Visual guidance automatic positioning flexible clamp jig

Abstract

The invention discloses a visual guidance automatic positioning flexible clamp jig, and belongs to the technical field of clamp jigs, the visual guidance automatic positioning flexible clamp jig comprises a base, stand columns are vertically mounted on two sides of the top of the base, industrial cameras are obliquely arranged on one sides, close to the center of the base, of the top ends of the stand columns, and an image processing module is arranged at the front end of the top of the base; a central processing unit is arranged on the side edge of the image processing module, and the output end of the industrial camera is electrically connected with the image processing module through a wire. Through a visual identification system composed of an industrial camera, an image processing module and a central processing unit, workpiece position information can be accurately captured, the limitation that a traditional clamping jig depends on manual placement or tool fixing is thoroughly broken through in combination with cooperative operation of a rotating mechanism, a telescopic adjusting mechanism and a flexible clamping mechanism, and the working efficiency is improved. Dependence on experience of operators is greatly reduced, tiny deformation and placement deviation of the workpiece can be accurately recognized, positioning accuracy is remarkably improved, and automatic and accurate positioning is achieved.

Description

Technical Field

[0001] The present invention relates to a flexible clamp, in particular to a vision-guided automatic positioning flexible clamp, belonging to the technical field of clamps. Background Art

[0002] Traditional fixtures are mostly dedicated rigid structures designed for workpieces of a single size and shape. If the workpiece model changes, the entire fixture needs to be replaced. They are not compatible with special-shaped and non-standard parts. Positioning relies on manual placement or fixed tooling, and the accuracy is limited by the operator's experience. At the same time, they cannot cope with slight deformations and placement deviations of the workpiece. In addition, the clamping force of rigid fixtures is fixed. If the workpiece material is fragile (glass, ceramic), the surface is easily scratched (high-gloss metal parts), or the structure is easily deformed (thin-walled plastic parts), it is very easy to get indentations, cracks, or deformations.

[0003] Therefore, a vision-guided automatic positioning flexible fixture is designed to optimize the above problems. Summary of the Invention

[0004] The main purpose of the present invention is to provide a vision-guided automatic positioning flexible fixture. Through the visual recognition system composed of industrial cameras, image processing modules and central processing units, the position information of the workpiece can be accurately captured. Combined with the coordinated operation of the rotating mechanism, telescopic adjustment mechanism and flexible clamping mechanism, it completely breaks through the limitations of traditional fixtures that rely on manual placement or fixed tooling. It not only greatly reduces the dependence on operator experience, but also can accurately identify small deformations and placement deviations of the workpiece, significantly improves positioning accuracy, and realizes automatic precise positioning. Through the flexible clamping mechanism composed of mounting plates, slide grooves, partitions, extrusion rods, steel balls, slide rods, limit blocks, and first springs, it breaks through the limitation of traditional rigid fixtures that are only suitable for a single workpiece, and is compatible with workpieces of different sizes and shapes. When the workpiece model is changed, there is no need to replace the fixture as a whole, which greatly reduces the equipment replacement cost and operation complexity, and is suitable for a variety of production Production scenario, in addition, the flexible clamping mechanism can apply extrusion pressure evenly to the surface of the workpiece, avoiding the damage problem of traditional rigid clamping caused by local force, and can effectively protect workpieces made of fragile materials such as glass and ceramics, prevent scratches on the surface of high-gloss metal parts, and avoid indentation, fragmentation or deformation of easily deformed structures such as thin-walled plastic parts, to ensure the integrity of the workpiece. Through the rotating mechanism composed of an outer gear ring, an inner gear ring, a through groove, a first gear, and a first motor, the workpiece and the flexible clamping mechanism can be synchronously controlled to make reverse adjustments when adjusting the clamping position, thereby accelerating the position calibration rate and improving operational flexibility. Through the telescopic adjustment mechanism composed of a linear guide groove, a rectangular slider, a toothed disc, an oblique guide groove, a cylindrical rod, a second gear, and a second motor, the rotational power is converted into a linear movement of the flexible clamping mechanism, thereby realizing the synchronous control of multiple clamping mechanisms, reducing the production and use costs of equipment, and improving the driving efficiency and ease of operation.

