Robot vision positioning and grabbing device for precision device detection

Abstract

The application discloses a robot vision positioning and grabbing device for precision device detection, which comprises a robot main body, a mechanical arm drivingly connected to a power mechanism of the robot main body, an assembly seat fixedly installed at the bottom end of the mechanical arm, a guide column fixedly installed on the mechanical arm through the assembly seat, a positioning and grabbing mechanism driven by a driving assembly arranged on the guide column, a vision positioning module arranged on the guide column, a baffle ring arranged at the joint of the assembly seat and the mechanical arm, a horizontal disc fixedly installed at one end of the guide column, and an air bag body arranged on the side of the horizontal disc away from the baffle ring. When the device is used, the elastic material of the air bag body can buffer the mechanical impact between the horizontal disc and the device, the ring-shaped uniform stress can preliminarily fix the position of the device, the silica gel buffer pad on the inner side of the detection clamping jaw can reduce the hard extrusion on the device, and the end inclined groove can guide the clamping jaw to accurately adhere to the edge of the device to prevent lateral slip during clamping.

Description

Technical Field

[0001] This invention relates to the field of visual positioning technology, and more specifically to a robot visual positioning and grasping device for the inspection of precision components. Background Technology

[0002] In modern industrial manufacturing and scientific research, precision component testing plays a crucial role, serving as a core link in ensuring product quality, performance, and safety.

[0003] The dimensions of precision components (such as MEMS sensors, micro connectors, wafer-level chips, precision screws, and micro bearings) have generally entered the millimeter or even sub-millimeter scale, while the requirements for their geometric tolerances, surface defects, and assembly precision are becoming increasingly stringent. Traditional manual inspection and sorting methods are no longer able to meet the production demands of 24-hour full inspection and zero-defect traceability due to their low efficiency, poor consistency, and susceptibility to secondary contamination. Therefore, automated inspection lines based on machine vision have become the industry mainstream: high-resolution industrial cameras, combined with dome light sources or structured light, perform 2D / 2.5D imaging of components, and deep learning algorithms are used to complete defect identification and pose estimation. Then, SCARA or six-axis robots drive grippers to perform sorting, palletizing, or unloading.

[0004] In current industrial production, most gripping robots rely on vision positioning systems to perform gripping operations above target devices. These robots often adopt a "visual image capture - robot positioning above - vertical descent gripping" mode. Because there is a gap between the gripper arm and the component before gripping, the gripper edge and the edge of the component are prone to random lateral slippage at the moment of gripping, which can lead to the component falling off. Furthermore, during the gripping and transfer process, the vision sensor used to position the component is easily affected by external light, which can eventually cause positioning deviation. Summary of the Invention

[0005] The main objective of this invention is to provide a robot vision positioning and grasping device for the inspection of precision components, so as to overcome the defects of the existing technology.

[0006] To achieve the above objectives, the present invention provides the following technical solution.

[0007] According to one aspect of the present invention, a robot vision positioning and grasping device for precision device inspection is provided, comprising a robot body, a robotic arm being driven by a power mechanism of the robot body, an assembly base being fixedly installed at the bottom end of the robotic arm, vertically distributed guide columns being fixedly installed on the robotic arm via the assembly base, a positioning and grasping mechanism driven by a drive component being provided on the guide columns, and a vision positioning module for vision positioning being installed on the guide columns. The connection between the mounting base and the robotic arm is provided with a retaining ring, and a horizontal plate is fixedly installed at the end of the guide post away from the retaining ring. A through hole corresponding to the visual positioning module is opened in the center of the horizontal plate. An air bladder is provided on the side of the horizontal plate away from the retaining ring, and the air bladders are arranged in a ring array around the through hole. The positioning and gripping mechanism consists of a clamping assembly and a protective assembly. The clamping assembly includes detection grippers arranged in a ring array outside the horizontal disk. A buffer pad is fixedly installed on the inner side of the detection grippers, and an inclined groove is opened at the end of the buffer pad away from the horizontal disk. A gripper hinge seat is also fixedly installed on the inner wall of the detection grippers, which is distributed to avoid the guide post. The detection grippers are all slidably distributed along the axial direction of the guide post through the gripper hinge seat.

