Visual positioning robot based on thread detection

Abstract

The invention relates to a visual positioning robot based on thread detection, and relates to the technical field of robot detection. Comprising an operation table, a camera is fixed to one side of a base, a go gauge is arranged at the bottom end of the base, a positioning assembly is arranged in a fixing base, a plurality of positioning plates are arranged in the fixing base at equal angles, a cleaning assembly is arranged at the bottom of the fixing base, and a plurality of scraping plates are fixed to the bottom end of the cleaning assembly. A plurality of toothed plates fixed at the top end of the connecting ring at equal angles are meshed with the positioning plate, when the connecting ring rotates, the positioning plate is driven to synchronously rotate around the center of the fixed shaft, a to-be-detected workpiece is subjected to mechanical forced centering clamping, it is ensured that the go gauge and a threaded hole are coaxial, and when the connecting ring rotates, the electric push rod fixed at the bottom end of the connecting ring is synchronously driven to rotate; the lifting ring drives the scraping plate to rotate and scrape at the top end of the threaded hole, and burrs, bosses and flashes at the top end of the hole opening are thoroughly removed in cooperation with equal-angle distribution of the cleaning pieces.

Description

Technical Field

[0001] This invention relates to the field of robot inspection technology, specifically to a vision positioning robot based on thread inspection. Background Technology

[0002] In the fields of automated assembly, precision manufacturing, and parts quality inspection, threads, as the core connection and positioning structure, are crucial for ensuring the accuracy and reliability of product assembly through precise spatial identification and quality compliance testing. As intelligent manufacturing upgrades towards flexibility, high precision, and automation, traditional thread positioning and inspection methods are no longer sufficient to meet the demands of large-scale production. Technology solutions based on visual positioning and industrial robot collaboration are gradually becoming the industry mainstream. The robot drives the vision unit to a safe position above the thread, the light source eliminates metal reflections and environmental interference, the camera captures images of the threaded hole, and the control system completes grayscale processing, edge extraction, and contour fitting based on optical detection algorithms. It identifies the actual opening and tooth profile features of the thread, calculates the thread center coordinates, depth, and axis attitude angle, completes visual positioning, and generates the robot's target pose. The robot controller converts the visual positioning results into motion commands in the base coordinate system, driving the robotic arm to move the end effector directly above the thread. During axial feeding, the go gauge is used to inspect the thread.

[0003] However, existing vision-based positioning robots rely on realistic and clear optical contours of the hole for edge extraction, center fitting, and axis normal vector calculation. Burrs at the top of the hole form abnormally highly reflective false edges on the workpiece end face. The vision algorithm may misidentify the outer edge of the burr as the true boundary of the threaded hole, leading to systematic offsets in hole center coordinates and spatial attitude calculations. Burrs also obscure and distort the true hole contour, preventing the vision system from extracting effective thread positioning features, resulting in decreased image quality and feature matching failure. Furthermore, burrs can create local high points on the end face, causing hard collisions and end-face interference during robot feeding, disrupting motion smoothness and causing robot vibration. Overloaded, and after the GO gauge completes single-station inspection and exits the threaded hole, its inspection section surface is prone to adhering to metal filings, burrs and debris from the hole opening, processing dust and oil stains, etc. The metal filings and debris carried by the GO gauge fall onto the threaded hole opening or workpiece end face as the robot moves, forming foreign object obstruction, irregular reflection and false contour in the imaging area, directly destroying the true edge features of the threaded hole opening, causing positioning drift and feature misjudgment in the vision system when extracting edges, fitting the center and calculating the hole axis normal vector. Adhering debris will cause the GO gauge to get stuck and unable to pass smoothly in subsequent inspections, resulting in false judgments of non-continuity and failing to truly reflect the thread processing quality.

[0004] To address the aforementioned issues, there is an urgent need for innovative designs based on existing visual positioning robots that rely on thread detection. Summary of the Invention

[0005] The present invention addresses the problem of overly simplistic solutions in existing technologies by providing a significantly different solution. Specifically, the present invention aims to provide a vision-based positioning robot based on thread detection to solve the problems mentioned in the background.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a visual positioning robot based on thread detection, comprising an operating table, a robotic arm placed inside the operating table, a base provided at one end of the robotic arm, a camera fixed on one side of the base, a go gauge provided at the bottom of the base, multiple connecting rods arranged at equal angles outside the go gauge, a fixed seat fixed at the bottom of the connecting rods, a positioning component provided inside the fixed seat, multiple positioning plates arranged at equal angles inside the fixed seat, and the positioning component drives the positioning plates to center the position of the workpiece to be detected, multiple guide blocks are slidably connected to the outer wall of the fixed seat, a cleaning component is provided at the bottom of the fixed seat, multiple cleaning parts are arranged at equal angles at the top of the fixed seat, and the cleaning component drives the cleaning parts to remove dirt from the go gauge, and multiple scrapers are fixed at the bottom of the cleaning parts.