[0005] The purpose of the present invention can be achieved by adopting the following technical solutions:

[0006] A vision-guided automatic positioning flexible fixture includes a base, with columns vertically mounted on both sides of the top of the base, and industrial cameras tiltedly mounted on the sides of the tops of the columns near the center of the base. An image processing module is provided at the front end of the top of the base, and a central processing unit is provided on the side of the image processing module. The output end of the industrial camera is electrically connected to the image processing module via a wire, and the output end of the image processing module is electrically connected to the central processing unit via a wire.

[0007] A placement slot is provided in the middle of the top of the base, a carrier plate is rotatably provided at the inner bottom of the placement slot, and a drag reduction mechanism for reducing the translational resistance of the workpiece is provided in the middle of the top of the carrier plate;

[0008] A mounting plate is mounted on the top of the base in a horizontally rotatable manner, and flexible clamping mechanisms are evenly arranged on the top of the mounting plate in a circular array;

[0009] The top of the base is provided with a rotating mechanism for controlling the reverse rotation of the carrier plate and the mounting plate;

[0010] A telescopic adjustment mechanism for controlling the synchronous movement of the flexible clamping mechanism is provided on the top of the installation plate.

[0011] Preferably, an outer sheath is fixedly mounted on the outer side of the top of the base, the top of the outer sheath fits with the bottom of the mounting plate, and the outer diameter of the mounting plate is the same as that of the outer sheath.

[0012] Preferably, an annular groove is provided inside the placement groove, the outer side of the carrier plate is located inside the annular groove, and the upper and lower surfaces of the carrier plate are in contact with the surface of the annular groove.

[0013] Preferably: the drag reduction mechanism includes a groove, a vertical groove, a top block and a second spring. The groove is opened in the middle position of the top of the carrier plate, and the shape of the groove is circular. The inner bottom of the groove is evenly provided with vertical grooves in a ring array. The inside of the vertical groove is vertically slidably installed with a top block. A second spring is provided between the bottom end of the top block and the inner bottom of the vertical groove. The top of the top block is rotatably installed with a ball, and the top of the ball protrudes inside the groove.

[0014] Preferably: the rotating mechanism includes an outer gear ring, an inner gear ring, a through slot, a first gear and a first motor, the outer gear ring is fixed to the outside of the carrier plate, the inner gear ring is rotatably mounted on the top of the base, and the top of the inner gear ring is fixedly connected to the mounting plate, through slots are evenly opened on the sides of the placement slot, and the first gears meshing with the outer gear ring and the inner gear ring are rotatably mounted inside the through slots, the first motor is installed inside the base, and the output end of the first motor is connected to the first gear.

[0015] Preferably: the flexible clamping mechanism includes a mounting plate, a slide groove, a partition, an extrusion rod, steel balls and a reset assembly. The mounting plates are distributed in a circular array on the top of the mounting disk, and the mounting plates are perpendicular to the cross-section of the mounting disk. A slide groove is provided at one end of the mounting plate close to the center of the base, and partitions are vertically arranged inside the slide groove. An extrusion rod is uniformly and horizontally slidably arranged inside the slide groove. Steel balls are filled between the end of the extrusion rod and the partition, and a reset assembly is provided on the side of the partition away from the extrusion rod.

[0016] Preferably, the extrusion rods are rectangular rods, and the extrusion rods fit together, and the ends of the extrusion rods located outside the chute are all arc-shaped.

[0017] Preferably: the reset assembly includes a sliding rod, a limit block and a first spring. The sliding rod is horizontally fixed at the end of the extrusion rod, and the sliding rod slides and extends to the inner side of the partition. The end of the sliding rod away from the extrusion rod is fixed with a limit block. The first spring is fixed between the limit block and the partition, and the sliding rod passes through the inside of the first spring.

[0018] Preferably: the telescopic adjustment mechanism includes a linear guide groove, a rectangular slider, a gear disk, an oblique guide groove, a cylindrical rod, a second gear and a second motor, the linear guide grooves are evenly arranged in an annular array on the top of the mounting disk, and the linear guide grooves are perpendicular to the tangent direction of the side of the mounting disk, rectangular sliders are slidably arranged inside the linear guide grooves, a gear disk is horizontally rotatably installed on the top of the mounting disk, oblique guide grooves are arranged in an annular array on the top of the gear disk, the oblique guide grooves are obliquely arranged on the surface of the gear disk, and the number of oblique guide grooves is the same as that of the linear guide grooves, cylindrical rods are vertically fixed on the top of the rectangular sliders, the cylindrical rods all pass through the inside of the oblique guide grooves and are fixedly connected to the flexible clamping mechanism, the outer side of the top of the mounting disk is evenly rotated and installed with a second gear meshing with the outer side of the gear disk, the inside of the mounting disk is installed with a second motor, and the output end of the second motor is connected to the second gear.

