Visual identification tool positioning device

Abstract

According to the technical scheme, the visual identification tool positioning device is characterized in that the visual identification tool positioning device comprises a positioning table, a mounting rod is arranged on one side of the positioning table, a high-definition camera is fixedly mounted on the top face of the mounting rod, and a flexible vibration disc and a loading disc are fixedly mounted on the top face of the positioning table; the high-definition camera is used for performing visual identification on tools in the flexible vibration disc; a grabbing frame is arranged, the grabbing frame shrinks under the air pressure reset effect, it is ensured that a grabbing block exerts proper clamping force on a workpiece, and by arranging a telescopic column, after the grabbing frame grabs the bottom of the workpiece, the telescopic column shrinks to drive one end of a first connecting rod to move upwards, so that a second connecting rod hinged to the first connecting rod conducts inward clamping, and the workpiece is clamped. The second connecting rod abuts against the small position of the upper portion of the workpiece, double stable clamping of the upper portion and the lower portion of the workpiece is achieved, and the situation that the workpiece inclines or falls off due to the fact that the upper portion is small in size and insufficient in stress point is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tool positioning, in particular to a visual recognition tool positioning device. BACKGROUND

[0002] The visual recognition technology gradually stands out in the field of tool positioning due to its non-contact, high efficiency and high precision. The existing tool positioning device based on visual recognition usually collects workpiece images by means of a camera, obtains workpiece position information through algorithm analysis, and then drives an execution mechanism to adjust the position of the workpiece or tool.

[0003] For example, a Chinese patent with publication number CN219582859U discloses a mechanical arm device suitable for multiple clamping tools, relating to the technical field of mechanical arms. The mechanical arm device suitable for multiple clamping tools includes a mechanical arm body, a positioning plate fixedly connected to the top end of the mechanical arm body, a mounting seat provided on one side of the positioning plate, a fixed frame fixedly connected to one side of the mounting seat, a positioning block fixedly connected to the other side of the mounting seat, the positioning block being adapted to the positioning plate, a clamping block fixedly connected to one side of the positioning block, a clamping sleeve fixedly connected inside the positioning plate, the clamping block being adapted to the clamping sleeve, a plurality of fixed blocks fixedly connected inside the positioning plate, and a positioning assembly provided on one side of each of the plurality of fixed blocks. The mechanical arm device suitable for multiple clamping tools positions the mounting seat, improves stability, facilitates replacement of the mounting seat, and facilitates quick replacement of different clamping tools.

[0004] However, the current splicing device based on flexible tooling and visual positioning still has some deficiencies, for example: when clamping workpieces of different sizes, the clamping assembly of the flexible tooling is usually a uniform elastic clamping structure, which is difficult to differentiate according to the size characteristics of the workpieces. When clamping a workpiece with a smaller upper part and a larger lower part, the clamping force of the clamping assembly on the upper part of the workpiece may be insufficient, while the clamping force on the lower part may be too large, resulting in uneven stress on the workpiece and causing the workpiece to shake or even fall during the grabbing process. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides a visual recognition tool positioning device to solve the problems mentioned in the background art.

[0006] The above technical purpose of the present application is achieved by the following technical scheme:

[0007] A visual identification tool positioning device, comprising: a positioning table, one side of the positioning table is provided with a mounting rod, the top surface of the mounting rod is fixedly installed with a high-definition camera, and the top surface of the positioning table is fixedly installed with a flexible vibrating disc and a charging disc; the high-definition camera is used for visual identification of tools in the flexible vibrating disc;

[0008] A mounting table is arranged on one side of the positioning table, and the top surface of the mounting table is fixedly installed with a mechanical hand for grabbing objects;

[0009] A grabbing assembly is arranged on the bottom surface of the mechanical hand for quickly and stably grabbing objects, the grabbing assembly comprises a connecting barrel arranged on the bottom surface of the mechanical hand, a fixed bin fixedly installed on the bottom surface of the connecting barrel, a plurality of guide frames fixedly installed on the outer circular wall surface of the fixed bin, a grabbing frame movably installed in the guide frame, a grabbing block fixedly installed on one side of the grabbing frame, a workpiece arranged between the grabbing frames, a gas cylinder fixedly installed on the top surface of the connecting barrel, a sealing barrel fixedly installed on the inner bottom surface of the fixed bin, a piston block arranged in the sealing barrel, and the shaft of the gas cylinder is fixedly connected with the piston block; one side of the grabbing frame is fixedly installed with two connecting rods, and the outer circular wall surface of the sealing barrel is provided with a plurality of connecting pipes; every two connecting pipes form a group, and every group of connecting pipes and the connecting rod are movably sleeved together.

