Industrial vision assembly robot

Abstract

The application provides an industrial visual assembly robot, and belongs to the technical field of industrial robots.The industrial visual assembly robot comprises a base, the top surface of the base is fixedly connected with a rotating table, the top surface of the rotating table is fixedly connected with a mechanical arm, the tail end of the mechanical arm is connected with a connecting arm, the connecting arm is fixedly connected with a U-shaped mounting bracket, the bottom surface of the U-shaped mounting bracket is fixedly connected with two fixing sleeves on both sides, one side of each fixing sleeve is open, two connecting blocks distributed in front and back are arranged on the U-shaped mounting bracket, each connecting block passes through the corresponding two fixing sleeves and can slide along the corresponding fixing sleeve, a first transmission assembly is arranged on the U-shaped mounting bracket, and the first transmission assembly can drive the connecting blocks to move.The horizontal position of a visual camera is adjusted by the first transmission assembly, visual observation is carried out at different assembly positions, and the accelerator is accurately positioned and assembled.

Description

Technical Field

[0001] This invention belongs to the field of industrial robot technology, specifically an industrial vision assembly robot. Background Technology

[0002] Industrial robots are multi-degree-of-freedom mechanical tools widely used in industrial fields. They can perform actions such as grasping and handling, greatly reducing labor costs in factories and improving work efficiency. As application scenarios become more complex, traditional stationary robots can no longer meet the requirements. Therefore, vision robots have emerged. They mainly acquire images and analyze the characteristics and motion trajectories of workpieces to achieve precise grasping and sorting in complex processes.

[0003] Application number CN202411921096.5 discloses an industrial vision robot, including a mechanical module, a vision module, and a motion control module. The mechanical module includes an end effector unit, which is movably mounted on a gantry frame at the end of the robotic arm unit. Connecting columns are fixedly connected to the inner walls on both sides of the gantry frame, and the connecting columns are connected to a gripping claw disk. The gripping claw disk is provided with three sets of gripping claws, which are arranged in a circular array around the center of the gripping claw disk. The three sets of gripping claws on both sides can grasp and fix the target object by extending. Under the simultaneous action of the three sets of gripping claws on both sides, the spherical target object is tightly gripped. It can fix and clamp spherical objects even with a certain degree of error, and automatically adjust the gripping position of the spherical target object. Under the force of the three gripping claws, the center of the spherical object is located on the line connecting the centers of the three sets of gripping claws on both sides, which can be precisely placed.

[0004] However, during the accelerator assembly process, the clamping claws in the above-mentioned technical solution cannot be adjusted. While they are good at gripping spherical objects, they are not good at gripping cylindrical or square objects, which can easily lead to loose or detached workpieces. This results in poor applicability and affects the assembly efficiency and accuracy of the accelerator.

[0005] Therefore, this invention proposes an industrial vision assembly robot to compensate for and improve the shortcomings of existing technologies. Summary of the Invention

[0006] To overcome the shortcomings of existing technologies, this invention proposes an industrial vision assembly robot.

[0007] To achieve the above objectives, the present invention employs the following technical solution:

[0008] An industrial vision assembly robot includes a base, a rotary table fixedly connected to the top surface of the base, a robotic arm fixedly connected to the top surface of the rotary table, a connecting arm mounted at the end of the robotic arm, a U-shaped mounting frame fixedly connected to the connecting arm, two fixed sleeves fixedly connected to both sides of the bottom surface of the U-shaped mounting frame, each fixed sleeve having an opening on one side, two connecting blocks distributed front and back on the U-shaped mounting frame, each connecting block passing through the corresponding two fixed sleeves and being able to slide along the corresponding fixed sleeves, and a first transmission component on the U-shaped mounting frame capable of driving the connecting blocks to move;

[0009] Each connecting block is fixedly connected to a mounting plate at one end, each mounting plate is rotatably connected to a horizontal shaft on one side, each horizontal shaft is fixedly connected to a fixing block at one end, each fixing block is fixedly connected to a vertical mounting rod, each mounting rod is fixedly connected to a vision camera at its bottom end, each mounting rod is fixedly connected to a horizontal bar on one side of its top end, and each mounting plate is provided with a second transmission assembly, which can drive the horizontal bar to move.

