism, and the radial support of the rotating shaft by the inner positioning bearing 65n is used to maintain the transmission stability. When releasing, the inner drive motor 65m rotates in the opposite direction to drive the worm gear 65g to reverse, and the outer support arm 65h swings outward to drive the adjustment guide arm 65i to unfold, and the clamping claw body 65k quickly resets to the maximum opening and closing angle. The protective shell 65b is fully sealed to prevent dust from invading the gear transmission system. The bearing base maintains the vertical rotation accuracy of the worm 65f through the bottom fixed point. The articulated structure of the inner adjustment arm 65j dynamically adjusts the force distribution during the clamping process to avoid mechanism jamming. The entire clamping cycle is achieved through the mechanical optimization of the gear-worm 65f secondary reduction and the four-bar linkage to achieve balanced control of high-rigidity clamping force and adaptive enveloping action.

[0045] See also Figure 1 、 Figure 3 as well as Figure 6-Figure 7 As a fourth embodiment of the present invention: Based on the description in the second embodiment, further, the second chuck assembly 66 includes an adjusting electric cylinder 66a, an outer support clamp arm 66e, a chuck body 66g and a support platform 66n. The lower end of the adjusting electric cylinder 66a is provided with a set of lower support ring seats 66b for supporting its lower end. The lower support ring seat 66b is fixed to the adjusting electric cylinder 66a by bolts. The left and right sides of the lower support ring seat 66b are respectively provided with a set of outer sealing shells 66 for protecting the inner adjustment seat 66k and the inner telescopic rod 66j and related components. c. A front maintenance shell 66d is provided on the front side of the outer sealing shell 66c for easy opening and maintenance by the staff. A group of inner adjustment cavities for movable adjustment of the two groups of outer support clamping arms 66e are provided inside the outer sealing shell 66c. A group of inner telescopic rods 66j for driving the inner adjustment seat 66k to move up and down are provided at the lower end of the adjusting electric cylinder 66a. The inner telescopic rods 66j pass through the interior of the inner adjustment seat 66k and are fixedly connected thereto. A group of limit heads 66l for limiting the telescopic height of the telescopic rods are provided at the lower end of the inner telescopic rods 66j. The interior of the limit heads 66l is a hollow structure.

[0046] The lower end of the inner telescopic rod 66j passes through the inner side of the limit head 66l, and a group of limit blocks for mutually limiting and interlocking with the inner side of the limit head 66l are provided at its lower end. The limit blocks are movably limited and interlocked with the inner side of the limit head 66l. A group of support platforms 66n for supporting the bottom of the limit head 66l are provided at the lower end of the limit head 66l. The support platforms 66n are fixed to the outer sealing shell 66c and the front maintenance shell 66d by bolts. A group of connecting arms 66m for driving the outer support clamping arms 66e to retract and extend are respectively provided on the left and right sides of the inner adjustment seat 66k. Each group of connecting arms 66m and one side of a group of inner adjustment seats 66k are movable by a swivel. Dynamic connection, each group of connecting arms 66m is provided with a group of outer support clamping arms 66e on the outside for improving the strength of the connecting arms 66m and driving the movement of the chuck body 66g, each group of outer support clamping arms 66e and a group of connecting arms 66m are provided with a group of chuck bodies 66g at the lower ends for anti-slip protection clamping of cylindrical workpieces, each group of chuck bodies 66g is provided with a group of anti-slip pads 66h on the inside for improving the clamping friction and providing flexible support, the anti-slip pads 66h are evenly distributed on the inside, and the pressure is dispersed through point contact, and the inside of the anti-slip pads 66h and the chuck body 66g is an arc structure;

[0047] In actual use, the adjusting electric cylinder 66a drives the inner telescopic rod 66j to extend downward, driving the inner adjustment seat 66k to move in the vertical direction. The connecting arm 66m is pulled by the displacement of the inner adjustment seat 66k to rotate around the rotation axis, pushing the outer support clamping arm 66e to expand outward to the preset clamping radius;