[0010] Preferably, the grabbing assembly further comprises: an air pressure cylinder fixedly installed on the bottom surface of the fixed bin, a telescopic column movably sleeved in the air pressure cylinder, a plurality of first hinged frames fixedly installed on the outer circular wall surface of the telescopic column, a first connecting rod hingedly installed in the first hinged frame, and the first connecting rod and a second connecting rod are hingedly installed together; the bottom surface of the guide frame is fixedly installed with a second hinged frame, and the second hinged frame and the second connecting rod are hingedly installed together; and a spring is arranged outside the telescopic column.

[0011] Preferably, the bottom surface of the guide frame is provided with a movable opening, the bottom surface of the grabbing frame is fixedly installed with a push plate, the bottom surface of the guide frame is provided with a U-shaped pipe, one end of the U-shaped pipe is movably sleeved with a pressing rod, the pressing rod is fixedly connected with the push plate, the outside of the U-shaped pipe is provided with a fixed frame, and the fixed frame is fixedly connected with the guide frame.

[0012] Preferably, the top surface of the connecting barrel is fixedly installed with a connecting flange, the inside of the mechanical hand is provided with a threaded rod, and the threaded rod and the connecting flange are threadedly connected together.

[0013] Preferably, the inside of the guide frame is provided with a limiting opening on both sides, and the limiting block is fixedly installed on both sides of the grabbing frame and is movably sleeved with the limiting opening.

[0014] Preferably, the material of the grabbing block is an elastic material, and the shape of the grabbing block is matched with the workpiece.

[0015] Preferably, the outer circular wall surface of the connecting cylinder is provided with a plurality of heat dissipation openings.

[0016] Preferably, the outer circular wall surface of the mounting rod is fixedly provided with a light supplementing lamp.

[0017] To sum up, the present application mainly has the following beneficial effects:

[0018] Through the setting of the grabbing frame, the high-definition camera on the positioning table performs visual scanning on the workpiece in the flexible vibrating disc, obtains the size, shape and position information of the workpiece, and transmits the data to the control system. The manipulator drives the grabbing assembly to move above the workpiece, the cylinder is started and drives the piston block to move downward in the sealing cylinder. The air pressure in the sealing cylinder changes with the movement of the piston block. The power is transmitted to the connecting rod through the connecting pipe. The connecting rod drives the grabbing frame to slide along the guide frame under the driving of the connecting pipe. The plurality of grabbing frames expand outward. When the grabbing assembly is sleeved into the workpiece, the cylinder drives the piston block to reset. The grabbing frame shrinks under the action of air pressure reset. The grabbing block can exert appropriate clamping force on the workpiece. The air pressure transmission makes the clamping force have certain buffering property. In the grabbing process, the external slight vibration can be effectively absorbed, and the stability of the workpiece is further ensured.

[0019] Through the setting of the telescopic column, when the grabbing frame grabs the bottom of the workpiece, the telescopic column is retracted, the first connecting rod moves upward at one end, the second connecting rod connected with the first connecting rod clamps inward, and the auxiliary clamping force is added to the basic clamping force. For irregular workpieces with steps and grooves, the second connecting rod is pressed to the smaller position of the upper part of the workpiece, realizing double stable clamping of the upper and lower parts of the workpiece. The workpiece is prevented from tilting or falling off due to insufficient stress point of small size upper part. Through the setting of the U-shaped pipe, when the grabbing frame is clamped, the bottom surface of the grabbing frame is fixedly provided with a push plate. The grabbing frame slides inward along the guide frame, which drives the push plate to move synchronously, and further drives the extrusion rod to move outward of the U-shaped pipe. Since the U-shaped pipe contains compressed air, the compressed air in the air pressure cylinder flows into the U-shaped pipe, so that the pressure above the telescopic column decreases. The spring drives the telescopic column to rise, and the second connecting rod connected with the first connecting rod clamps the workpiece inward. When the workpiece is loosened, the push plate drives the extrusion rod to move into the U-shaped pipe, so that the compressed air in the air pressure cylinder increases, and the telescopic column is pressed downward, so that the telescopic column moves downward, and the second connecting rod is lifted outward, so that the workpiece is loosened. The basic clamping action and the auxiliary clamping action are synchronized, forming a clamping force that responds to the upper and lower parts. The clamping stability of irregular workpieces with different sizes, steps or grooves is greatly improved, and the workpiece is prevented from shaking or falling off due to insufficient single clamping force. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a schematic diagram of the three-dimensional structure of the present application;