[0008] In one embodiment, the drive assembly includes a gripper motor and a chuck motor fixedly mounted on the robotic arm. The output shafts of the gripper motor and the chuck motor are respectively driven by a gripper gear and a chuck gear. The gear shafts of the gripper gear and the chuck gear are rotatably connected to the robotic arm via gears. The robotic arm also has a gripper rack and a chuck rack that mesh with the gripper gear and the chuck gear, respectively.

[0009] In one embodiment, the chuck gears are symmetrically distributed on both sides of the gripper gear and located above the gripper gear, and the robotic arm is provided with grooves for limiting the sliding of the gripper rack and the chuck rack.

[0010] In one embodiment, the clamping assembly further includes a traction rod vertically mounted in the robotic arm, and the traction rod is slidably connected along the axial direction of the guide post. The traction rod is fixedly connected to one end of the gripper rack extending into the guide post, and the traction rod is also provided with a rack groove for limiting the sliding of the gripper rack.

[0011] In one embodiment, a gripper slider corresponding to the gripper hinge seat is fixedly installed at one end of the traction rod extending into the guide column. A gripper connecting rod is provided between the gripper hinge seat and the gripper slider. The gripper connecting rods are symmetrically distributed at both ends of the gripper hinge seat, and the end of the gripper connecting rod away from the gripper hinge seat is hinged to the end of the gripper slider away from the traction rod.

[0012] In one embodiment, the protective component includes auxiliary claws arranged in a ring array outside the horizontal disk, and the inner side of each auxiliary claw has a slot corresponding to a buffer pad. The auxiliary claws are connected to adjacent detection claws in abutment. A claw hinge seat is also fixedly installed on the inner side of each auxiliary claw. The auxiliary claws are all slidably distributed along the axial direction of the guide post through the claw hinge seat. The angle between the line connecting the claw hinge seats and the line connecting the claw hinge seats is 90 degrees.

[0013] In one embodiment, the protective assembly further includes a traction sleeve vertically distributed in the guide post, and the top end of the traction sleeve is fixedly connected to one end of the claw rack extending into the guide post, and the traction sleeve is provided with a clearance groove along its axial direction for avoiding the claw slider. One end of the traction sleeve extending into the guide column is fixedly installed with a claw slider corresponding to the claw hinge seat. A claw connecting rod is provided between the claw hinge seat and the claw slider. The claw connecting rods are symmetrically distributed at both ends of the claw hinge seat, and the end of the claw connecting rod away from the claw hinge seat is hinged to the end of the claw slider away from the traction sleeve.

[0014] In one embodiment, the traction sleeve is further provided with a light-shielding cavity that communicates with the clearance groove, and the end of the light-shielding cavity near the horizontal plate corresponds to the through hole.

[0015] In one embodiment, the visual positioning module includes an optical lens, a laser sensor, or a photoelectric sensor.

[0016] In one embodiment, the robot body is equipped with a battery connected to a vision positioning module via wires.

[0017] According to a second aspect of the present invention, a precision component inspection robot is provided, comprising the aforementioned robot vision positioning and grasping device. Compared with the prior art, the present invention has at least the following beneficial effects: (1) The present invention utilizes the elastic material of the airbag to buffer the mechanical impact between the horizontal plate and the device, and at the same time uses the annular uniform force to initially fix the position of the device. The silicone buffer pad on the inner side of the detection claw can reduce the hard compression of the device, and the inclined groove at the end can guide the claw to accurately fit the edge of the device to prevent lateral slippage during clamping.

[0018] (2) The present invention drives the symmetrically distributed jaw racks on both sides to slide axially by starting the jaw motor, and pushes the auxiliary jaw to close radially around the jaw hinge seat through the jaw connecting rod, so that the jaw hinge seat and the gripper hinge seat are orthogonally distributed to form a "cross" type wrapping structure. In this process, the auxiliary jaw does not bear the main clamping force, but only restricts the radial range of movement of the device during the clamping process, thereby significantly reducing the risk of device displacement and falling off during the clamping process.