[0010] The U-shaped mounting bracket has pneumatic telescopic rods fixedly connected to both sides. Each pneumatic telescopic rod has a hollow clamping block fixedly connected to its free end. Each clamping block has a vertical plate, and each vertical plate has three clamping claws fixedly connected to it. The three clamping claws are arranged in a triangle. Each clamping block has three through holes on one side, and the clamping claws can move out of the corresponding through holes. Each clamping block has a third transmission assembly, which can drive the vertical plate to move.

[0011] Preferably, the first transmission component includes: a first motor, the first motor being fixedly connected to the top surface of the U-shaped mounting bracket, a gear being fixedly connected to the bottom end of the first motor shaft, and racks being fixedly connected to the opposite surfaces of the two connecting blocks, the racks extending from the opening of the fixing sleeve, and the gears meshing with the two racks respectively.

[0012] Preferably, the second transmission assembly includes: two fixed plates, which are fixedly connected to the top surface of the mounting plate. A second motor is fixedly connected to one of the fixed plates. One end of the shaft of the second motor is fixedly connected to a first lead screw. The first lead screw is rotatably connected to the other fixed plate. A first moving block is threaded onto the first lead screw. Two stop bars are fixedly connected to the top surface of the first moving block. The crossbar is located between the two stop bars and can contact and cooperate with the stop bars.

[0013] Preferably, a first limiting rod is fixedly connected between the two fixed plates, the first limiting rod passes through the first moving block and is slidably connected to the first moving block, and the first limiting rod and the first lead screw are distributed front and back.

[0014] Preferably, the third transmission component includes: a third motor, which is fixedly connected to the top surface of the clamping block; a second lead screw is fixedly connected to the bottom end of the third motor shaft; the bottom end of the second lead screw is rotatably connected to the clamping block; opposite threads are opened at both ends of the second lead screw; a second moving block is threaded to both ends of the second lead screw; an inclined support rod is hinged to one side of each second moving block; and one end of each support rod is hinged to a vertical plate.

[0015] Preferably, both clamping blocks have arc-shaped slots on their opposite surfaces, and the three through holes are located on both sides of the arc-shaped slots.

[0016] Preferably, two second limiting rods distributed vertically are fixedly connected to the back sides of the two clamping blocks, and each second limiting rod passes through the U-shaped mounting frame and can slide horizontally along the U-shaped mounting frame.

[0017] Preferably, mounting holes are provided at all four corners of the top surface of the base.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] 1. The present invention can drive the connecting block to move by the first transmission component, and the movement of the connecting block can drive the visual camera to move horizontally, thereby adjusting the horizontal position of the visual camera so as to visually observe different assembly positions of the accelerator and to accurately position and assemble the accelerator.

[0020] 2. The present invention can drive the crossbar to move through the second transmission component. The movement of the crossbar can drive the mounting rod to swing around the horizontal axis with the fixed block. The swing of the mounting rod drives the visual camera to swing, thereby adjusting the tilt angle of the visual camera and further visually observing different positions, thus improving the visual observation range.

[0021] 3. The present invention can drive the vertical plate to move through the third transmission component, and the movement of the vertical plate can drive the three clamping claws to move, so that the three clamping claws can be moved out of the through hole or stored in the clamping block, thereby facilitating the clamping and fixing of different objects and improving the applicability of the device. Attached Figure Description

[0022] The invention will now be further described with reference to the accompanying drawings.

[0023] Figure 1 This is a schematic diagram of the structure of the present invention;

[0024] Figure 2 yes Figure 1 A bottom view;

[0025] Figure 3 This is a schematic diagram of the U-shaped mounting bracket structure;

[0026] Figure 4 yes Figure 3 A bottom view;

[0027] Figure 5 This is a schematic diagram of the first transmission component;

[0028] Figure 6 yes Figure 5 A bottom view;

[0029] Figure 7 This is a schematic diagram of the second transmission component;

[0030] Figure 8 This is a schematic diagram of the connection structure between the horizontal axis and the mounting plate;

[0031] Figure 9 This is a schematic diagram of the clamping block structure;

[0032] Figure 10 This is a schematic diagram of the third transmission component;

[0033] Figure 11 This is a schematic diagram of the connection structure between the support rod and the vertical plate;

[0034] The following are the labels shown in the diagram: 1. Base; 2. Rotary table; 3. Robotic arm; 4. Connecting arm; 5. U-shaped mounting bracket; 6. Fixing sleeve; 7. Connecting block; 8. Mounting plate; 9. Horizontal shaft; 10. Fixing block; 11. Mounting rod; 12. Vision camera; 13. Horizontal bar; 14. Pneumatic telescopic rod; 15. Clamping block; 16. Vertical plate; 17. Clamping claw; 18. Through hole; 19. First motor; 20. Gear; 21. Rack; 22. Fixing plate; 23. Second motor; 24. First lead screw; 25. First moving block; 26. Stop bar; 27. First limit rod; 28. Third motor; 29. ​​Second lead screw; 30. Second moving block; 31. Support rod; 32. Arc-shaped groove; 33. Second limit rod; 34. Mounting hole. Detailed Implementation

[0035] To make the technical means, creative features, achieved objectives, and effects of this invention readily understandable, the invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various modifications or alterations to the invention, and these equivalent forms also fall within the scope defined by this application.

