Intelligent gripper manipulator, method and porcelain insulator detection application of visual identification

Abstract

The application discloses a visual recognition intelligent clamping manipulator, a method and a porcelain insulator detection application, relates to the technical field of intelligent manufacturing equipment and industrial robots, and comprises a manipulator body, an end part frame fixedly connected to the output end of the manipulator body, and an unfolding frame fixedly connected to the outer side wall of the end part frame, wherein the bottom of the unfolding frame is provided with an unfolding sliding groove. The visual recognition intelligent clamping manipulator has the effects that after porcelain insulators are clamped, the gravity sliding block slides to the lowermost part of the adjusting ring rail, the cross rod is located below the porcelain insulators, the protection pad on the hydraulic cylinder driving abutting plate contacts the lower surface of the porcelain insulators, if the porcelain insulators are overturned, the gravity sliding block slides to cause the metal induction sheet to be separated from the inductive proximity switch, and the abutting plate is reset; when the gravity sliding block slides to the lowermost part again, the abutting plate recontacts the support and is always located below the porcelain insulators, so that the effect of reducing the influence of the porcelain insulator falling force on the clamping firmness is achieved.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing equipment and industrial robot technology, and in particular to an intelligent gripping manipulator with visual recognition, a method thereof, and its application in the detection of porcelain insulators. Background Technology

[0002] With the rapid development of the intelligent manufacturing equipment industry, industrial robots have become the core execution unit of automated production lines and quality inspection processes. The integration of industrial vision intelligence technology has significantly improved the robot's perception and decision-making capabilities in complex working environments. In the field of power equipment manufacturing and maintenance, porcelain insulators are key components, and their defect detection and processing mainly rely on gripping robots.

[0003] When existing vision-based intelligent gripping robots are used to grip and transfer porcelain insulators, if the porcelain insulator flips or moves during the gripping process, its own weight will generate a large downward force. This downward force acts directly on the gripping point, which will significantly increase the load on the gripping mechanism and may even cause the grippers to loosen and the porcelain insulator to slip off, thereby causing equipment damage or personal injury accidents.

[0004] To address the aforementioned issues, some existing technologies have incorporated auxiliary support structures into the clamping device. For example, movable trays or arms are used to support the bottom of the porcelain insulator from below after clamping, thus sharing the weight. However, these auxiliary support structures are usually static or can only move in one direction. Once the porcelain insulator changes its posture (such as flipping), the support surface may lose contact and cannot follow up and re-establish stable support in real time, causing the downward force to be transferred back to the clamping point, resulting in limited protective effect. Summary of the Invention

[0005] This invention discloses a visual recognition intelligent gripping robot, which aims to solve the technical problem that when the visual recognition intelligent gripping robot grips porcelain insulators, the downward force generated by flipping or moving can easily cause the gripper to loosen and the porcelain insulator to slip off. Although existing auxiliary supports (such as trays) can support from below, they are mostly static movements and cannot be reset in real time with changes in posture, resulting in limited protective effects.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: Visual recognition-based intelligent gripping robotic arms include: The robotic arm itself; End frame, fixedly connected to the output end of the robot body; An unfolding frame is fixedly connected to the outer side wall of the end frame. An unfolding slide groove is opened at the bottom of the unfolding frame. Side blocks are fixedly connected to the top of the unfolding frame near both ends. An unfolding cylinder is fixedly connected to the opposite side of the two side blocks. An unfolding slide is fixedly connected to the output end of the two unfolding cylinders. The unfolding slide is slidably connected to the inside of the unfolding slide groove. Two adjusting plates are fixedly connected to the bottom of adjacent unfolding carriages; A tracking support mechanism is provided on one side of the adjustment plate. The tracking support mechanism includes an adjustment ring rail, which is fixedly connected to one side of the adjustment plate. The misalignment reinforcement mechanism is set on one side of the two adjustment plates. The misalignment reinforcement mechanism includes an intermediate frame, and telescopic connecting rods are fixedly connected at equal distances on both sides of the intermediate frame. The end of the telescopic connecting rod is fixedly connected to one side of the adjacent adjustment plate.