[0019] (3) The present invention uses a light-shielding cavity with a matte black inner wall in the traction sleeve, which, together with the sliding of the claw slider, drives the visual positioning module and the through hole to gradually move away to actively reduce the field of view. The light-shielding cavity can absorb stray light, and actively reducing the field of view can reduce the range of external light entering the area. This dual measure can effectively reduce the interference of stray light on the visual positioning module during the clamping and transfer process. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0021] Figure 1 This is a three-dimensional structural diagram of a robot vision positioning and grasping device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a positioning and grasping mechanism according to an embodiment of the present invention; Figure 3 This is a cross-sectional view of a positioning and gripping mechanism according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a clamping component and a protective component being installed together in one embodiment of the present invention; Figure 5 This is a schematic diagram of a positioning and gripping mechanism and a horizontal disc cooperating and installing structure in one embodiment of the present invention; Figure 6 This is a schematic diagram of a clamping component structure according to an embodiment of the present invention; Figure 7 This is a schematic diagram of a protective component structure according to an embodiment of the present invention; Figure 8 This is a cross-sectional view of a protective component according to an embodiment of the present invention.

[0022] Explanation of reference numerals in the attached figures: 1. Robot body; 2. Robotic arm; 3. Assembly base; 31. Retaining ring; 32. Horizontal plate; 321. Through hole; 322. Airbag body; 4. Guide post; 5. Clamping assembly; 51. Detection gripper; 511. Buffer pad; 512. Inclined groove; 52. Gripper hinge seat; 53. Traction rod; 531. Rack groove; 54. Gripper slider; 55. Gripper connecting rod; 6. Protective assembly; 61. Auxiliary gripper; 611. Slot; 62. Gripper hinge seat; 63. Traction sleeve; 631. Clearance groove; 632. Light-shielding cavity; 64. Gripper slider; 65. Gripper connecting rod; 7. Drive assembly; 71. Gripper motor; 711. Gripper gear; 712. Gripper rack; 72. Gripper motor; 721. Gripper gear; 722. Gripper rack; 8. Vision positioning module. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Reference Figure 1-8This embodiment provides a robot vision positioning and grasping device for precision device inspection, comprising a robot body 1, a robotic arm 2 connected to the power mechanism of the robot body 1, a mounting base 3 fixedly mounted at the bottom of the robotic arm 2, vertically distributed guide posts 4 fixedly mounted on the robotic arm 2 via the mounting base 3, a positioning and grasping mechanism driven by a drive assembly 7 on the guide posts 4, and a vision positioning module 8 for vision positioning also mounted on the guide posts 4. A retaining ring 31 is provided at the connection between the mounting base 3 and the robotic arm 2, and a horizontal plate 32 is fixedly mounted on the end of the guide posts 4 away from the retaining ring 31. A through hole 321 corresponding to the vision positioning module 8 is opened in the center of the horizontal plate 32, and an airbag is provided on the side of the horizontal plate 32 away from the retaining ring 31. The body 322, with airbags arranged in a ring array around the through-hole 321, is a positioning and gripping mechanism consisting of a clamping assembly 5 and a protective assembly 6. The clamping assembly 5 includes detection grippers 51 arranged in a ring array outside the horizontal disk 32, with a buffer pad 511 fixedly installed on the inner side of each detection gripper 51. A slanted groove 512 is provided at the end of the buffer pad 511 away from the horizontal disk 32. A gripper hinge seat 52, which avoids the guide post 4, is also fixedly installed on the inner wall of the detection gripper 51. All detection grippers 51 slide along the axial direction of the guide post 4 via the gripper hinge seat 52. The robot body 1, as the basic load-bearing component of the device, integrates the overall control system and power source, providing stable support and coordinated control for the entire device. Its internal power mechanism (such as a servo motor)... The motor unit is connected to the robotic arm 2 via a transmission component, driving the robotic arm 2 to achieve multi-degree-of-freedom rotation and extension, ensuring that the end effector can accurately reach the detection or gripping station of the target device. This is existing technology and will not be elaborated upon here. The specific circuit control logic can also be obtained through a big data parameter model. The guide column 4, as the core guiding component, provides the axial motion reference for the positioning and gripping mechanism and the vision positioning module 8, ensuring the coaxiality and consistency of the movements of each component. The positioning and gripping mechanism is used to achieve stable clamping of precision devices. The vision positioning module 8 is responsible for acquiring device position information in real time and feeding it back to the central control system. The horizontal disk 32, as the end-bearing structure, has a through hole 321 in its center that corresponds to the detection path of the vision positioning module 8, ensuring the accuracy of the detection path. The sensory signal can reach the target device directly without obstruction, ensuring positioning accuracy. The airbag 322 is made of elastic material and is distributed in a ring array around the through hole 321. When the device approaches the device, it can inflate and contact the device surface first. On the one hand, it reduces mechanical impact through buffering, and on the other hand, it avoids the deformation of precision devices (such as chips and micro optical components) by uniform force in a ring. The buffer pad 511 fixedly installed on the inner side of the detection claw 51 is made of flexible material such as silicone, which can reduce the hard compression of the device during clamping. The inclined groove 512 can guide the cutting edge to fit the edge of the device when the detection claw 51 is closed, reducing the risk of lateral slippage. The detection claw 51 slides along the guide post 4 through the claw hinge seat 52, providing a movement fulcrum for the radial opening and closing of the claw.