[0048] When the cylindrical workpiece enters the arc-shaped clamping area of the chuck body 66g, the hemispherical protrusions of the anti-slip pad 66h contact the surface of the workpiece, and flexible contact and local deformation compensation are achieved through point-like pressure distribution to avoid surface scratches. During the clamping process, the electric cylinder 66a is adjusted to continuously apply pressure, and the limit block at the end of the inner telescopic rod 66j is embedded in the limit head 66l to form a mechanical hard limit to prevent damage to the mechanism due to overload. The internal adjustment cavity inside the outer sealing shell 66c provides movement space for the connecting arm 66m and the outer support clamping arm 66e, while blocking external dust from invading the precision transmission components. When the workpiece is released, the electric cylinder 66a is adjusted to retract in the opposite direction, and the inner adjustment seat The upward movement of 66k drives the connecting arm 66m to swing back, and the outer support clamping arm 66e is simultaneously retracted and reset, and the chuck body 66g quickly detaches from the workpiece surface. The front maintenance shell 66d is fixed with bolts to achieve rapid disassembly and assembly, which is convenient for technicians to lubricate and maintain or replace parts on the hinge point of the connecting arm 66m inside the outer sealing shell 66c. The dual load-bearing design of the support platform 66n and the lower support ring seat 66b disperses the axial load during the clamping process, ensuring that the inner telescopic rod 66j maintains vertical motion accuracy. The entire clamping cycle achieves adaptive envelope clamping and pressure balance control of the cylindrical workpiece through the motion conversion of the electric cylinder linear drive and the four-bar linkage.

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An industrial robot gripper based on machine vision, comprising: A movable base plate (1), a multi-axis adjustment body (5), a multi-directional adjustment fixture assembly (6) and a machine vision module (7); the upper end of the movable base plate (1) is provided with two groups of movable guide rails (3) for guiding the movable seat (4); the movable guide rails (3) and the movable base plate (1) are an integrated structure; the right side of the movable base plate (1) is provided with a group of material guide belts (2) for guiding and transporting the clamped object; the material guide belts (2) are conveyor belts of a belt conveyor; the top view shape of the movable base plate (1) and the movable guide rails (3) is determined according to the required industrial machine The moving path of the person or the length of the material carrying guide belt (2) and the specific structural shape are determined, and the characteristics are as follows: the upper end of the movable guide rail (3) is provided with a group of movable seats (4) for flexibly guiding the movement of the multi-axis adjustment body (5); the lower end of the movable seat (4) is provided with a group of inner fitting grooves for mutual fitting with the movable guide rail (3); the movable seat (4) and the movable guide rail (3) are movably fitted together through double guide wheels; the upper end of the movable seat (4) is provided with a group of multi-axis adjustment bodies (5) for providing multi-axis angle adjustment for the multi-directional adjustment fixture assembly (6); The multi-axis adjustment body (5) includes a bottom shaft base (51) and a rotation motor three (503), the bottom shaft base (51) and the movable seat (4) are fixed by bolt connection, the bottom shaft base (51) has the same cross-sectional length and width as the cross-sectional length and width of the movable seat (4) when viewed from above, the front cross-sectional length of the bottom shaft base (51) is a convex structure, a group of motors for driving the lower rotating seat (53) to rotate left and right are provided inside the middle position of the bottom shaft base (51), a group of external power connectors (52) for connecting to the power supply of the motor are provided on the left side of the bottom shaft base (51), the specific structure of the external power connector (52) matches the specific use model of the motor, and the upper end of the motor is the driving end; The motor driving end is connected and fixed to the middle position of the bottom of the lower rotating seat (53), the upper end of the lower rotating seat (53) is provided with an inner fitting groove for mutual positioning and fitting with the left side of the bottom of the main support frame (56), the left side of the lower end of the main support frame (56) is provided with a group of inner limiting fitting rods for mutual positioning and fitting with the inner fitting groove, the inner limiting fitting rods and the main support frame (56) are an integral structure, and the middle position of the inner limiting fitting rod is provided with a group of driving means for supporting it and controlling the left and right movement of the main support frame (56). The driving head (55) is provided with a group of pushing electric cylinders (54) on the left side for pushing the driving head (55) to extend and retract left and right. The front side of the lower end of the main support frame (56) is provided with a group of rotating motors (57) for controlling the left and right flipping of the main support frame (56). The rear side of the upper end of the main support frame (56) is provided with a group of rotating motors (58) for controlling the left and right flipping of the upper support rotating seat (59). The driving end of the rotating motor (57) is connected to the main support frame (56).

2. The machine vision-based industrial robot gripper according to claim 1, characterized in that: The front side of the driving end of the second rotation motor (58) is connected to the rear side of the left end of the upper support rotary seat (59); a group of connecting flange seats (501) for connecting and fixing the telescopic column (502) is provided on the right side of the upper support rotary seat (59); the upper support rotary seat (59) and the left side of the telescopic column (502) are connected and fixed via the connecting flange seat (501); the telescopic column (502) is an electric telescopic rod; a group of rotation motors (503) for further driving the machine vision module (7) and the multi-directional adjustment clamp assembly (6) to flip left and right is provided on the right side of the telescopic column (502); the driving end of the third rotation motor (503) is connected and fixed to the left side of the multi-directional adjustment assembly.