[0007] Preferably, the fixed base has a cavity that moves to cooperate with the protruding position of the guide block, and the scrapers are evenly distributed at the bottom end of the cleaning component, and the scrapers are inclined.

[0008] Preferably, the positioning component includes a gear disposed on one side of the fixed base, a motor fixed to the bottom end of the gear, a toothed plate meshing with one side of the gear, a connecting ring fixed to the bottom end of the toothed plate, and multiple fixed shafts disposed at equal angles within the connecting ring, the fixed shafts being rotatably connected to the positioning plate.

[0009] Preferably, the connecting ring has multiple toothed plates distributed at equal angles at its top end, and the toothed plates engage with the positioning plate through tooth meshing.

[0010] Preferably, the fixed seat has a cavity that accommodates the toothed plate, connecting ring, and positioning plate, and the fixed seat is fixedly connected to the fixed shaft.

[0011] Preferably, the cleaning assembly includes multiple electric push rods that are slidably connected to the bottom end of the fixed base at equal angles. A lifting ring is fixed to the bottom end of each electric push rod. Multiple push plates are rotatably connected to the outer wall of the lifting ring at equal angles via a connecting shaft. A rotating component is rotatably connected to each push plate via a connecting shaft. A connecting seat is rotatably connected to the top end of the rotating component. Two symmetrically distributed rotating plates are rotatably connected to the connecting seat via a connecting shaft. A cross is rotatably connected to each rotating plate via a connecting shaft. The cross is rotatably connected to the cleaning assembly via a connecting shaft.

[0012] Preferably, the rotating component has an "L" shaped cross-section, and the rotating component is rotatably connected to the guide block via a connecting shaft.

[0013] Preferably, a torsion spring is provided between the cross and the cleaning component, and the connecting seat has a cavity that cooperates with the rotating plate.

[0014] Preferably, a spring is provided between the connecting seat and the cross, with one end of the spring fixedly connected to one side of the connecting seat and the other end of the spring fixedly connected to the cross.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] 1. This invention uses an electric push rod to drive the lifting ring to move axially, and drives the push plate to change its tilt angle through the connecting shaft. This causes the rotating parts to rotate around the connecting shaft at the guide block, and finally pushes the connecting seat to move synchronously towards the workpiece axis. This ensures that the scraper and cleaning parts are accurately close to the top of the threaded hole. When the connecting seat moves towards the center, the cleaning parts abut against each other, triggering the rotation of the cross connected to the rotating parts. This, in turn, drives the rotating plate to rotate synchronously, so that the cleaning parts automatically adjust their angles and are distributed at the top of the threaded hole. This ensures that the cleaning parts and scraper are tightly attached to the end face of the hole, avoids rigid compression that could damage the workpiece, and achieves automatic reset when there is no external force. It is suitable for cyclic operation.

[0017] 2. This invention uses multiple toothed plates fixed at equal angles at the top of the connecting ring to mesh with the positioning plate. When the connecting ring rotates, it drives the positioning plate to rotate synchronously around the fixed axis, mechanically and forcibly centering and clamping the workpiece to be inspected, ensuring that the go gauge is coaxial with the threaded hole. When the connecting ring rotates, it synchronously drives the electric push rod fixed at its bottom to rotate, which in turn drives the scraper to rotate and scrape at the top of the threaded hole through the lifting ring. With the equal angle distribution of the cleaning parts, the burrs, bosses and flash at the top of the hole are completely removed. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the robotic arm of the present invention;

[0019] Figure 2 This is a three-dimensional structural diagram of the present invention;

[0020] Figure 3 This is a schematic diagram showing the connection between the camera and the base in this invention;

[0021] Figure 4 This is a structural schematic diagram showing the connection between the connecting rod and the fixed base of the present invention;

[0022] Figure 5 This is a three-dimensional structural diagram of the positioning component of the present invention;

[0023] Figure 6 This is a three-dimensional structural diagram of the cleaning component of the present invention;

[0024] Figure 7This is a three-dimensional structural diagram of the cleaning component from another perspective of the present invention;

[0025] Figure 8 This is a structural schematic diagram showing the connection between the cleaning component and the scraper of the present invention.