[0025] Drive assembly 7 includes a gripper motor 71 and a chuck motor 72 fixedly mounted on the robotic arm 2. The output shafts of gripper motor 71 and chuck motor 72 are respectively driven by gripper gear 711 and chuck gear 721, and the gear shafts of gripper gear 711 and chuck gear 721 are rotatably connected to the robotic arm 2 via gears. Gripper rack 712 and chuck rack 722, which mesh with gripper gear 711 and chuck gear 721, are also slidably connected in the robotic arm 2. Both gripper motor 71 and chuck motor 72... Using servo motors, the speed and direction can be precisely controlled through the central control system. The gripping component 5 and the protective component 6 are driven independently, ensuring that the two mechanisms work together without interfering with each other. The output shafts of the gripper motor 71 and the chuck motor 72 are respectively connected to the gripper gear 711 and the chuck gear 721 through couplings. The gear shafts are rotatably connected to the preset shaft holes of the robotic arm 2 through bearings, which greatly reduces rotational friction and ensures smooth transmission. The rotational motion of the motor is converted into the linear motion of the rack through gear and rack meshing transmission.

[0026] The chuck gears 721 are symmetrically distributed on both sides of the gripper gear 711 and located above the gripper gear 711. The robotic arm 2 is provided with grooves for limiting the sliding of the gripper rack 712 and the chuck rack 722. Since the chuck gears 721 are symmetrically distributed on both sides of the gripper gear 711, the driving force of the protective component 6 can be evenly transmitted from both sides to the auxiliary chuck 61, thereby effectively avoiding the deviation of the auxiliary chuck 61 due to unilateral force. The inner wall of the groove is precision ground, and the clearance between the groove and the rack is controlled within a certain range. This not only strictly constrains the sliding direction of the rack to prevent deflection during movement, but also reduces frictional resistance by dripping lubricant.

[0027] The clamping assembly 5 also includes a traction rod 53 vertically installed in the robotic arm 2, and the traction rod 53 is slidably connected along the axial direction of the guide post 4. The traction rod 53 is fixedly connected to one end of the gripper rack 712 extending into the guide post 4. The traction rod 53 is also provided with a rack groove 531 for limiting the sliding of the gripper rack 722. The traction rod 53, the robotic arm 2, and the guide post 4 are all clearance fit, and can slide freely along the axial direction of the guide post 4. Its main function is to transmit the linear motion of the gripper rack 712 to the execution end of the clamping assembly 5 to realize the longitudinal transmission of power. The rack groove 531 on the traction rod 53 runs through the axial direction to provide clearance space for the movement of the gripper rack 722, avoid interference between the gripper rack 712 and the gripper rack 722 when they move independently, and ensure the independence and coordination of the two sets of drive mechanisms.

[0028] One end of the traction rod 53 extending into the guide post 4 is fixedly fitted with a gripper slider 54 corresponding to the gripper hinge seat 52. A gripper connecting rod 55 is provided between both the gripper hinge seat 52 and the gripper slider 54. The gripper connecting rods 55 are symmetrically distributed at both ends of the gripper hinge seat 52, and the end of the gripper connecting rod 55 away from the gripper hinge seat 52 is hinged to the end of the gripper slider 54 away from the traction rod 53. The positions of the gripper slider 54 and the gripper hinge seat 52 correspond one-to-one, used to hold the traction rod... The axial movement of 53 is converted into the swing of the gripper connecting rod 55. The two ends of the gripper connecting rod 55 are respectively hinged to the gripper hinge seat 52 and the gripper slider 54 through pins to form a four-bar structure. When the gripper slider 54 moves along the guide post 4, the gripper connecting rod 55 drives the detection gripper 51 to swing radially around the gripper hinge seat 52 through the rotation of the hinge point, so as to realize the synchronous opening and closing action, ensure that the clamping force of each detection gripper 51 on the device is uniform, and further reduce the risk of device tilting or falling off.