[0021] Figure 2 is a schematic diagram of the connecting cylinder structure of the present application;

[0022] Figure 3 is a schematic diagram of the fixed bin structure of the present application;

[0023] Figure 4 is a schematic diagram of the sealing cylinder structure of the present application;

[0024] Figure 5 is a schematic diagram of the first connecting rod structure of the present application;

[0025] Figure 6 is a schematic diagram of the Figure 5 is a schematic diagram of the enlarged structure at A in the middle;

[0026] Figure 7 is a schematic diagram of the split structure of the grabbing frame of the present application;

[0027] Figure 8 is a schematic diagram of the sectional plane structure of the air pressure cylinder of the present application.

[0028] Reference signs: 1, positioning table; 2, mounting rod; 3, high-definition camera; 4, flexible vibrating disc; 5, charging disc; 6, mounting table; 7, mechanical hand; 8, connecting cylinder; 9, guide frame; 10, grabbing frame; 11, grabbing block; 12, workpiece; 13, fixed bin; 14, sealing cylinder; 15, air cylinder; 16, piston block; 17, connecting rod; 18, connecting pipe; 19, air pressure cylinder; 20, telescopic column; 21, first hinged frame; 22, first connecting rod; 23, second connecting rod; 24, second hinged frame; 25, movable opening; 26, push plate; 27, extrusion rod; 28, U-shaped pipe; 29, fixed frame; 30, connecting flange; 31, threaded rod; 32, heat dissipation opening; 33, limiting opening; 34, limiting block; 35, light supplementing lamp; 36, spring. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0030] Reference Figures 1-8The utility model provides a visual identification tool positioning device, it includes: positioning table 1, one side of positioning table 1 is provided with mounting rod 2, the top surface of mounting rod 2 is fixedly installed with high definition camera 3, the top surface of positioning table 1 is fixedly installed with flexible vibration disc 4 and loading tray 5, and high definition camera 3 is used to carry out visual identification to the tool in flexible vibration disc 4;

[0031] Mounting table 6 is arranged at one side of positioning table 1, and a mechanical hand 7 is fixedly installed on the top surface of mounting table 6 for grabbing objects;

[0032] The utility model provides a visual identification tool positioning device, it includes: positioning table 1, one side of positioning table 1 is provided with mounting rod 2, the top surface of mounting rod 2 is fixedly installed with high definition camera 3, the top surface of positioning table 1 is fixedly installed with flexible vibration disc 4 and loading tray 5, and high definition camera 3 is used to carry out visual identification to the tool in flexible vibration disc 4;

[0033] By setting up the grab frame 10, the high definition camera 3 on the positioning table 1 carries out visual scanning to the workpiece 12 in the flexible vibration disc 4, obtains the size, shape and position information of the workpiece 12, and transmits data to the control system, the mechanical hand 7 drives the grab component to move to the top of the workpiece 12, the cylinder 15 is started and pushes the piston block 16 to move downward in the sealing cylinder 14, the air pressure in the sealing cylinder 14 changes with the movement of the piston block 16, the power is transmitted to the connecting rod 17 through the connecting pipe 18, the connecting rod 17 drives the grab frame 10 to slide along the guide frame 9 under the drive of the connecting pipe 18, and multiple grab frames 10 expand outward, after the grab component is sleeved into the workpiece 12, the cylinder 15 drives the piston block 16 to reset, and the grab frame 10 is contracted under the air pressure reset action, so that the grab block 11 can exert appropriate clamping force on the workpiece 12, and the clamping force has certain buffering property under the air pressure drive, so that the external slight vibration can be effectively absorbed in the grabbing process, and the stability of the workpiece 12 is further ensured.