[0026] In the diagram: 1. Control panel; 2. Robotic arm; 3. Camera; 4. Base; 5. Go gauge; 6. Connecting rod; 701. Gear; 702. Gear plate; 703. Connecting ring; 704. Fixed shaft; 8. Positioning plate; 9. Fixed seat; 101. Electric push rod; 102. Lifting ring; 103. Push plate; 104. Rotating component; 105. Connecting seat; 106. Rotating plate; 107. Cross; 108. Spring; 11. Guide block; 12. Cleaning component; 13. Scraper. Detailed Implementation

[0027] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0028] Please see Figures 1 to 8 This invention provides a technical solution: a visual positioning robot based on thread detection, including an operating table 1, a robotic arm 2 placed inside the operating table 1, a base 4 at one end of the robotic arm 2, a camera 3 fixed on one side of the base 4, a go gauge 5 at the bottom of the base 4, multiple connecting rods 6 arranged at equal angles outside the go gauge 5, a fixed seat 9 fixed at the bottom of the connecting rods 6, a positioning component inside the fixed seat 9, multiple positioning plates 8 arranged at equal angles inside the fixed seat 9, and the positioning component drives the positioning plates 8 to center the position of the workpiece to be detected, multiple guide blocks 11 are slidably connected to the outer wall of the fixed seat 9, a cleaning component is provided at the bottom of the fixed seat 9, multiple cleaning parts 12 are arranged at equal angles at the top of the fixed seat 9, and the cleaning component drives the cleaning parts 12 to remove dirt from the go gauge 5, and multiple scrapers 13 are fixed at the bottom of the cleaning parts 12.

[0029] In specific implementation, the operating table 1 is equipped with a robot arm 2, and the robot arm 2 is equipped with a base 4 at its end. A camera 3 is fixed on one side of the base 4 and a go gauge 5 is installed at the bottom. The outside of the go gauge 5 is fixedly connected to a fixed seat 9 through connecting rods 6 distributed at equal angles. The fixed seat 9 is equipped with a positioning component and multiple positioning plates 8 inside. The positioning component drives the positioning plates 8 to complete the centering and positioning of the workpiece to be inspected. Multiple guide blocks 11 are slidably connected to the outer wall of the fixed seat 9. A cleaning component is set at its bottom and multiple cleaning parts 12 are arranged at equal angles at its top. Multiple scrapers 13 are fixed at the bottom of the cleaning parts 12. The cleaning component drives the cleaning parts 12 and scrapers 13 to move, thereby removing dirt from the go gauge 5.

[0030] As a further embodiment of the present invention, the fixed base 9 has a cavity that moves to cooperate with the protruding position of the guide block 11, and the scraper 13 is evenly distributed at the bottom end of the cleaning member 12, and the scraper 13 is inclined.

[0031] In practice, the fixed base 9 has a cavity that adapts to the protruding position of the guide block 11, providing space for the guide block 11 to move. The bottom of the cleaning component 12 has scrapers 13 distributed at equal intervals, and the scrapers 13 are inclined to adapt to the action requirements of cleaning burrs at the top of the threaded hole and removing dirt from the gauge 5.

[0032] As a further embodiment of the present invention, the positioning component includes a gear 701 disposed on one side of the fixed base 9, a motor fixed at the bottom end of the gear 701, a toothed plate 702 meshing on one side of the gear 701, a connecting ring 703 fixed at the bottom end of the toothed plate 702, and a plurality of fixed shafts 704 disposed at equal angles inside the connecting ring 703, the fixed shafts 704 being rotatably connected to the positioning plate 8.

[0033] In specific implementation, a gear 701 driven by a motor is provided on one side of the fixed base 9. The gear 701 meshes with the toothed plate 702. The bottom end of the toothed plate 702 is fixedly connected to the connecting ring 703. Multiple fixed shafts 704 are arranged at equal angles inside the connecting ring 703. The fixed shafts 704 are rotatably connected to the positioning plate 8. The gear 701 drives the toothed plate 702 and the connecting ring 703 to rotate, thereby driving the positioning plate 8 to rotate around the fixed shafts 704, realizing the centering and clamping action of the workpiece to be inspected.

[0034] As a further embodiment of the present invention, the top end of the connecting ring 703 has a plurality of toothed plates 702 distributed at equal angles, and the toothed plates 702 and the positioning plate 8 are engaged by teeth.