[0029] The protective component 6 includes auxiliary claws 61 arranged in a ring array outside the horizontal disk 32. The inner side of each auxiliary claw 61 has a groove 611 corresponding to a buffer pad 511. The auxiliary claws 61 abut against adjacent detection claws 51. A claw hinge seat 62 is also fixedly installed on the inner side of each auxiliary claw 61. All auxiliary claws 61 slide along the axial direction of the guide post 4 via the claw hinge seat 62. The angle between the line connecting the claw hinge seats 62 and the line connecting the claw hinge seats 52 is 90 degrees. The groove 611 on the inner side of the auxiliary claw 61 matches the shape of the buffer pad 511 of the detection claw 51. During clamping, it forms a concave-convex interlocking structure with the buffer pad 511, increasing friction with the device surface and reducing lateral slippage. The auxiliary claws 61 and adjacent detection claws 51... When the objects are connected, they can form a complete cover, which reduces the range of motion of the object during the gripping process and further reduces the offset during the positioning and gripping process. During positioning and gripping, the detection claw 51 and the auxiliary claw 61 apply force in the orthogonal direction to form a "cross" gripping. This method is especially suitable for irregularly shaped precision devices such as square and rectangular objects, and can effectively prevent deflection during the gripping process.

[0030] The protective assembly 6 also includes a traction sleeve 63 vertically distributed in the guide post 4, with the top end of the traction sleeve 63 fixedly connected to one end of the claw rack 722 extending into the guide post 4. The traction sleeve 63 has an axial clearance groove 631 for avoiding the claw slider 54. A claw slider 64 corresponding to the claw hinge seat 62 is fixedly installed at one end of the traction sleeve 63 extending into the guide post 4. Claw connecting rods 65 are provided between the claw hinge seat 62 and the claw slider 64. The claw connecting rods 65 are symmetrically distributed at both ends of the claw hinge seat 62, with the end of the claw connecting rod 65 furthest from the claw hinge seat 62 connected to... The end of the claw slider 64 away from the traction sleeve 63 is hinged. The traction sleeve 63 is a hollow structure that can transmit the linear motion of the claw rack 722 to the execution end of the protective component 6. The clearance groove 631 corresponds to the movement trajectory of the claw slider 54, ensuring that the traction sleeve 63 and the claw slider 54 do not interfere with each other when moving independently, ensuring the independence of the action of the clamping component 5 and the protective component 6. The axial motion of the traction sleeve 63 is converted into the radial opening and closing of the auxiliary claw 61 through a crank-slider mechanism similar to that of the detection claw 51, ensuring that the auxiliary claw 61 is subjected to balanced force and moves synchronously. Since the auxiliary claw 61 lacks the buffer pad 511, its closed area is larger than that of the detection claw 51. Therefore, the function of the auxiliary claw 61 is not to assist in clamping, but to restrict the movement of the object during the clamping process. It does not have a clamping function during the clamping and transfer process.

[0031] The traction sleeve 63 also has a light-shielding cavity 632 that communicates with the clearance groove 631. The end of the light-shielding cavity 632 near the horizontal plate 32 corresponds to the through hole 321. The inner wall of the light-shielding cavity 632 is treated with a matte black coating, which can absorb stray light and reduce light reflection interference. When clamping and positioning, the visual positioning module 8 in the light-shielding cavity 632 can be positioned through the through hole 321.

[0032] The visual positioning module 8 is an optical lens, a laser sensor, or a photoelectric sensor. The robot body 1 is equipped with a battery connected to the visual positioning module 8 via wires. The optical lens, in conjunction with the image recognition algorithm, is suitable for scenarios requiring high-precision contour positioning (such as chip pin detection). The laser sensor, through laser ranging and contour scanning, is suitable for positioning curved surfaces or transparent devices (such as optical lenses). The photoelectric sensor has a fast response speed and is suitable for position confirmation in rapid batch inspection. The wire-powered system ensures stable operation even when the position of the visual positioning module 8 changes.