[0019] Preferably, a limiting groove is provided on the outer side of the top of the mounting plate, and the gear plate is located inside the limiting groove.

[0020] The beneficial effects of the present invention are:

[0021] The present invention provides a vision-guided automatic positioning flexible fixture. Through a visual recognition system composed of an industrial camera, an image processing module, and a central processing unit, it can accurately capture the position information of the workpiece. Combined with the coordinated operation of a rotating mechanism, a telescopic adjustment mechanism, and a flexible clamping mechanism, it completely breaks through the limitations of traditional fixtures that rely on manual placement or fixed tooling. It not only greatly reduces the reliance on operator experience, but also can accurately identify minor deformations and placement deviations of the workpiece, significantly improving positioning accuracy and achieving automated precision positioning.

[0022] The flexible clamping mechanism composed of the mounting plate, slide, partition, extrusion rod, steel ball, slide rod, limit block, and first spring breaks through the limitation of traditional rigid fixtures that are only suitable for a single workpiece. It is compatible with workpieces of different sizes and shapes. When the workpiece model is changed, there is no need to replace the entire fixture, which greatly reduces the equipment replacement cost and operation complexity, and is suitable for multiple production scenarios. In addition, the flexible clamping mechanism can evenly apply extrusion pressure to the workpiece surface, avoiding damage caused by local force in traditional rigid clamping. It can effectively protect fragile workpieces such as glass and ceramics, prevent scratches on the surface of high-gloss metal parts, and avoid indentation, cracking or deformation of easily deformed structures such as thin-walled plastic parts, thereby ensuring the integrity of the workpiece.

[0023] Through the rotating mechanism composed of the outer gear ring, the inner gear ring, the through slot, the first gear, and the first motor, the workpiece and the flexible clamping mechanism can be synchronously controlled to perform reverse adjustments when adjusting the clamping position, thereby accelerating the position calibration rate and improving operational flexibility;

[0024] Through the telescopic adjustment mechanism composed of a linear guide groove, a rectangular slider, a gear plate, an oblique guide groove, a cylindrical rod, a second gear, and a second motor, the rotational power is converted into linear movement of the flexible clamping mechanism, thereby realizing synchronous control of multiple groups of clamping mechanisms, reducing the production and use costs of the equipment, and improving the driving efficiency and operating convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a front view of a preferred embodiment of a vision-guided automatic positioning flexible fixture of the present invention;

[0026] Figure 2 This is a front cross-sectional view of a preferred embodiment of a vision-guided automatic positioning flexible fixture of the present invention;

[0027] Figure 3 This is a cross-sectional structural diagram of the base of a preferred embodiment of a vision-guided automatic positioning flexible fixture of the present invention;

[0028] Figure 4 A diagram of a flexible clamping mechanism of a preferred embodiment of a vision-guided automatic positioning flexible clamp of the present invention;

[0029] Figure 5 This is a preferred embodiment of a visually guided automatic positioning flexible fixture of the present invention. Figure 2 Enlarged view of point A in the middle;

[0030] Figure 6 This is a structural diagram of a mounting plate in a preferred embodiment of a vision-guided automatic positioning flexible fixture of the present invention;

[0031] Figure 7 A top view of a toothed disc in a preferred embodiment of a vision-guided automatic positioning flexible fixture of the present invention;

[0032] Figure 8 This is a cross-sectional structural diagram of a carrier plate in a preferred embodiment of a vision-guided automatic positioning flexible fixture of the present invention;

[0033] Figure 9 This is a control system diagram of a preferred embodiment of the vision-guided automatic positioning flexible fixture of the present invention.