[0007] In a preferred embodiment, the tracking support mechanism further includes: The gravity slider is slidably connected inside the adjusting ring rail; A strut is fixedly connected to one side of the gravity slider, and a hydraulic cylinder is fixedly connected to the bottom of the strut away from the adjusting ring rail; The bottom frame is fixedly connected to the upper output end of the hydraulic cylinder, and positioning slide rods are fixedly connected at equal intervals on the bottom inner wall of the bottom frame; A movable pressure plate is slidably connected to multiple positioning slide rods. The top of the movable pressure plate is hinged to two symmetrically distributed bonding plates, and both bonding plates have protective pads on their upward-facing sides. Gravity compression springs are fixedly connected at equal intervals to the top of the movable pressure plate below the two bonding plates. The ends of the gravity compression springs are fixedly connected to the downward-facing side walls of adjacent bonding plates. Two built-in slide rods are fixedly connected to the bottom of the bottom frame. An outer slide cylinder is fixedly connected to the cross rod below the two built-in slide rods. The built-in slide rods are slidably connected to the inside of the adjacent outer slide cylinders. Pressure sensor one is fixedly connected to the bottom inner wall of the bottom frame located below the movable pressure plate, and the pressure sensor one is in contact with the bottom of the movable pressure plate.

[0008] In a preferred embodiment, the tracking support mechanism further includes: An inner ring frame is fixedly connected to the inner ring surface of the adjusting ring rail, and a motor frame is fixedly connected in the inner ring frame; A drive motor is fixedly connected to a motor frame. The output shaft of the drive motor is fixedly connected to a drive shaft via a coupling. A rotating rod is fixedly connected to the outer wall of the drive shaft. A metal sensor sheet is fixedly connected to the outer wall of the gravity slider facing upwards; A mounting ring is fixedly connected to the side of the rotating rod near the gravity sensor plate. An inductive proximity switch is fixedly connected inside the mounting ring, and the inductive proximity switch is in contact with the metal sensor plate.

[0009] In a preferred embodiment, the misalignment reinforcement mechanism further includes: The sliding long rod is fixedly connected to the inner walls of both sides of the intermediate frame; Two sliding ring rails are slidably connected to a sliding long rod. Hydraulic cylinders are fixedly connected to the inner walls of both sides of the intermediate frame, and the output end of the hydraulic cylinders is fixedly connected to one side of the adjacent sliding ring rail. The deflection slide rod is slidably connected to the sliding ring rail.

[0010] In a preferred embodiment, the misalignment reinforcement mechanism further includes: The mounting plate is fixedly connected to the outer wall of the sliding ring rail located on the deflection slide rod. The side of the mounting plate facing the deflection slide rod is connected to the deflection cylinder via a hinge, and the output end of the deflection cylinder is connected to one side of the deflection slide rod via a hinge. The push cylinder is fixedly connected to the side of the deflection slide near the bottom; The rear plate is fixedly connected to the output end of the push cylinder; The limiting airbag is fixedly connected to the inner curved surface of the rear panel.

[0011] In a preferred embodiment, a connecting rod is fixedly connected to the top of the end frame, and a module frame is fixedly connected to the downward-facing end of the connecting rod. A visual recognition module is provided on the downward-facing side of the module frame.

[0012] In a preferred embodiment, it also includes: Two clamping cylinders are fixedly connected to opposite sides of two adjusting plates; Two end plates are fixedly connected to the output ends of two clamping cylinders. External plates are distributed in a ring on the opposite side of the two end plates. A positioning cylinder is fixedly connected to the side of each external plate away from the center point of the end plate. Multiple positioning grooves are provided on opposite sides of the two end plates. Each positioning groove has a positioning slider slidably connected inside, and the positioning slider is fixedly connected to the output end of the adjacent positioning cylinder.