[0033] During the gripping and positioning process of precision device inspection using the device of this embodiment, the main control system in the robot body 1 commands the visual positioning module 8 to start. The main control system, combined with preset parameters (such as device size and inspection station coordinates), calculates the motion path of the robotic arm 2 and drives the robotic arm 2 to move the end guide column 4 and horizontal disk 32 towards the target device through multi-degree-of-freedom rotation and extension until the positioning gripping mechanism is aligned with the top of the device. When the horizontal disk 32 approaches the device to a preset distance, before it makes contact with the device, the central control system instructs the airbag 322 to inflate. The airbag 322 expands in a ring array around the through hole 321, making priority contact with the device surface. The elastic material of the airbag 322 buffers the mechanical impact between the horizontal disk 32 and the device, preventing the precision device (such as chip, optical lens) from deforming due to hard contact. On the other hand, it initially fixes the device position by uniformly applying force in a ring, laying a stable foundation for subsequent clamping. The main control system starts the gripper motor 71, which drives the gripper gear 711 to rotate. The gripper gear 711 meshes with the gripper rack 712 in the robotic arm 2, converting the rotational motion into the axial linear motion of the gripper rack 712. The gripper rack 712 drives the connected traction rod 53 to slide axially along the guide post 4. The gripper slider 54 at the end of the traction rod 53 moves synchronously, and pushes the detection gripper 51 to close radially around the gripper hinge seat 52 through the symmetrically distributed gripper connecting rods 55 (four-bar structure). The buffer pad 511 (silicone material) on the inner side of the detection gripper 51 adheres to the surface of the device to reduce hard compression. The inclined groove 512 at the end of the buffer pad 511 guides the detection gripper 51 to accurately adhere to the edge of the device, avoiding lateral slippage caused by gaps during gripping, and achieving stable main clamping. While starting the gripper motor 71, the gripper motor 72 needs to be started first. The gripper motor 72 drives the gripper gear 721 to rotate, which drives the symmetrically distributed gripper racks 722 on both sides to slide axially. The gripper racks 722 drive the connected traction sleeve 63 to slide axially along the guide post 4. The gripper slider 64 at the end of the traction sleeve 63 pushes the auxiliary gripper 61 to close radially around the gripper hinge seat 62 through the gripper connecting rod 65. The groove 611 on the inner side of the auxiliary gripper 61 fits into the buffer pad 511 of the detection gripper 51. The gripper hinge seat 62 and the gripper hinge seat 52 are orthogonally distributed to form a "cross" type wrapping structure. During this process, the auxiliary gripper 61 does not bear the main clamping force, but only limits the radial range of movement of the device during the clamping process, further reducing the risk of displacement. As the claw slider 64 continues to slide, the visual positioning module 8 inside the traction sleeve 63 gradually moves away from the through hole 321 on the horizontal plate 32, actively reducing the field of view of the visual positioning module 8. At the same time, the matte black inner wall of the light-shielding cavity 632 can absorb stray light. The two work together to reduce the interference of stray light on the visual positioning module 8 during the clamping and transfer process.

[0034] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A robotic vision positioning and grasping device for inspecting precision components, characterized in that, The robot body (1) is connected to a mechanical arm (2) via a power mechanism. A mounting base (3) is fixedly installed at the bottom of the mechanical arm (2). Vertically distributed guide columns (4) are fixedly installed on the mechanical arm (2) via the mounting base (3). A positioning and gripping mechanism driven by a drive component (7) is provided on the guide column (4). A visual positioning module (8) for visual positioning is also installed on the guide column (4). The connection between the mounting base (3) and the robotic arm (2) is provided with a retaining ring (31), and a horizontal plate (32) is fixedly installed on one end of the guide post (4) away from the retaining ring (31). The center of the horizontal plate (32) is provided with a through hole (321) corresponding to the visual positioning module (8). An airbag (322) is provided on the side of the horizontal plate (32) away from the retaining ring (31). The airbags (322) are arranged in a ring array around the through hole (321). The positioning and gripping mechanism consists of a clamping component (5) and a protective component (6). The clamping component (5) includes detection grippers (51) arranged in a ring array outside the horizontal disk (32). A buffer pad (511) is fixedly installed on the inner side of the detection gripper (51). A slanted groove (512) is opened at the end of the buffer pad (511) away from the horizontal disk (32). A gripper hinge seat (52) that avoids the guide post (4) is also fixedly installed on the inner wall of the detection gripper (51). The detection grippers (51) slide along the axial direction of the guide post (4) through the gripper hinge seat (52).