[0034] In the figure: 1. Base; 2. Placement slot; 3. Carrying plate; 4. Column; 5. Industrial camera; 6. Image processing module; 7. Central processing unit;

[0035] 8. Installation plate; 801. Limiting slot;

[0036] 9. Flexible clamping mechanism; 901. Mounting plate; 902. Slide groove; 903. Partition plate; 904. Extrusion rod; 905. Steel ball; 906. Slide rod; 907. Limit block; 908. First spring;

[0037] 10. Rotating mechanism; 1001. Outer gear ring; 1002. Inner gear ring; 1003. Through slot; 1004. First gear; 1005. First motor;

[0038] 11. Telescopic adjustment mechanism; 1101. Linear guide groove; 1102. Rectangular slider; 1103. Toothed plate; 1104. Oblique guide groove; 1105. Columnar rod; 1106. Second gear; 1107. Second motor;

[0039] 12. Outer sheath;

[0040] 13. Drag reduction mechanism; 1301. Groove; 1302. Vertical groove; 1303. Top block; 1304. Second spring. DETAILED DESCRIPTION

[0041] In order to make the technical solution of the present invention more clear and specific to those skilled in the art, the present invention is described in further detail below with reference to embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0042] like Figures 1-8 As shown, this embodiment provides a vision-guided automatic positioning flexible fixture, including a base 1, with columns 4 vertically installed on both sides of the top of the base 1, and industrial cameras 5 are tilted on one side of the top of the column 4 near the center of the base 1. The industrial camera 5 adopts a 20-megapixel global shutter industrial camera with an adjustable lens focal length of 8-50mm, a shooting angle of 45°±5° (angle with the vertical direction), supports 30 frames of image acquisition per second, adapts to workpiece size range of 50-500mm (diameter / longest side), and has a recognition accuracy of ±0.02mm;

[0043] An image processing module 6 is provided at the front end of the top of the base 1, which integrates a feature extraction algorithm based on deep learning (such as the YOLOv5 lightweight model). It can identify the edge contour of the workpiece and surface feature points (such as hole positions and protrusions). The processing time is ≤100ms / frame, and it supports real-time analysis of slight deformation (≤0.5mm) and placement deviation (≤5° rotation angle, ≤3mm translation) of the workpiece.

[0044] A central processing unit 7 is provided on the side of the image processing module 6. It adopts an ARM Cortex-A9 quad-core processor (main frequency 1.8GHz). After receiving the workpiece coordinate (X, Y, θ) data from the image processing module 6, it calculates the adjustment amount of the rotating mechanism 10 and the telescopic adjustment mechanism 11 through the PID algorithm. The control signal output delay is ≤50ms, and it supports the storage of preset parameters of multiple workpiece types (100 workpiece models can be stored).

[0045] The output end of the industrial camera 5 is electrically connected to the image processing module 6 via a wire, and the output end of the image processing module 6 is electrically connected to the central processing unit 7 via a wire;

[0046] A placement slot 2 is provided in the middle of the top of the base 1. A carrier plate 3 is rotatably provided at the inner bottom of the placement slot 2. A drag reduction mechanism 13 for reducing the translational resistance of the workpiece is provided in the middle of the top of the carrier plate 3.

[0047] A mounting plate 8 is mounted horizontally and rotatably on the top of the base 1, and flexible clamping mechanisms 9 are evenly arranged in a circular array on the top of the mounting plate 8;

[0048] A rotating mechanism 10 is provided on the top of the base 1 to control the reverse rotation of the carrier plate 3 and the mounting plate 8;

[0049] A telescopic adjustment mechanism 11 for controlling the synchronous movement of the flexible clamping mechanism 9 is provided on the top of the mounting plate 8 .

[0050] The overall working principle is: the workpiece is placed in the groove 1301 of the carrier 3, the industrial camera 5 captures the image of the workpiece and transmits it to the image processing module 6, the image processing module 6 analyzes and processes the image and sends the workpiece position and shape information to the central processing unit 7, the central processing unit 7 controls the rotation mechanism 10 and the telescopic adjustment mechanism 11 to start according to the data, the rotation mechanism 10 drives the carrier 3 and the mounting plate 8 to rotate in the opposite direction, and quickly calibrates the relative angle between the workpiece and the flexible clamping mechanism 9, the telescopic adjustment mechanism 11 drives multiple groups of flexible clamping mechanisms 9 to move toward the center synchronously, the extrusion rod 904 of the flexible clamping mechanism 9 adaptively expands and contracts according to the shape of the workpiece, and transmits uniform extrusion force through the steel ball 905, and cooperates with the elastic force of the reset component to realize flexible clamping of the workpiece, the drag reduction mechanism 13 reduces the translational resistance of the workpiece during the adjustment process through the ball, ensures smooth positioning, and realizes the overall process automation operation from visual recognition to automatic positioning and flexible clamping.