[0035] In practice, multiple toothed plates 702 are distributed at equal angles at the top of the connecting ring 703. The toothed plates 702 and the positioning plate 8 are meshed with each other by teeth. The connecting ring 703 drives the toothed plates 702 to rotate, thereby driving the positioning plate 8 to move synchronously and complete the centering and clamping of the workpiece.

[0036] As a further embodiment of the present invention, the fixed base 9 has a cavity that accommodates the toothed plate 702, the connecting ring 703 and the positioning plate 8, and the fixed base 9 is fixedly connected to the fixed shaft 704.

[0037] In practice, the fixed base 9 has a cavity inside which the toothed plate 702, the connecting ring 703 and the positioning plate 8 can move. At the same time, the fixed base 9 is fixedly connected to the fixed shaft 704, providing stable support for the rotation of the positioning plate 8 and ensuring that the centering and clamping action is reliably executed.

[0038] As a further embodiment of the present invention, the cleaning component includes a plurality of electric push rods 101 that are equiangularly limited and slidably connected to the bottom end of the fixed base 9. A lifting ring 102 is fixed to the bottom end of the electric push rod 101. A plurality of push plates 103 are rotatably connected to the outer wall of the lifting ring 102 via a connecting shaft. A rotating component 104 is rotatably connected to the push plate 103 via a connecting shaft. A connecting seat 105 is rotatably connected to the top end of the rotating component 104. Two symmetrically distributed rotating plates 106 are rotatably connected to the connecting seat 105 via a connecting shaft. A cross 107 is rotatably connected to the rotating plate 106 via a connecting shaft. The cross 107 is rotatably connected to the cleaning component 12 via a connecting shaft.

[0039] In specific implementation, the electric push rod 101 and the bottom end of the fixed base 9 are connected in a sliding connection with equal angle limit. The bottom end of the electric push rod 101 is fixed with a lifting ring 102. The outer wall of the lifting ring 102 is connected to multiple push plates 103 at equal angles through a connecting shaft. The push plates 103 are rotatably connected to the rotating parts 104 through a connecting shaft. The top end of the rotating parts 104 is rotatably connected to the connecting base 105. The connecting base 105 is rotatably connected to two symmetrically distributed rotating plates 106 through a connecting shaft. The rotating plates 106 are then rotatably connected to the cross 107 through a connecting shaft. The cross 107 is rotatably connected to the cleaning part 12 through a connecting shaft. The electric push rod 101 drives the lifting ring 102 to rise and fall, thereby driving the push plates 103, rotating parts 104, connecting base 105, rotating plates 106 and cross 107 to move in tandem, thereby driving the cleaning part 12 to complete the corresponding cleaning and centering actions.

[0040] As a further embodiment of the present invention, the rotating member 104 has an "L" shaped cross section, and the rotating member 104 is rotatably connected to the guide block 11 through a connecting shaft.

[0041] In specific implementation, the rotating component 104 has an L-shaped cross-section. The rotating component 104 is rotatably connected to the guide block 11 through the connecting shaft, thereby forming a stable rotation fulcrum and motion guide, providing reliable hinge support for the subsequent driving of the connecting seat 105 and the cleaning component 12.

[0042] As a further embodiment of the present invention, a torsion spring is provided between the cross 107 and the cleaning member 12, and the connecting seat 105 has a cavity that cooperates with the rotating plate 106.

[0043] In specific implementation, a torsion spring is provided between the cross 107 and the cleaning component 12 to provide elastic reset and adaptive fitting force for the cleaning component 12. The connecting seat 105 has a cavity to cooperate with the rotating plate 106 to move and avoid each other, ensuring smooth linkage between the rotating plate 106 and the cross 107, and realizing stable and reliable centripetal retraction and reset movement of the cleaning component 12.

[0044] As a further embodiment of the present invention, a spring 108 is provided between the connecting seat 105 and the cross 107. One end of the spring 108 is fixedly connected to one side of the connecting seat 105, and the other end of the spring 108 is fixedly connected to the cross 107.

[0045] In specific implementation, a spring 108 is provided between the connecting seat 105 and the cross 107. One end of the spring 108 is fixedly connected to one side of the connecting seat 105, and the other end is fixedly connected to the cross 107. The elastic extension and contraction of the spring 108 provides adaptive rotation and reset power for the cross 107, so that the cleaning part 12 can achieve elastic retraction and automatic return, ensuring smooth movement and reliable fit.