3. The machine vision-based industrial robot gripper according to claim 1, characterized in that: The multi-directional adjustment clamp assembly (6) includes a rear seat (61), a chuck assembly (65), a chuck assembly (66) and a chuck assembly (67), the rear seat (61) is connected to the driving end of the rotation motor (503), and a control seat (62) for loading the machine vision module (7), the adjustment motor (63), the chuck assembly (65), the chuck assembly (66) and the chuck assembly (67) driving control components is provided on the right side of the rear seat (61), the rear seat (61) is sealed and fixed to the control seat (62), and the upper end of the control seat (62) is provided with a group of inspection covers for easy maintenance by staff, the front side of the control seat (62) is provided with a group of machine vision modules (7) for providing machine vision functions to the industrial robot, the rear side of the machine vision module (7) is provided with a group of connecting brackets, and the connecting brackets are connected and fixed to the front side of the control seat (62).

4. The machine vision-based industrial robot gripper according to claim 3, characterized in that: A group of regulating motors (63) for controlling the forward and backward rotation adjustment of the front rotating head (64) is provided on the right side of the control seat (62); the driving end of the regulating motor (63) is located on the right side, and a group of supporting front rotating heads (64) for rotating and adjusting the chuck assembly 1 (65), the chuck assembly 2 (66) and the chuck assembly 3 (67) is provided on the right side of the driving end of the regulating motor (63); a group of chuck assembly 1 (65) for anti-slip protection clamping of small rectangular workpieces is provided on the upper end of the front rotating head (64); a group of chuck assembly 2 (66) for anti-slip protection clamping of columnar workpieces is provided on the rear side of the front rotating head (64); a group of chuck assembly 3 (67) for clamping irregular workpieces is provided at the bottom of the front rotating head (64); the chuck assembly 1 (65), the chuck assembly 2 (66) and the chuck assembly 3 (67) are all connected and fixed to the front rotating head (64).

5. The machine vision-based industrial robot gripper according to claim 4, characterized in that: The clamping head assembly (65) comprises an outer wire connector (65a), an adjustment guide arm (65i), a clamping claw body (65k) and an inner positioning shaft (65q). The lower end of the outer wire connector (65a) is provided with a group of protective shells (65b) for protecting the inner driving motor (65m) and the inner positioning bearing (65n). The middle position of the protective shell (65b) is provided with a group of inner positioning bearings (65n) for maintaining the rotational positioning of the upper end of the inner rotating rod (65e). The rear side of the inner positioning bearing (65n) is provided with a group of inner driving motors (65m) for driving the driving gear (65c) to rotate. The lower end of the inner driving motor (65m) is provided with a group of driving gears (65c) for driving the main rotating seat gear (65d) to rotate. The driving gear (65c) is connected to the driving end of the inner driving motor (65m).

6. The machine vision-based industrial robot gripper according to claim 5, characterized in that: A group of internal rotating seat gears for driving the internal rotating rod (65e) to rotate are provided on the front side of the driving gear (65c), and the internal rotating seat gear and the driving gear (65c) are meshed with each other. The inner diameter length of the internal rotating seat gear is 5 times the inner diameter length of the driving gear (65c). A group of internal rotating rods (65e) for driving two groups of worm gears (65g) to rotate synchronously are provided in the middle position of the internal rotating seat gear. The upper end of the internal rotating rod (65e) is connected and fixed to the inside of the inner positioning bearing (65n). A group of worms (65f) for driving the two groups of worm gears (65g) to rotate are provided on the outer side of the lower end of the internal rotating rod (65e). The worms (65f) The lower end is provided with a group of bearing bases for maintaining the rotational positioning of the lower end of the inner rotating rod (65e), and the lower end of the inner rotating rod (65e) is connected and fixed to the inside of the bearing base. The left and right sides of the worm (65f) are respectively provided with a group of worm wheels (65g) for controlling the angle adjustment of the two groups of outer support arms (65h). The outer side of each group of worm wheels (65g) is provided with a group of inner positioning shafts (65q) for driving the outer support arms (65h) to rotate and connect. The outer side of the inner positioning shaft (65q) is provided with a group of outer support arms (65h) for driving the adjustment guide arm (65i) to flip and adjust. The outer support arms (65h) are connected and fixed to the inner positioning shaft (65q).