[0036] like Figure 1-11As shown, the industrial vision assembly robot of the present invention includes a base 1, a rotary table 2 fixedly connected to the top surface of the base 1, a robotic arm 3 fixedly connected to the top surface of the rotary table 2, a connecting arm 4 installed at the end of the robotic arm 3, and a U-shaped mounting frame 5 fixedly connected to the connecting arm 4. With the cooperation of the rotary table 2, the robotic arm 3 and the connecting arm 4, the U-shaped mounting frame 5 can be moved to achieve assembly gripping.

[0037] Two fixing sleeves 6 are fixedly connected to both sides of the bottom surface of the U-shaped mounting bracket 5. Each fixing sleeve 6 has an opening on one side. The U-shaped mounting bracket 5 is provided with two connecting blocks 7 distributed front to back. Each connecting block 7 passes through the corresponding two fixing sleeves 6 and can slide along the corresponding fixing sleeves 6. The U-shaped mounting bracket 5 is provided with a first transmission component, which can drive the connecting blocks 7 to move. Through the driving of the first component, the two connecting blocks 7 can be driven to move along the corresponding fixing sleeves 6. The movement of the connecting blocks 7 drives the visual camera 12 to move, thereby adjusting the horizontal position of the visual camera 12 so as to make visual observations at different positions and improve the visual observation range.

[0038] Each connecting block 7 is fixedly connected to a mounting plate 8 at one end, and each mounting plate 8 is rotatably connected to a horizontal shaft 9 on one side. Each horizontal shaft 9 is fixedly connected to a fixing block 10 at one end, and each fixing block 10 is fixedly connected to a vertical mounting rod 11. Each mounting rod 11 is fixedly connected to a vision camera 12 at its bottom end, and each mounting rod 11 is fixedly connected to a horizontal bar 13 on one side of its top end. Each mounting plate 8 is provided with a second transmission assembly, which can drive the horizontal bar 13 to move. Through the drive of the second transmission assembly, the horizontal bar 13 can be moved, and the movement of the horizontal bar 13 can cause the mounting rod 11 to swing around the horizontal shaft 9 with the fixing block 10. The swing of the mounting rod 11 causes the vision camera 12 to swing, thereby adjusting the tilt angle of the vision camera 12 and further visually observing different positions, thus further improving the visual observation range.

[0039] The U-shaped mounting bracket 5 is fixedly connected to pneumatic telescopic rods 14 on both sides. Each pneumatic telescopic rod 14 is fixedly connected to a hollow clamping block 15 at its free end. Each clamping block 15 has a vertical plate 16 inside. Each vertical plate 16 is fixedly connected to three clamping claws 17. The three clamping claws 17 are arranged in a triangle. Each clamping block 15 has three through holes 18 on one side. The clamping claws 17 can move out from the corresponding through holes 18. By extending the pneumatic telescopic rods 14, the clamping blocks 15 can be moved. The movement of the clamping blocks 15 can clamp and fix objects, thus completing the assembly.

[0040] Each clamping block 15 is equipped with a third transmission component, which can drive the vertical plate 16 to move. Driven by the third transmission component, the vertical plate 16 can be moved, and the vertical plate 16 can move the three clamping claws 17, so that the three clamping claws 17 can be moved out of the through hole 18 or stored in the clamping block 15, thereby facilitating the clamping and fixing of different objects and improving the applicability of this device.

[0041] like Figure 1 , Figure 3 , Figure 5 and Figure 6 As shown, the first transmission component includes: a first motor 19, which is fixedly connected to the top surface of the U-shaped mounting bracket 5. A gear 20 is fixedly connected to the bottom end of the shaft of the first motor 19. Two connecting blocks 7 are fixedly connected to racks 21 on their opposite sides. The racks 21 extend from the opening of the fixing sleeve 6. The gears 20 are respectively meshed with the two racks 21.