[0034] As a further scheme of the present application, the grabbing assembly further comprises: an air cylinder 19 fixedly installed on the bottom surface of the fixed bin 13, an inner movable sleeve of the air cylinder 19 is provided with a telescopic column 20, a plurality of first hinged frames 21 are fixedly installed on the outer circular wall surface of the telescopic column 20, a first connecting rod 22 is hingedly installed in the inner first hinged frame 21, the first connecting rod 22 is hingedly installed together with a second connecting rod 23, a second hinged frame 24 is fixedly installed on the bottom surface of the guide frame 9, the second hinged frame 24 is hingedly installed together with the second connecting rod 23, and a spring 36 is arranged outside the telescopic column 20;

[0035] By arranging the telescopic column 20, when the grabbing frame 10 grabs the bottom of the workpiece 12, the telescopic column 20 is contracted, the first connecting rod 22 is moved upward at one end, the second connecting rod 23 hingedly connected with the first connecting rod 22 is inwardly clamped, and the grabbing frame 10 is additionally clamped by the auxiliary clamping force outside the basic clamping force. For the irregular workpiece 12 with steps and grooves, the second connecting rod 23 is pressed to the smaller position of the upper part of the workpiece 12, the double stable clamping of the upper and lower parts of the workpiece 12 is realized, and the inclination or falling of the workpiece 12 due to the small size of the upper part and the insufficient stress point is avoided.

[0036] As a further scheme of the present application, the bottom surface of the guide frame 9 is provided with a movable opening 25, the bottom surface of the grabbing frame 10 is fixedly installed with a push plate 26, the bottom surface of the guide frame 9 is provided with a U-shaped tube 28, one end of the U-shaped tube 28 is movably sleeved with an extrusion rod 27, the extrusion rod 27 is fixedly connected with the push plate 26, the outside of the U-shaped tube 28 is provided with a fixed frame 29, and the fixed frame 29 is fixedly connected with the guide frame 9;

[0037] By arranging the U-shaped tube 28, the adjusting valve and the one-way valve are arranged on the U-shaped tube 28. When the grabbing frame 10 is clamped, the bottom surface of the grabbing frame 10 is fixedly installed with the push plate 26, the grabbing frame 10 is slid inward along the guide frame 9, the push plate 26 is synchronously moved, the extrusion rod 27 is moved outward of the U-shaped tube 28, the compressed air in the air cylinder 19 flows into the U-shaped tube 28 due to the compressed air in the U-shaped tube 28, the pressure above the telescopic column 20 is reduced, the spring 36 drives the telescopic column 20 to rise, the second connecting rod 23 hingedly connected with the first connecting rod 22 is inwardly clamped to the workpiece 12, when the workpiece 12 is loosened, the push plate 26 drives the extrusion rod 27 to move inward of the U-shaped tube 28, the compressed air in the air cylinder 19 is increased, the telescopic column 20 is pressed downward, the telescopic column 20 is moved downward, the second connecting rod 23 is lifted outward, the workpiece 12 is loosened, the basic clamping action and the auxiliary clamping action are synchronously performed, the clamping force is formed in the up and down response, the clamping stability of the irregular workpiece 12 with different sizes, steps or grooves is greatly improved, and the workpiece 12 is prevented from shaking or falling due to the insufficient single clamping force.

[0038] As a further scheme of the present application, a connecting flange 30 is fixedly installed on the top surface of the connecting cylinder 8, and a threaded rod 31 is arranged inside the mechanical hand 7 and is screwed with the connecting flange 30;

[0039] By arranging the connecting flange 30, the threaded connection is convenient to operate, and the installation or dismounting of the grabbing assembly and the mechanical hand 7 can be completed by rotating the connecting flange 30. When different specifications of grabbing assemblies need to be replaced to adapt to different workpieces 12, complex tools are not needed, the replacement time is greatly shortened, the equipment change efficiency is improved, and the grabbing requirements of multiple varieties of workpieces 12 in flexible production are met.

[0040] As a further scheme of the present application, limit openings 33 are arranged on both sides of the guide frame 9, and limit blocks 34 are fixedly installed on both sides of the grabbing frame 10 and are slidably sleeved with the limit openings 33;

[0041] By arranging the limit blocks 34, the movement direction of the grabbing frame 10 can be strictly restricted when the limit blocks 34 slide in the limit openings 33, so that the grabbing frame 10 can only move linearly along the guide frame 9, and the left-right deviation and skew of the grabbing frame 10 during clamping or releasing the workpiece 12 are avoided.