[0046] Working Principle: When using this vision positioning robot based on thread inspection, the workpiece to be inspected is transported to the inspection station and positioned. The system obtains the workpiece's arrival signal and enters the work preparation state. The industrial robot manipulator 2 in the operating table 1 moves the base 4 above the threaded hole and moves down to fit the fixed seat 9 around the workpiece through the connecting rod 6, realizing the initial mechanical fitting and positioning of the end effector and the workpiece. The electric push rod 101 is activated, which drives the lifting ring 102 to move. Then, the push plate 103 is driven to change its tilt through the connecting shaft. The push plate 103 drives the rotating part 104 to rotate around the connecting shaft at the guide block 11. The rotating part 104 drives the connecting seat 105 connected to its top to move towards the axis of the workpiece to be inspected until the scraper 13 contacts the top of the threaded hole. Only the burrs on the end face of the hole are cleaned, without intruding into the inside of the threaded hole or damaging the tooth profile and the reference contour of the hole. This avoids damaging the original features of the thread due to the cleaning action and ensures that the reference features of the vision inspection are complete and effective. When the connecting seat 105 moves toward the axis of the workpiece to be inspected, the cleaning parts 12 abut against each other, causing the cross 107 rotatably connected to the cleaning parts 12 to rotate, thereby pushing the rotating plate 106 rotatably connected to the cross 107 to rotate (at this time, the spring 108 between the connecting shaft and the cross 107 is compressed; when the cleaning parts 12 are not driven by external force, the spring 108 releases the elastic force to drive the cleaning parts 12 to reset), and the cleaning parts 12 abutting against each other are evenly distributed at the top of the threaded hole;

[0047] The motor is started, driving gear 701 to rotate. Gear 701 rotates, causing gear plate 702 to rotate, which in turn rotates the connecting ring 703 connected to the bottom of gear plate 702. Since multiple gear plates 702 are fixed at equal angles at the top of the connecting ring 703, and these gear plates 702 mesh with positioning plate 8, the rotation of gear plates 702 drives positioning plate 8 to rotate around fixed axis 704, centering and clamping the workpiece to be inspected. This ensures that the go gauge 5 is coaxial with the workpiece, achieving mechanical forced centering and clamping of the workpiece. This directly compensates for workpiece clamping deviations, material inclination, and minor visual positioning errors, ensuring that the axis of go gauge 5 is strictly coaxial with the axis of the threaded hole, thus solving the problem of mechanical... To address issues such as alignment misalignment and tilting of the robot end effector, and to prevent radial impact, jamming, and stripping of the go gauge 5, the positioning accuracy and success rate of robot detection and execution are improved. Furthermore, when the connecting ring 703 rotates, it synchronously drives the electric push rod 101 fixed at its bottom to rotate, which in turn drives the scraper 13 to rotate at the top of the threaded hole through the rotation of the lifting ring 102. The rotating scraper 13 can remove the outward burrs, bosses, and flash at the top of the threaded hole, eliminating the high reflectivity false contours, edge distortion, and local overexposure caused by burrs from a physical perspective, restoring the true geometric features of the threaded hole opening, ensuring that the vision system is free from interference and distortion when extracting edges, fitting the center of the circle, and calculating the axis normal vector, thus significantly improving the visual positioning accuracy.

[0048] The industrial robot moves the vision camera 3 to a safe shooting position above the threaded hole. The vision system obtains the center coordinates, depth, and axis normal vector of the threaded hole through edge extraction, contour fitting, and posture calculation, completing non-contact visual positioning. The position data is then sent to the robot controller. The robot plans its motion trajectory based on the visual positioning results. The robot drives the gauge 5 to feed axially at a low speed. At this time, the cleaning part 12 is distributed outside the gauge 5. When the gauge 5 is completely inside the workpiece to be inspected, the electric push rod 101 is activated, causing the rotating part 104 to rotate. This, in turn, drives the cleaning part 12 to center and clamp the gauge 5, which can constrain the radial movement and posture deviation of the gauge 5, making the gauge 5... The motion axis of the device is highly coincident with the threaded hole axis calculated by the vision positioning, which reduces the cumulative error of the transformation from the vision coordinate system to the robot base coordinate system, strengthens the consistency of the reference between vision positioning and robot execution end, and improves the effectiveness of vision guidance. The cleaning component 12 is rotatably connected to the cross 107. When the cleaning component 12 contacts the surface of the go gauge 5, it will adaptively fit. When the go gauge 5 completes the inspection and rotates out of the workpiece to be inspected, the cleaning component 12 cleans the dirt on the go gauge 5. The cleaning component 12 simultaneously removes iron filings, oil stains and dirt from the surface of the go gauge 5, which can effectively prevent the attached objects from falling to the threaded hole or the end face of the workpiece with the robot movement, avoid the formation of foreign object obstruction, irregular reflection and false contour, eliminate the interference of contaminants on the edge extraction and center fitting of the vision system, ensure the stability and consistency of vision positioning in subsequent cycle operations, and maintain the long-term reliability of the vision inspection reference.