[0013] In a preferred embodiment, it also includes: Two reinforcing ring rails are fixedly connected to the opposite side of two adjusting plates. The reinforcing ring rails are located around the clamping cylinder. Multiple reinforcing slide rods are slidably connected on the reinforcing ring rails. One end of each reinforcing slide rod is fixedly connected to one side of the end plate. The second pressure sensor is fixedly connected to a reserved slot on the positioning slider. The positioning slider is located in the reserved slot outside the second pressure sensor, and telescopic connecting rods are arranged in a ring. The ends of multiple telescopic connecting rods are fixedly connected to the same pressure plate. The clamping claw is fixedly connected to the side of the pressure plate away from the second pressure sensor.

[0014] The method of using a vision-recognition intelligent gripping robot, as described above, includes the following steps: Step 1: The robotic arm moves the gripper under the unfolding frame to the porcelain insulator. The visual recognition module accurately positions the porcelain insulator. Then, the gripping cylinder is adjusted to move the end plate towards both ends of the porcelain insulator. The positioning cylinder is adjusted to move the gripper to position the end of the porcelain insulator. During the positioning process, the pressure sensor 2 monitors the gripping pressure in real time. Step 2: After the porcelain insulator is clamped and positioned, the gravity slider slides to the bottom of the adjusting ring rail under its own weight and the weight it carries. At this time, the cross rod is located under the porcelain insulator. The adjusting hydraulic cylinder drives the protective pad on the bonding plate to contact the lower surface of the porcelain insulator, and the bottom end of the porcelain insulator tracks and supports it. Step 3: Finally, the visual recognition module accurately positions the umbrella skirt, adjusts the second hydraulic cylinder to move the limiting airbag to the top of the umbrella skirt, then adjusts the deflection cylinder to rotate the deflection slide rod to the lower position in the sliding ring rail, and finally adjusts the push cylinder to move the limiting airbag to elastically position and clamp the umbrella skirt. The two limiting airbags are staggered to achieve the staggered surrounding elastic positioning of the porcelain insulator.

[0015] Application of an intelligent gripping robot based on the aforementioned visual recognition in the gripping of ultra-high voltage porcelain insulators.

[0016] As can be seen from the above, the visual recognition intelligent gripping robot provided by the present invention has the following technical effects: after gripping the porcelain insulator, the gravity slider slides down to the bottom of the adjusting ring rail, so that the cross rod is located under the porcelain insulator. The hydraulic cylinder drives the protective pad on the bonding plate to contact its lower surface. If the porcelain insulator flips, the gravity slider slides, causing the metal sensing plate to separate from the inductive proximity switch, and the bonding plate resets. When the gravity slider slides down to the bottom again, the bonding plate contacts the support again and is always located under the porcelain insulator, thereby reducing the impact of the porcelain insulator's downward force on the gripping firmness. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the vision recognition intelligent gripping robot proposed in this invention.

[0018] Figure 2 This is a schematic diagram of the combined structure of the unfolding frame, adjustment plate, tracking support mechanism and misalignment reinforcement mechanism of the visual recognition intelligent gripping robot proposed in this invention.

[0019] Figure 3 for Figure 2 The overall structural main view.

[0020] Figure 4 This is a schematic diagram of the combined structure of the adjustment plate, gripper, and tracking support mechanism of the visual recognition intelligent gripping robot proposed in this invention.

[0021] Figure 5This is a schematic diagram of the tracking and support mechanism of the vision recognition-based intelligent gripping robot proposed in this invention.

[0022] Figure 6 This is an exploded view of the support plate, movable pressure plate, and bottom frame structure of the visual recognition intelligent gripping robot proposed in this invention.

[0023] Figure 7 This is a schematic diagram of the misalignment reinforcement mechanism of the visual recognition intelligent gripping robot proposed in this invention.

[0024] Figure 8 for Figure 7 A schematic diagram of the planar structure.

[0025] Figure 9 This is a schematic diagram of the combined structure of the push cylinder, gripper, end plate, and reinforcing rail of the vision recognition intelligent gripping robot proposed in this invention.

[0026] Figure 10 This is an exploded view of the gripper, pressure plate, and pressure sensor of the visual recognition intelligent gripping robot proposed in this invention.