[0042] As a further scheme of the present application, the material of the grabbing block 11 is an elastic material, and the shape of the grabbing block 11 is adapted to the workpiece 12;

[0043] By arranging the grabbing block 11, the elastic material has good flexibility and buffering property, and when the grabbing block 11 contacts the workpiece 12, the clamping force can be dispersed through the deformation of the grabbing block 11, so that scratches, indentations or deformation of the surface of the workpiece 12 caused by rigid contact are avoided.

[0044] As a further scheme of the present application, a plurality of heat dissipation openings 32 are arranged on the outer circular wall surface of the connecting cylinder 8;

[0045] By arranging the heat dissipation openings 32, the heat dissipation openings 32 can promote the air circulation inside and outside the connecting cylinder 8, so that the heat accumulated inside is dissipated in time, and the damage of the air cylinder 15 caused by high temperature is avoided.

[0046] As a further scheme of the present application, a light supplementing lamp 35 is fixedly installed on the outer circular wall surface of the mounting rod 2;

[0047] By arranging the light supplementing lamp 35, the light supplementing lamp 35 can provide stable and uniform illumination according to the environmental light conditions, and the influence of insufficient light, uneven light or backlight in the workshop on image acquisition is compensated. This can make the image of the workpiece 12 captured by the high-definition camera 3 clearer, and the outline and detailed features of the workpiece 12 more prominent, so as to provide high-quality image basis for the image processing unit to accurately extract the size, shape and position parameters of the workpiece 12.

[0048] Working principle: first, the flexible vibrating disc 4 on the positioning table 1 arranges the workpiece 12, so that it is distributed in a relatively regular posture, the high-definition camera 3 on the top surface of the mounting rod 2 is under the auxiliary illumination of the light supplement lamp 35, and the workpiece 12 in the flexible vibrating disc 4 is scanned visually, the light supplement lamp 35 can make up for the insufficient environmental light and other problems, and ensure that the high-definition camera 3 can shoot clear workpiece images, the image information is transmitted to the control system, and the control system analyzes and extracts the key parameters of the workpiece 12, such as size, shape, position and posture through algorithm;

[0049] Then, the control system sends instructions to the mechanical hand 7 on the mounting table 6 according to the extracted parameters, the mechanical hand 7 drives the bottom grabbing assembly to move above the workpiece 12, at this time, the cylinder 15 on the top surface of the connecting cylinder 8 starts, the piston block 16 in the sealing cylinder 14 moves downward, the air pressure in the sealing cylinder 14 changes accordingly, the power is transmitted to the connecting rod 17 on one side of the grabbing frame 10 through the connecting pipe 18, the connecting rod 17 drives the grabbing frame 10 to slide along the guide frame 9 under the drive of the connecting pipe 18, and the grabbing frame 10 expands outward, when the grabbing assembly is sleeved into the workpiece 12, the cylinder 15 drives the piston block 16 to reset, the grabbing frame 10 shrinks under the action of air pressure reset, and the grabbing block 11 mounted on one side of the grabbing frame 10 contacts the workpiece 12 and applies appropriate clamping force, the elastic material can avoid damage to the surface of the workpiece 12, and the buffering property of air pressure transmission can absorb slight external vibration, so as to ensure the stability of the workpiece 12;

[0050] In the process that the grabbing frame 10 grabs the bottom of the workpiece 12, the pushing plate 26 on the bottom surface of the grabbing frame 10 moves synchronously, pushes the extrusion rod 27 to move outward from the U-shaped tube 28, the U-shaped tube 28 contains compressed air inside and is provided with an adjusting valve and a check valve, the compressed air in the air pressure cylinder 19 flows into the U-shaped tube 28, so that the pressure above the telescopic column 20 decreases, the spring 36 outside the telescopic column 20 drives the telescopic column 20 to rise, the first hinged frame 21 on the outer circular wall surface of the telescopic column 20 moves upward, drives the first connecting rod 22 and the second connecting rod 23 hinged thereto to move, the second connecting rod 23 is clamped inward under the action of the second hinged frame 24 on the bottom surface of the guide frame 9, and auxiliary clamping force is applied to the smaller position on the upper part of the workpiece 12, so that double stable clamping of the upper and lower parts of the workpiece 12 is realized, and it is especially suitable for irregular workpieces 12 with steps and grooves.