[0042] Specifically, the first motor 19 operates, which drives the gear 20 to rotate. The rotation of the gear 20 drives the two racks 21 to move relative to (or opposite to) each other along the corresponding fixed sleeve 6. The movement of the racks 21 drives the corresponding connecting block 7 to move. The movement of the connecting block 7 drives the visual camera 12 to move, thereby adjusting the horizontal position of the visual camera 12.

[0043] like Figure 1 , Figure 7 and Figure 8 As shown, the second transmission assembly includes two fixed plates 22, which are fixedly connected to the top surface of the mounting plate 8. A second motor 23 is fixedly connected to one of the fixed plates 22. One end of the shaft of the second motor 23 is fixedly connected to a first lead screw 24. The first lead screw 24 is rotatably connected to the other fixed plate 22. A first moving block 25 is threadedly connected to the first lead screw 24. Two stop bars 26 are fixedly connected to the top surface of the first moving block 25. The crossbar 13 is located between the two stop bars 26 and can contact and cooperate with the stop bars 26.

[0044] Specifically, the second motor 23 operates, driving the first lead screw 24 to rotate. The rotation of the first lead screw 24 causes the first moving block 25 to move along the first lead screw 24. The movement of the first moving block 25 causes the two stop bars 26 to move. The stop bars 26 contact and connect with the crossbar 13, thereby causing the crossbar 13 to move. The movement of the crossbar 13 causes the mounting rod 11 to swing around the horizontal axis 9 with the fixed block 10. The swing of the mounting rod 11 causes the visual camera 12 to swing, thereby adjusting the tilt angle of the visual camera 12, and thus visually observing different positions, further improving the visual observation range.

[0045] like Figure 1 , Figure 7 and Figure 8 As shown, a first limiting rod 27 is fixedly connected between the two fixed plates 22. The first limiting rod 27 passes through the first moving block 25 and is slidably connected to the first moving block 25. The first limiting rod 27 and the first lead screw 24 are distributed front and back.

[0046] Specifically, the first limiting rod 27 restricts the first moving block 25, preventing the first moving block 25 from shifting, thereby ensuring that the first moving block 25 can move stably horizontally along the first lead screw 24, thus ensuring the stability of the device.

[0047] like Figure 1 , Figure 10 and Figure 11 As shown, the third transmission assembly includes: a third motor 28, which is fixedly connected to the top surface of the clamping block 15. The bottom end of the shaft of the third motor 28 is fixedly connected to a second lead screw 29. The bottom end of the second lead screw 29 is rotatably connected to the clamping block 15. Opposite threads are opened at both ends of the second lead screw 29. Both ends of the second lead screw 29 are threadedly connected to second moving blocks 30. Each second moving block 30 is hinged to one side with an inclined support rod 31. One end of each support rod 31 is hinged to the vertical plate 16.

[0048] Specifically, when the third motor 28 operates, it drives the second lead screw 29 to rotate. The rotation of the second lead screw 29 drives two second moving blocks 30 to move relative to each other (or in opposite directions) along the second lead screw 29. The movement of the second moving blocks 30 drives the corresponding support rod 31 to move. The movement of the support rod 31 pushes (or pulls) the vertical plate 16 to move. The movement of the vertical plate 16 drives the clamping claws 17 to move, thereby enabling the three clamping claws 17 to move out of the through hole 18 or be stored in the clamping block 15, thus facilitating the clamping and fixing of different objects and improving the applicability of this device.

[0049] like Figure 1 , Figure 2 and Figure 9 As shown, arc-shaped slots 32 are provided on the opposite surfaces of the two clamping blocks 15, and the three through holes 18 are located on both sides of the arc-shaped slots 32.

[0050] Specifically, an arc-shaped slot 32 is provided on the clamping block 15, which can hold the side of the cylindrical object, thereby ensuring that the clamping block 15 can stably clamp and fix the cylindrical object when assembling it.

[0051] like Figure 1 , Figure 2 and Figure 3 As shown, two second limiting rods 33, distributed vertically, are fixedly connected to the back of each of the two clamping blocks 15. Each second limiting rod 33 passes through the U-shaped mounting frame 5 and can slide horizontally along the U-shaped mounting frame 5.

[0052] Specifically, the second limiting rod 33 restricts the clamping block 15, preventing the clamping block 15 from tilting and ensuring the stability of the clamping block 15.

[0053] like Figure 1 and Figure 2 As shown, mounting holes 34 are provided at the four corners of the top surface of the base 1.