[0049] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention are within the scope of the present invention.

Claims

1. A vision-based positioning robot based on thread detection, comprising an operating table (1), characterized in that: The operating table (1) contains a robot arm (2), one end of which is provided with a base (4). A camera (3) is fixed on one side of the base (4). A go gauge (5) is provided at the bottom of the base (4). Multiple connecting rods (6) are provided at equal angles outside the go gauge (5). A fixed seat (9) is fixed at the bottom of the connecting rods (6). A positioning component is provided inside the fixed seat (9). Multiple positioning plates (8) are provided at equal angles inside the fixed seat (9). The positioning component drives the positioning plates (8) to center the position of the workpiece to be inspected. Multiple guide blocks (11) are connected to the outer wall of the fixed seat (9) for limiting sliding. A cleaning component is provided at the bottom of the fixed seat (9). Multiple cleaning parts (12) are provided at equal angles at the top of the fixed seat (9). The cleaning component drives the cleaning parts (12) to remove dirt from the go gauge (5). Multiple scrapers (13) are fixed at the bottom of the cleaning parts (12).

2. The visual positioning robot based on thread detection according to claim 1, characterized in that: The fixed seat (9) has a cavity that moves at the protruding position of the guide block (11). The scraper (13) is evenly distributed at the bottom of the cleaning part (12) and is inclined.

3. The visual positioning robot based on thread detection according to claim 1, characterized in that: The positioning component includes a gear (701) disposed on one side of the fixed base (9), a motor is fixed at the bottom of the gear (701), a toothed plate (702) meshes on one side of the gear (701), a connecting ring (703) is fixed at the bottom of the toothed plate (702), and multiple fixed shafts (704) are equally spaced inside the connecting ring (703), and the fixed shafts (704) are rotatably connected to the positioning plate (8).

4. A vision positioning robot based on thread detection according to claim 3, characterized in that: The connecting ring (703) has multiple toothed plates (702) distributed at equal angles at its top end, and the toothed plates (702) mesh with the positioning plate (8) through teeth.

5. A vision positioning robot based on thread detection according to claim 3, characterized in that: The fixed seat (9) has a cavity for the movement of the toothed plate (702), the connecting ring (703) and the positioning plate (8), and the fixed seat (9) is fixedly connected to the fixed shaft (704).

6. A vision positioning robot based on thread detection according to claim 1, characterized in that: The cleaning assembly includes multiple electric push rods (101) that are equiangularly limited and slidably connected to the bottom end of the fixed base (9). A lifting ring (102) is fixed to the bottom end of the electric push rod (101). Multiple push plates (103) are rotatably connected to the outer wall of the lifting ring (102) through a connecting shaft. A rotating component (104) is rotatably connected to the push plate (103) through a connecting shaft. A connecting seat (105) is rotatably connected to the top end of the rotating component (104). Two symmetrically distributed rotating plates (106) are rotatably connected to the connecting seat (105) through a connecting shaft. A cross (107) is rotatably connected to the rotating plate (106) through a connecting shaft. The cross (107) is rotatably connected to the cleaning component (12) through a connecting shaft.

7. A vision positioning robot based on thread detection according to claim 6, characterized in that: The rotating component (104) has an "L" shaped cross section and is rotatably connected to the guide block (11) via a connecting shaft.

8. A vision positioning robot based on thread detection according to claim 6, characterized in that: A torsion spring is provided between the cross (107) and the cleaning component (12), and the connecting seat (105) has a cavity that cooperates with the rotating plate (106) to move.

9. A vision positioning robot based on thread detection according to claim 6, characterized in that: A spring (108) is provided between the connecting seat (105) and the cross (107). One end of the spring (108) is fixedly connected to one side of the connecting seat (105), and the other end of the spring (108) is fixedly connected to the cross (107).

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