[0027] In the diagram: 1. Robotic arm body; 2. Tracking support mechanism; 201. Adjustable ring rail; 202. Gravity slider; 203. Crossbar; 204. Drive shaft; 205. Internal slide bar; 206. Hydraulic cylinder one; 207. Outer slide cylinder; 208. Protective pad; 209. Inner ring frame; 210. Motor frame; 211. Rotating rod; 212. Drive motor; 213. Bottom frame; 214. Mounting ring; 215. Metal sensing plate; 216. Inductive proximity switch; 217. Movable pressure plate; 218. Positioning slide bar; 219. Pressure sensor one; 220. Gravity compression spring; 221. Adhesive plate; 3. Adjusting plate; 4. End plate; 5. Misalignment reinforcement mechanism; 501. Intermediate frame; 502. 503. Limiting airbag; 504. Rear plate; 505. Telescopic connecting rod one; 506. Hydraulic cylinder two; 507. Sliding ring rail; 508. Sliding long rod; 509. Deflection slide rod; 510. Mounting piece; 511. Deflection cylinder; 512. Push cylinder; 6. Vision recognition module; 7. Module frame; 8. Connecting rod; 9. End frame; 10. Side block; 11. Deployment frame; 12. Deployment slide; 13. Deployment slide groove; 14. Deployment cylinder; 15. Clamping cylinder; 16. Clamping claw; 17. Reinforcing slide rod; 18. Positioning cylinder; 19. External piece; 20. Positioning slide groove; 21. Positioning slider; 22. Reinforcing ring rail; 23. Telescopic connecting rod two; 24. Pressure plate; 25. Pressure sensor two. Detailed Implementation

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0029] The visual recognition intelligent gripper disclosed in this invention is mainly used in scenarios where the visual recognition intelligent gripper is gripping porcelain insulators, and the downward force generated by flipping or moving can easily cause the gripper to loosen and the porcelain insulator to slip off. Although existing auxiliary supports (such as trays) can support from below, they are mostly static movements and cannot be reset in real time with changes in posture, resulting in limited protection.

[0030] Reference Figures 1-10 Intelligent gripper with visual recognition, including: Robotic arm body 1; End frame 9 is fixedly connected to the output end of the robot body 1; The unfolding frame 11 is fixedly connected to the outer side wall of the end frame 9. The bottom of the unfolding frame 11 has an unfolding groove 13. The top of the unfolding frame 11 near both ends is fixedly connected to the side blocks 10. The opposite side of the two side blocks 10 is fixedly connected to the unfolding cylinder 14. The output end of the two unfolding cylinders 14 is fixedly connected to the unfolding slide 12. The unfolding slide 12 is slidably connected to the inside of the unfolding groove 13. Two adjusting plates 3 are fixedly connected to the bottom of the adjacent unfolding carriage 12; The tracking support mechanism 2 is located on one side of the adjustment plate 3. The tracking support mechanism 2 includes an adjustment ring rail 201, and the adjustment ring rail 201 is fixedly connected to one side of the adjustment plate 3. The misalignment reinforcement mechanism 5 is set on one side of the two adjustment plates 3. The misalignment reinforcement mechanism 5 includes an intermediate frame 501, and telescopic connecting rods 504 are fixedly connected at equal distances on both sides of the intermediate frame 501. The ends of the telescopic connecting rods 504 are fixedly connected to one side of the adjacent adjustment plate 3.