[0051] In this embodiment, an outer sheath 12 is fixedly mounted on the outer side of the top of the base 1 , the top of the outer sheath 12 fits against the bottom of the mounting plate 8 , and the outer diameter of the mounting plate 8 is the same as that of the outer sheath 12 .

[0052] Partial working principle: The outer sheath 12 is fixed to the outside of the base 1, and its top is in contact with the bottom of the mounting plate 8. On the one hand, it forms a closed protection for the rotating mechanism 10, the carrier plate 3 and other components inside the base 1 to prevent the invasion of external dust and impurities from affecting the operation of the equipment. On the other hand, through the contact with the mounting plate 8, it plays an auxiliary supporting role in the rotation of the mounting plate 8, ensuring the stability of the mounting plate 8 during rotation. At the same time, the unified outer diameter design improves the overall aesthetics of the equipment.

[0053] In this embodiment, an annular groove is formed inside the placement groove 2 , the outer side of the carrier plate 3 is located inside the annular groove, and the upper and lower surfaces of the carrier plate 3 are in contact with the surface of the annular groove.

[0054] Local working principle: The annular groove on the inner side of the placement slot 2 is adapted to the outer side of the carrier 3, and the upper and lower surfaces of the carrier 3 are tightly fitted with the surface of the annular groove, forming a circumferential limit and axial support for the carrier 3. During the rotation of the carrier 3, the annular groove limits its horizontal deviation to avoid shaking, ensuring that the carrier 3 always rotates smoothly around the central axis, providing a stable foundation for the rotation positioning of the workpiece.

[0055] In this embodiment, the drag reduction mechanism 13 includes a groove 1301, a vertical groove 1302, a top block 1303 and a second spring 1304. The groove 1301 is opened at the middle position of the top of the carrier 3, and the shape of the groove 1301 is circular. The inner bottom of the groove 1301 is evenly provided with vertical grooves 1302 in a ring array. The inside of the vertical groove 1302 is vertically slidably installed with a top block 1303. A second spring 1304 is provided between the bottom end of the top block 1303 and the inner bottom of the vertical groove 1302. The top of the top block 1303 is rotatably installed with a ball, and the top of the ball protrudes from the inside of the groove 1301.

[0056] Local working principle: When the workpiece is placed in the groove 1301, the ball is compressed to drive the top block 1303 to move downward along the vertical groove 1302, and the second spring 1304 is compressed and generates a reverse elastic force, so that the ball is always in contact with the bottom of the workpiece. At the same time, the bottom of the workpiece is also in contact with the bottom of the groove 1301. In the process of controlling the rotation of the workpiece and the carrier 3, the stability of the workpiece can be guaranteed. When the workpiece needs to be translated to adjust its position, the rolling of the ball converts the sliding friction between the workpiece and the carrier 3 into rolling friction, which greatly reduces the resistance, facilitates the workpiece to be quickly adjusted to the target position under visual guidance, and reduces the jamming during the position calibration process.

[0057] In this embodiment, the rotating mechanism 10 includes an outer gear ring 1001, an inner gear ring 1002, a through slot 1003, a first gear 1004 and a first motor 1005. The outer gear ring 1001 is fixed to the outside of the carrier plate 3, the inner gear ring 1002 is rotatably installed on the top of the base 1, and the top of the inner gear ring 1002 is fixedly connected to the mounting plate 8. Through slots 1003 are evenly opened on the sides of the placement slot 2. The inside of the through slots 1003 are all rotatably installed with first gears 1004 that mesh with the outer gear ring 1001 and the inner gear ring 1002. The inside of the base 1 is installed with a first motor 1005, and the output end of the first motor 1005 is connected to the first gear 1004.

[0058] Local working principle: After the first motor 1005 is started, it drives the first gear 1004 to rotate. Since the first gear 1004 is engaged with the outer gear ring 1001 and the inner gear ring 1002 at the same time, and the number of teeth of the outer gear ring 1001 matches that of the inner gear ring 1002, the carrier plate 3 and the mounting plate 8 rotate synchronously in opposite directions. This reverse rotation design allows the relative angle between the workpiece rotating with the carrier plate 3 and the flexible clamping mechanism 9 rotating with the mounting plate 8 to quickly approach the target value, shortening the position calibration time and improving the adjustment efficiency.