7. The machine vision-based industrial robot gripper according to claim 6, characterized in that: The outer side of the outer support arm (65h) is provided with a group of movable connections with the adjustment guide arm (65i) through a group of external movable hinge shafts (65o), the lower end of the external movable hinge shaft (65o) is provided with a group of adjustment guide arms (65i) for adjusting the retraction and closing action of the clamping claw body (65k), the inner side of the middle position of the adjustment guide arm (65i) is provided with a group of internal adjustment arms (65j) for maintaining its adjustable support strength, the internal adjustment arm (65j) is a movable mechanism, the left and right sides of the internal adjustment arm (65j) are provided with a group of concave movable inner grooves, the internal adjustment arm (65j) and the bearing base and the adjustment guide arm (65i) are connected through internal movable hinge shafts. (65p) is movably connected and respectively engaged with the bearing base and the outer side of the adjustment guide arm (65i), and the lower end of the adjustment guide arm (65i) is provided with a group of clamping claw bodies (65k) for clamping objects, and the clamping claw body (65k) and the adjustment guide arm (65i) are an integrated structure, and the inner side of the clamping claw body (65k) is provided with a group of inner positioning clamp seats (65l) for increasing the clamping friction force, and the inner side of the inner positioning clamp seat (65l) is provided with a group of rubber material clamping pads, and the inner side of the clamping pads is provided with several groups of inverted diamond pattern concave and convex staggered structure inner anti-slip grooves, and the inner side of the clamping claw body (65k) is a straight structure, and is made of tungsten steel material.

8. The machine vision-based industrial robot gripper according to claim 4, characterized in that: The second clamping assembly (66) includes an adjusting electric cylinder (66a), an outer support clamping arm (66e), a clamping body (66g) and a support platform (66n). The lower end of the adjusting electric cylinder (66a) is provided with a group of lower support ring seats (66b) for supporting the lower end thereof. The lower support ring seat (66b) and the adjusting electric cylinder (66a) are fixed by bolts. The left and right sides of the lower support ring seat (66b) are respectively provided with a group of outer sealing shells (66c) for protecting the inner adjustment seat (66k) and the inner telescopic rod (66j) and related components. The front side of the outer sealing shell (66c) is provided with There is a front maintenance shell (66d) that is convenient for workers to open and repair. A group of inner adjustment chambers for movably adjusting two groups of outer support clamping arms (66e) are provided inside the outer sealing shell (66c). A group of inner telescopic rods (66j) for driving the inner adjustment seat (66k) to move up and down are provided at the lower end of the adjustment electric cylinder (66a). The inner telescopic rods (66j) pass through the inner adjustment seat (66k) and are fixedly connected thereto. A group of limit heads (66l) for limiting the telescopic height of the telescopic rods are provided at the lower end of the inner telescopic rods (66j). The interior of the limit heads (66l) is a hollow structure.

9. The machine vision-based industrial robot gripper according to claim 8, characterized in that: The lower end of the inner telescopic rod (66j) passes through the inner side of the limit head (66l), and a group of limit blocks for mutually limiting and engaging with the inner side of the limit head (66l) are provided at its lower end. The limit blocks are movably limited and engaged with the inner side of the limit head (66l). The lower end of the limit head (66l) is provided with a group of support platforms (66n) for supporting the bottom of the limit head (66l). The support platforms (66n) are fixed to the outer sealing shell (66c) and the front maintenance shell (66d) by bolts. A group of connecting arms (66m) for driving the outer support clamping arms (66e) to retract and extend are respectively provided on the left and right sides of the inner adjustment seat (66k). Each group of the connecting arms (66m) and one side of a group of the inner adjustment seat (66k) are connected by The connecting arms (66m) are movably connected via a rotating shaft. A group of outer supporting clamping arms (66e) for improving the strength of the connecting arms (66m) and driving the chuck body (66g) to move are provided on the outside of each group of connecting arms (66m). A group of chuck bodies (66g) for anti-slip protection clamping of columnar workpieces are provided at the lower ends of each group of outer supporting clamping arms (66e) and a group of connecting arms (66m). A group of anti-slip pads (66h) for improving the clamping friction and providing flexible support are provided on the inside of each group of chuck bodies (66g). Hemispherical or cylindrical protrusions are evenly distributed on the inside of the anti-slip pads (66h), and the pressure is dispersed through point contact. The inside of the chuck body (66g) of the anti-slip pads (66h) is an arc structure.

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