2. The robot vision positioning and grasping device for precision component inspection according to claim 1, characterized in that, The drive assembly (7) includes a gripper motor (71) and a chuck motor (72) fixedly mounted on the robotic arm (2). The output shafts of the gripper motor (71) and the chuck motor (72) are respectively connected to gripper gears (711) and chuck gears (721). The gear shafts of the gripper gears (711) and chuck gears (721) are rotatably connected to the robotic arm (2) through gears. The robotic arm (2) is also slidably connected to gripper racks (712) and chuck racks (722) that mesh with the gripper gears (711) and chuck gears (721).

3. The robot vision positioning and grasping device for precision component inspection according to claim 2, characterized in that, The claw gears (721) are symmetrically distributed on both sides of the claw gears (711) and located above the claw gears (711). The robotic arm (2) is provided with grooves for limiting the sliding of the claw racks (712) and the claw racks (722).

4. The robot vision positioning and grasping device for precision component inspection according to claim 1, characterized in that, The clamping assembly (5) also includes a traction rod (53) vertically installed in the robotic arm (2), and the traction rod (53) is slidably connected along the axial direction of the guide post (4). The traction rod (53) is fixedly connected to one end of the gripper rack (712) extending into the guide post (4). The traction rod (53) is also provided with a rack groove (531) for limiting the sliding of the gripper rack (722).

5. The robot vision positioning and grasping device for precision component inspection according to claim 4, characterized in that, The traction rod (53) extends to one end of the guide post (4) and is fixedly installed with a gripper slider (54) corresponding to the gripper hinge seat (52). A gripper connecting rod (55) is provided between the gripper hinge seat (52) and the gripper slider (54). The gripper connecting rod (55) is symmetrically distributed at both ends of the gripper hinge seat (52), and the end of the gripper connecting rod (55) away from the gripper hinge seat (52) is hinged to the end of the gripper slider (54) away from the traction rod (53).

6. The robot vision positioning and grasping device for precision component inspection according to claim 1, characterized in that, The protective component (6) includes auxiliary claws (61) arranged in a ring array outside the horizontal disk (32). The inner side of the auxiliary claws (61) is provided with a slot (611) corresponding to the buffer pad (511). The auxiliary claws (61) are connected to the adjacent detection claws (51). The inner side of the auxiliary claws (61) is also fixedly installed with claw hinge seats (62). The auxiliary claws (61) are all slidably distributed along the axial direction of the guide post (4) through the claw hinge seats (62). The angle between the line connecting the claw hinge seats (62) and the line connecting the claw hinge seats (52) is ninety degrees.

7. The robot vision positioning and grasping device for precision component inspection according to claim 5, characterized in that, The protective component (6) also includes a traction sleeve (63) vertically distributed in the guide post (4), and the top end of the traction sleeve (63) is fixedly connected to one end of the claw rack (722) extending into the guide post (4). The traction sleeve (63) is provided with a clearance groove (631) along its axial direction for avoiding the claw slider (54). The traction sleeve (63) extends into the guide post (4) and is fixedly installed with a claw slider (64) corresponding to the claw hinge seat (62). A claw connecting rod (65) is provided between the claw hinge seat (62) and the claw slider (64). The claw connecting rod (65) is symmetrically distributed at both ends of the claw hinge seat (62), and the end of the claw connecting rod (65) away from the claw hinge seat (62) is hinged to the end of the claw slider (64) away from the traction sleeve (63).

8. The robot vision positioning and grasping device for precision component inspection according to claim 7, characterized in that, The traction sleeve (63) also has a light-shielding cavity (632) that communicates with the clearance groove (631), and the end of the light-shielding cavity (632) near the horizontal plate (32) corresponds to the through hole (321).

9. The robot vision positioning and grasping device for precision component inspection according to claim 1, characterized in that, The visual positioning module (8) includes an optical lens, a laser sensor or a photoelectric sensor.

10. The robot vision positioning and grasping device for precision component inspection according to claim 1, characterized in that, The robot body (1) is equipped with a battery that is connected to the visual positioning module (8) via wires.

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