[0059] In this embodiment, the flexible clamping mechanism 9 includes a mounting plate 901, a slide groove 902, a partition 903, an extrusion rod 904, a steel ball 905 and a reset assembly. The mounting plates 901 are distributed in a circular array on the top of the mounting disk 8, and the mounting plates 901 are perpendicular to the cross-section of the mounting disk 8. The mounting plates 901 are provided with a slide groove 902 at one end close to the center of the base 1, and the interior of the slide groove 902 is vertically provided with a partition 903. The interior of the slide groove 902 is evenly and horizontally slidably provided with an extrusion rod 904, and the space between the end of the extrusion rod 904 and the partition 903 is filled with steel balls 905. A reset assembly is provided on the side of the partition 903 away from the extrusion rod 904.

[0060] Local working principle: When the flexible clamping mechanism 9 moves toward the center, the end of the extrusion rod 904 contacts the workpiece. The extrusion rods 904 at different positions are subjected to different degrees of reaction force according to the surface contour of the workpiece. The force is transmitted to the partition 903 through the steel ball 905, driving the slide rod 906 to slide inward. The rolling characteristics of the steel ball 905 make the force evenly dispersed, ensuring that each extrusion rod 904 can independently and adaptively expand and contract to fit the shape of the workpiece, avoiding local excessive force and damage to the workpiece.

[0061] In this embodiment, the extrusion rods 904 are rectangular rods, and the extrusion rods 904 fit together. The ends of the extrusion rods 904 located outside the sliding grooves 902 are all arc-shaped.

[0062] Local working principle: The extrusion rod 904 adopts a rectangular structure and fits together, which can prevent it from rotating in the slide groove 902, ensuring that it only moves in a straight line in the horizontal direction, ensuring the stability of the clamping direction, and the curved end located outside the slide groove 902 can smoothly contact the surface of the workpiece, avoiding sharp angles from scratching the workpiece (especially suitable for high-gloss metal parts, glass, etc.), and can adapt to curved and irregular surfaces to improve the clamping fit.

[0063] In this embodiment, the reset assembly includes a sliding rod 906, a limit block 907 and a first spring 908. The sliding rod 906 is horizontally fixed at the end of the extrusion rod 904, and the sliding rod 906 slides and extends to the inner side of the partition 903. The end of the sliding rod 906 away from the extrusion rod 904 is fixed with a limit block 907. The first spring 908 is fixed between the limit block 907 and the partition 903, and the sliding rod 906 passes through the inside of the first spring 908.

[0064] Local working principle: When the extrusion rod 904 slides toward the inside of the slide groove 902, the first spring 908 will be stretched. When the workpiece is released or the flexible clamping mechanism 9 retreats, the first spring 908 releases its elastic potential energy, pushing the limit block 907 to move away from the partition 903. The extrusion rod 904 is driven by the slide rod 906 to return to its initial position along the slide groove 902. The limit block 907 can prevent the slide rod 906 from falling out of the partition 903, ensuring the structural integrity of the component and preparing for the next clamping.

[0065] In this embodiment, the telescopic adjustment mechanism 11 includes a linear guide groove 1101, a rectangular slider 1102, a toothed disc 1103, an oblique guide groove 1104, a cylindrical rod 1105, a second gear 1106 and a second motor 1107. The linear guide grooves 1101 are evenly arranged in a circular array on the top of the mounting plate 8, and the linear guide grooves 1101 are perpendicular to the tangential direction of the side of the mounting plate 8. The rectangular sliders 1102 are slidably provided inside the linear guide grooves 1101. The mounting plate 8 A toothed disc 1103 is horizontally rotatably mounted on the top of the toothed disc 1103. An annular array of oblique guide grooves 1104 are provided on the top of the toothed disc 1103. The oblique guide grooves 1104 are obliquely arranged on the surface of the toothed disc 1103. The number of the oblique guide grooves 1104 and the linear guide grooves 1101 is the same. The angle between the oblique guide grooves 1104 and the radial direction of the toothed disc 1103 is 30°, the groove width is 12 mm, and the length of a single oblique guide groove 1104 is 80 mm, corresponding to a radial movement range of 0-60 mm for the flexible clamping mechanism 9.