[0054] Specifically, by opening mounting holes 34 on the base 1, the base 1 can be fixedly installed in the usage position, ensuring the stability of the base 1.

[0055] This solution also includes a controller, the location of which is set by the operator according to the actual situation during operation. The controller is used to control the electrical components used in this solution. The controller is one of an Intel processor, AMD processor, PLC controller, ARM processor, or microcontroller. It is used in conjunction with a motherboard, memory modules, storage media, and power supply, which is AC power or a lithium battery. When a display screen is provided, a graphics card is also provided. For the operating principle of the controller, please refer to "Principles of Automatic Control", "Principles and Application Simulation Cases of Microcontrollers", and "Principles and Applications of Sensors" published by Tsinghua University Press. Other books in this field can also be consulted. Other automation control and electrical components not mentioned are knowledge well known to those skilled in the art and will not be described in detail here.

[0056] Working principle: When assembling the accelerator, the base 1 is first fixedly installed in the usage position. When it is necessary to clamp and assemble a spherical object, the third motor 28 is activated. The third motor 28 drives the second lead screw 29 to rotate. The rotation of the second lead screw 29 drives two second moving blocks 30 to move relative to each other along the second lead screw 29. The movement of the second moving blocks 30 drives the corresponding support rod 31 to move. The movement of the support rod 31 pushes the vertical plate 16 to move. The movement of the vertical plate 16 drives the clamping claws 17 to move, so that the three clamping claws 17 extend outward from the through hole 18. Then the pneumatic telescopic rod 14 extends. The extension of the pneumatic telescopic rod 14 drives the clamping block 15 to move. The movement of the clamping block 15 drives the clamping claws 17 to move, so that the clamping claws 17 clamp the spherical part. Then, under the monitoring of the vision camera 12, the spherical object is moved to the assembly position for assembly through the coordinated movement of the rotary table 2, the robotic arm 3 and the connecting arm 4.

[0057] When it is necessary to clamp and assemble a square object, the third motor 28 is reversed. The operation of the third motor 28 drives the second lead screw 29 to rotate. The rotation of the second lead screw 29 drives the two second moving blocks 30 to move in opposite directions along the second lead screw 29. The movement of the second moving blocks 30 drives the corresponding support rod 31 to move. The movement of the support rod 31 pulls the vertical plate 16 to move. The movement of the vertical plate 16 drives the clamping claws 17 to move, so that the three clamping claws 17 retract from the through hole 18 into the clamping block 15, thereby allowing the clamping claws 17 to retract into the clamping block 15 and clamp the square object through the clamping block 15.

[0058] When it is necessary to clamp and assemble a cylindrical object, the two sides of the cylindrical object are respectively inserted into the arc-shaped slots 32, and the cylindrical object is clamped and assembled by the limiting and fixing of the arc-shaped slots 32.

[0059] When the position of the visual camera 12 needs to be adjusted, the first motor 19 is activated. The first motor 19 drives the gear 20 to rotate. The rotation of the gear 20 drives the two racks 21 to move relative to (or opposite to) each other along the corresponding fixed sleeve 6. The movement of the racks 21 drives the corresponding connecting block 7 to move. The movement of the connecting block 7 drives the visual camera 12 to move, thereby adjusting the position of the visual camera 12 so as to perform visual monitoring of different positions.

[0060] Simultaneously, the second motor 23 operates, driving the first lead screw 24 to rotate. The rotation of the first lead screw 24 causes the first moving block 25 to move along the first lead screw 24. The movement of the first moving block 25 causes the two stop bars 26 to move. The stop bars 26 contact and connect with the crossbar 13, thereby causing the crossbar 13 to move. The movement of the crossbar 13 causes the mounting rod 11 to swing around the horizontal axis 9 with the fixed block 10. The swing of the mounting rod 11 causes the visual camera 12 to swing, thereby adjusting the tilt angle of the visual camera 12 and further visually observing different positions.

[0061] The terms "front," "back," "left," "right," "top," and "bottom" all refer to the figures in the accompanying drawings. Figure 1 Based on the perspective of the observer, the side of the device facing the observer is defined as the front, the left side of the observer is defined as the left, and so on.