[0051] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A visual recognition tool positioning device, characterized in that: include: A positioning platform (1), wherein a mounting rod (2) is provided on one side of the positioning platform (1), a high-definition camera (3) is fixedly mounted on the top surface of the mounting rod (2), a flexible vibration plate (4) and a loading plate (5) are fixedly mounted on the top surface of the positioning platform (1), and the high-definition camera (3) is used to visually identify tools in the flexible vibration plate (4); A mounting platform (6) is arranged on one side of the positioning platform (1), and a manipulator (7) is fixedly mounted on the top surface of the mounting platform (6) for grasping objects; A grabbing assembly is provided on the bottom surface of the manipulator (7) for quickly and stably grabbing objects. The grabbing assembly comprises a connecting cylinder (8), which is provided on the bottom surface of the manipulator (7). A fixed bin (13) is fixedly installed on the bottom surface of the connecting cylinder (8). A plurality of guide frames (9) are fixedly installed on the outer circular wall surface of the fixed bin (13). A grabbing frame (10) is movably installed inside the guide frame (9). A grabbing block (11) is fixedly installed on one side of the grabbing frame (10). A workpiece (12) is provided between the grabbing frames (10). A cylinder (15) is fixedly mounted on the top surface of the connecting cylinder (8), a sealing cylinder (14) is fixedly mounted on the inner bottom surface of the fixed bin (13), a piston block (16) is arranged inside the sealing cylinder (14), the shaft of the cylinder (15) is fixedly connected to the piston block (16), two connecting rods (17) are fixedly mounted on one side of the grabbing frame (10), and a plurality of connecting tubes (18) are arranged on the outer circumferential wall surface of the sealing cylinder (14), and every two connecting tubes (18) form a group, and each group of connecting tubes (18) is movably sleeved together with the connecting rod (17).

2. A visual recognition tool positioning device according to claim 1, characterized in that: The grabbing component also includes: A pneumatic cylinder (19) is fixedly mounted on the bottom surface of the fixed bin (13); a telescopic column (20) is provided in a movable sleeve inside the pneumatic cylinder (19); a plurality of first articulated frames (21) are fixedly mounted on the outer circular wall surface of the telescopic column (20); a first connecting rod (22) is hingedly mounted inside the first articulated frame (21); the first connecting rod (22) and the second connecting rod (23) are hingedly mounted together; a second articulated frame (24) is fixedly mounted on the bottom surface of the guide frame (9); the second articulated frame (24) and the second connecting rod (23) are hingedly mounted together; and a spring (36) is provided outside the telescopic column (20).

3. A visual recognition tool positioning device according to claim 2, characterized in that: The bottom surface of the guide frame (9) is provided with a movable opening (25), the bottom surface of the grabbing frame (10) is fixedly mounted with a push plate (26), the bottom surface of the guide frame (9) is provided with a U-shaped tube (28), one end of the U-shaped tube (28) is movably sleeved with an extrusion rod (27), the extrusion rod (27) is fixedly connected to the push plate (26), and a fixing frame (29) is provided on the outside of the U-shaped tube (28), and the fixing frame (29) is fixedly connected to the guide frame (9).

4. A visual recognition tool positioning device according to claim 1, characterized in that: A connecting flange (30) is fixedly mounted on the top surface of the connecting cylinder (8), and a threaded rod (31) is provided inside the manipulator (7), wherein the threaded rod (31) is threadedly connected to the connecting flange (30).

5. The visual recognition tool positioning device according to claim 1, characterized in that: Limiting openings (33) are provided on both sides of the guide frame (9), and limiting blocks (34) are fixedly installed on both sides of the grabbing frame (10), and the limiting blocks (34) are slidably sleeved with the limiting openings (33).

6. A visual recognition tool positioning device according to claim 1, characterized in that: The material of the grab block (11) is an elastic material, and the shape of the grab block (11) is adapted to the workpiece (12).

7. The visual recognition tool positioning device according to claim 1, characterized in that: The outer circular wall surface of the connecting tube (8) is provided with a plurality of heat dissipation openings (32).

8. The visual recognition tool positioning device according to claim 1, characterized in that: A fill light (35) is fixedly mounted on the outer circular wall surface of the mounting rod (2).

Images