[0066] A cylindrical rod 1105 is vertically fixed on the top of the rectangular slider 1102. The diameter of the cylindrical rod 1105 is 10 mm, and the gap with the inclined guide groove 1104 is 0.1 mm. The cylindrical rod 1105 passes through the inside of the inclined guide groove 1104 and is fixedly connected to the flexible clamping mechanism 9. The outer side of the top of the mounting disk 8 is evenly rotated and installed with a second gear 1106 that meshes with the outer side of the toothed disk 1103. A second motor 1107 is installed inside the mounting disk 8, and the output end of the second motor 1107 is connected to the second gear 1106.

[0067] Local working principle: the second motor 1107 drives the second gear 1106 to rotate, and the second gear 1106 drives the toothed disc 1103 to rotate in the limit groove 801. The inclined guide groove 1104 on the surface of the toothed disc 1103 cooperates with the cylindrical rod 1105 to convert the rotational motion of the toothed disc 1103 into horizontal linear motion of the cylindrical rod 1105 along the linear guide groove 1101. Because the inclined guide groove 1104 is distributed in a ring array, multiple groups of cylindrical rods 1105 synchronously drive the rectangular slider 1102 and the flexible clamping mechanism 9 to move radially, realizing the synchronous extension and contraction of multiple groups of clamping mechanisms, simplifying the driving structure, reducing the control difficulty, and improving the clamping consistency.

[0068] In this embodiment, a limiting groove 801 is provided on the outer side of the top of the mounting plate 8 , and the gear plate 1103 is located inside the limiting groove 801 .

[0069] Local working principle: The limiting groove 801 is opened on the outer side of the top of the mounting plate 8, and the toothed disc 1103 is embedded in it. The inner wall forms a radial limit for the toothed disc 1103 to prevent the toothed disc 1103 from shifting or shaking during rotation, ensuring the precise fit between the inclined guide groove 1104 and the cylindrical rod 1105, and ensuring the stability and accuracy of the transmission of the telescopic adjustment mechanism 11.

[0070] The above is only a further embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes based on the technical solutions and concepts of the present invention within the scope disclosed by the present invention, which fall within the scope of protection of the present invention.

Claims

1. A vision-guided automatic positioning flexible fixture, comprising a base (1), characterized in that: Both sides of the top of the base (1) are vertically installed with columns (4), and an industrial camera (5) is tiltedly installed on one side of the top of the column (4) close to the center of the base (1). The front end of the top of the base (1) is provided with an image processing module (6), and the side of the image processing module (6) is provided with a central processing unit (7). The output end of the industrial camera (5) is electrically connected to the image processing module (6) through a wire, and the output end of the image processing module (6) is electrically connected to the central processing unit (7) through a wire. A placement groove (2) is provided at the middle position of the top of the base (1); a carrier plate (3) is rotatably provided at the inner bottom of the placement groove (2); and a resistance reduction mechanism (13) for reducing the translational resistance of the workpiece is provided at the middle position of the top of the carrier plate (3); A mounting plate (8) is horizontally rotatably mounted on the top of the base (1), and flexible clamping mechanisms (9) are evenly arranged in a circular array on the top of the mounting plate (8); A rotating mechanism (10) for controlling the reverse rotation of the carrier plate (3) and the mounting plate (8) is provided on the top of the base (1); A telescopic adjustment mechanism (11) for controlling the synchronous movement of the flexible clamping mechanism (9) is provided on the top of the installation plate (8).

2. The vision-guided automatic positioning flexible fixture according to claim 1, characterized in that: An outer sheath (12) is fixedly mounted on the outer side of the top of the base (1), the top of the outer sheath (12) is fitted with the bottom of the mounting plate (8), and the outer diameter of the mounting plate (8) is the same as the outer diameter of the outer sheath (12).

3. The vision-guided automatic positioning flexible fixture according to claim 1, characterized in that: An annular groove is provided on the inner side of the placement groove (2), the outer side of the carrier plate (3) is located inside the annular groove, and the upper and lower surfaces of the carrier plate (3) are in contact with the surface of the annular groove.