[0062] In the description of this invention, it should be understood that the terms "upper," "side," "inner," etc., indicating orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the elements referred to must have a specific orientation, or be constructed and operated in a specific orientation. In addition, it should be noted that unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal communication of two elements or the interaction relationship between two elements. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0063] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An industrial vision assembly robot, comprising a base (1), characterized in that, The base (1) is fixedly connected to the top surface of the rotating platform (2), the top surface of the rotating platform (2) is fixedly connected to the robotic arm (3), the end of the robotic arm (3) is installed with a connecting arm (4), the connecting arm (4) is fixedly connected with a U-shaped mounting frame (5), the bottom surface of the U-shaped mounting frame (5) is fixedly connected with two fixed sleeves (6) on both sides, each fixed sleeve (6) has an opening on one side, the U-shaped mounting frame (5) is provided with two connecting blocks (7) distributed front and back, each connecting block (7) passes through the corresponding two fixed sleeves (6) and can slide along the corresponding fixed sleeves (6), the U-shaped mounting frame (5) is provided with a first transmission component, the first transmission component can drive the connecting block (7) to move; Each of the connecting blocks (7) is fixedly connected to a mounting plate (8) at one end, and a horizontal shaft (9) is rotatably connected to one side of each mounting plate (8). A fixing block (10) is fixedly connected to one end of each horizontal shaft (9). A vertical mounting rod (11) is fixedly connected to each fixing block (10). A visual camera (12) is fixedly connected to the bottom end of each mounting rod (11). A horizontal bar (13) is fixedly connected to one side of the top end of each mounting rod (11). A second transmission assembly is provided on each mounting plate (8). The second transmission assembly can drive the horizontal bar (13) to move. The second transmission assembly includes: two fixed plates (22), which are fixedly connected to the top surface of the mounting plate (8). A second motor (23) is fixedly connected to one of the fixed plates (22). A first lead screw (24) is fixedly connected to one end of the shaft of the second motor (23). The first lead screw (24) is rotatably connected to the other fixed plate (22). A first moving block (25) is threadedly connected to the first lead screw (24). Two stop bars (26) are fixedly connected to the top surface of the first moving block (25). The crossbar (13) is located between the two stop bars (26) and can contact and cooperate with the stop bars (26). A first limiting rod (27) is fixedly connected between the two fixed plates (22). The first limiting rod (27) passes through the first moving block (25) and is slidably connected to the first moving block (25). The first limiting rod (27) and the first lead screw (24) are distributed front and back. The U-shaped mounting bracket (5) is fixedly connected to pneumatic telescopic rods (14) on both sides. Each pneumatic telescopic rod (14) is fixedly connected to a hollow clamping block (15) at its free end. Each clamping block (15) is provided with a vertical plate (16). Each vertical plate (16) is fixedly connected with three clamping claws (17). The three clamping claws (17) are arranged in a triangle. Each clamping block (15) has three through holes (18) on one side. The clamping claws (17) can move out from the corresponding through holes (18). Each clamping block (15) is provided with a third transmission component. The third transmission component can drive the vertical plate (16) to move. The third transmission component includes: a third motor (28), which is fixedly connected to the top surface of the clamping block (15). The bottom end of the shaft of the third motor (28) is fixedly connected to a second lead screw (29). The bottom end of the second lead screw (29) is rotatably connected to the clamping block (15). The two ends of the second lead screw (29) have opposite threads. The two ends of the second lead screw (29) are threadedly connected to a second moving block (30). Each second moving block (30) has an inclined support rod (31) hinged to one side. One end of each support rod (31) is hinged to a vertical plate (16).

2. The industrial vision assembly robot according to claim 1, characterized in that, The first transmission component includes: a first motor (19), which is fixedly connected to the top surface of the U-shaped mounting bracket (5), and a gear (20) is fixedly connected to the bottom end of the shaft of the first motor (19). The two connecting blocks (7) are fixedly connected to racks (21) on opposite sides. The racks (21) extend from the opening of the fixing sleeve (6), and the gears (20) mesh with the two racks (21) respectively.

3. The industrial vision assembly robot according to claim 1, characterized in that, Both clamping blocks (15) have arc-shaped slots (32) on their opposite surfaces, and the three through holes (18) are located on both sides of the arc-shaped slots (32).

4. The industrial vision assembly robot according to claim 1, characterized in that, Two upper and lower limit rods (33) are fixedly connected to the back of the two clamping blocks (15). Each of the upper and lower limit rods (33) passes through the U-shaped mounting frame (5) and can slide horizontally along the U-shaped mounting frame (5).

5. An industrial vision assembly robot according to claim 1, characterized in that, The base (1) has mounting holes (34) at the four corners of its top surface.

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