4. The vision-guided automatic positioning flexible fixture according to claim 1, characterized in that: The drag reduction mechanism (13) comprises a groove (1301), a vertical groove (1302), a top block (1303) and a second spring (1304). The groove (1301) is located at the middle position of the top of the carrier (3) and is circular in shape. The inner bottom of the groove (1301) is evenly provided with vertical grooves (1302) in a ring array. The inside of the vertical groove (1302) is vertically slidably installed with a top block (1303). A second spring (1304) is provided between the bottom end of the top block (1303) and the inner bottom of the vertical groove (1302). A ball is rotatably installed on the top of the top block (1303), and the top end of the ball protrudes from the inside of the groove (1301).

5. The vision-guided automatic positioning flexible fixture according to claim 1, characterized in that: The rotating mechanism (10) comprises an outer gear ring (1001), an inner gear ring (1002), a through slot (1003), a first gear (1004) and a first motor (1005). The outer gear ring (1001) is fixed on the outside of the carrier plate (3). The inner gear ring (1002) is rotatably mounted on the top of the base (1), and the top of the inner gear ring (1002) is fixedly connected to the mounting plate (8). Through slots (1003) are evenly arranged on the sides of the placement slot (2). First gears (1004) meshing with the outer gear ring (1001) and the inner gear ring (1002) are rotatably mounted inside the through slots (1003). The first motor (1005) is mounted inside the base (1), and the output end of the first motor (1005) is connected to the first gear (1004).

6. The vision-guided automatic positioning flexible fixture according to claim 1, characterized in that: The flexible clamping mechanism (9) comprises a mounting plate (901), a chute (902), a partition (903), an extrusion rod (904), a steel ball (905) and a reset assembly. The mounting plates (901) are distributed in a circular array on the top of the mounting plate (8), and the mounting plates (901) are perpendicular to the cross section of the mounting plate (8). The mounting plates (901) are provided with a chute (902) at one end close to the center of the base (1). The interior of the chute (902) is vertically provided with a partition (903). The interior of the chute (902) is uniformly and horizontally slidably provided with an extrusion rod (904). The space between the end of the extrusion rod (904) and the partition (903) is filled with a steel ball (905). The side of the partition (903) away from the extrusion rod (904) is provided with a reset assembly.

7. The vision-guided automatic positioning flexible fixture according to claim 6, characterized in that: The extrusion rods (904) are rectangular rods, and the extrusion rods (904) fit together. The ends of the extrusion rods (904) located outside the slide groove (902) are all arc-shaped.

8. The vision-guided automatic positioning flexible fixture according to claim 6, characterized in that: The reset assembly includes a slide rod (906), a limit block (907) and a first spring (908). The slide rod (906) is horizontally fixed at the end of the extrusion rod (904), and the slide rod (906) slides and extends to the inner side of the partition (903). The end of the slide rod (906) away from the extrusion rod (904) is fixed with a limit block (907). The first spring (908) is fixed between the limit block (907) and the partition (903), and the slide rod (906) passes through the inside of the first spring (908).

9. The vision-guided automatic positioning flexible fixture according to claim 1, characterized in that: The telescopic adjustment mechanism (11) comprises a linear guide groove (1101), a rectangular slider (1102), a toothed disc (1103), an oblique guide groove (1104), a columnar rod (1105), a second gear (1106) and a second motor (1107). The linear guide groove (1101) is evenly arranged on the top of the mounting plate (8) in an annular array, and the linear guide groove (1101) is perpendicular to the tangent direction of the side of the mounting plate (8). The interior of the linear guide groove (1101) is slidably provided with a rectangular slider (1102). The top of the mounting plate (8) is horizontally rotatably provided with a toothed disc (1103). The top of the toothed disc (1103) is provided with an oblique guide groove (1104) in an annular array. 104), the oblique guide grooves (1104) are obliquely arranged on the surface of the toothed disc (1103), and the number of the oblique guide grooves (1104) is the same as that of the linear guide grooves (1101), the tops of the rectangular sliders (1102) are vertically fixed with columnar rods (1105), the columnar rods (1105) all pass through the inside of the oblique guide grooves (1104) and are fixedly connected to the flexible clamping mechanism (9), the outer side of the top of the mounting disc (8) is evenly rotated and mounted with a second gear (1106) meshing with the outer side of the toothed disc (1103), the interior of the mounting disc (8) is mounted with a second motor (1107), and the output end of the second motor (1107) is connected to the second gear (1106).

10. The vision-guided automatic positioning flexible fixture according to claim 9, characterized in that: A limiting groove (801) is provided on the outer side of the top of the mounting plate (8), and the toothed plate (1103) is located inside the limiting groove (801).

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