[0031] Reference Figures 1-6 In a preferred embodiment, the tracking support mechanism 2 further includes: Gravity slider 202 is slidably connected inside the adjusting ring rail 201; The strut 203 is fixedly connected to one side of the gravity slider 202, and a hydraulic cylinder 206 is fixedly connected to the bottom of the strut 203 away from the adjusting ring rail 201. The bottom frame 213 is fixedly connected to the output end of the hydraulic cylinder 206 located above, and positioning slide rods 218 are fixedly connected at equal intervals on the bottom inner wall of the bottom frame 213. The movable pressure plate 217 is slidably connected to multiple positioning slide rods 218. The top of the movable pressure plate 217 is connected to two symmetrically distributed bonding plates 221 via hinges. Both bonding plates 221 are provided with protective pads 208 facing upwards. Gravity compression springs 220 are fixedly connected at equal intervals to the top of the movable pressure plate 217 below the two bonding plates 221. The ends of the gravity compression springs 220 are fixedly connected to the side walls of the adjacent bonding plates 221 facing downwards. The bottom of the bottom frame 213 is fixedly connected to two built-in slide rods 205. The cross rod 203 is fixedly connected to an outer slide cylinder 207 below the two built-in slide rods 205. The built-in slide rods 205 are slidably connected to the inside of the adjacent outer slide cylinders 207. Pressure sensor 219 is fixedly connected to the bottom inner wall of the bottom frame 213 located below the movable pressure plate 217, and the pressure sensor 219 is in contact with the bottom of the movable pressure plate 217.

[0032] In specific application scenarios, after the porcelain insulator is clamped by the gripper 16, the gravity slider 202 slides to the bottom of the adjusting ring rail 201 under its own weight and the weight it carries. At this time, the crossbar 203 is located under the porcelain insulator. The adjusting hydraulic cylinder 206 drives the protective pad 208 on the bonding plate 221 to contact the lower surface of the porcelain insulator. As the porcelain insulator moves with the robot body 1, when it flips, the gravity slider 202 slides again due to gravity. The metal sensing plate 215 separates from the inductive proximity switch 216, and the hydraulic cylinder 206 drives the bonding plate 221 to reset. When the gravity slider 202 moves to the bottom of the adjusting ring rail 201 again, the hydraulic cylinder 206 drives the bonding plate 221 to contact the lower surface of the porcelain insulator, so that the bonding plate 221 rotates with the flipping of the porcelain insulator and is always located under the porcelain insulator, supporting its lower surface and reducing the impact of its own weight on the clamping firmness.

[0033] Specifically, when the gravity slider 202 slides as the robot body 1 flips, the drive motor 212 is started. The drive motor 212 drives the inductive proximity switch 216 on the rotating rod 211 to rotate. When the inductive proximity switch 216 and the metal sensing plate 215 are reconnected, the gravity slider 202 is once again at the bottom of the current position of the adjusting ring rail 201. The hydraulic cylinder 206 receives the backend command and drives the protective pad 208 on the bonding plate 221 to contact the lower surface of the porcelain insulator.

[0034] It should be noted that the adjusting ring rail 201 is designed for low friction.

[0035] Reference Figure 5 and Figure 6 In a preferred embodiment, the tracking support mechanism 2 further includes: The inner ring frame 209 is fixedly connected to the inner ring surface of the adjusting ring rail 201, and the motor frame 210 is fixedly connected in the inner ring frame 209; The drive motor 212 is fixedly connected in the motor frame 210. The output shaft of the drive motor 212 is fixedly connected to the drive shaft 204 through a coupling. The outer side wall of the drive shaft 204 is fixedly connected to the rotating rod 211. Metal sensor 215 is fixedly connected to the outer side wall of gravity slider 202 facing upward; Mounting ring 214 is fixedly connected to the side of rotating rod 211 near gravity sensing plate. Inductive proximity switch 216 is fixedly connected inside mounting ring 214, and inductive proximity switch 216 is in contact with metal sensing plate 215.

[0036] Reference Figure 2 , Figure 7 and Figure 8 In a preferred embodiment, the misalignment reinforcement mechanism 5 further includes: The sliding rod 507 is fixedly connected to the inner walls of both sides of the intermediate frame 501; Two sliding ring rails 506 are slidably connected to the sliding long rod 507. Hydraulic cylinders 505 are fixedly connected to the inner walls of both sides of the intermediate frame 501, and the output end of the hydraulic cylinders 505 is fixedly connected to one side of the adjacent sliding ring rail 506. The deflection slide bar 508 is slidably connected to the sliding ring rail 506.

[0037] Specifically, after clamping the porcelain insulator, the visual recognition module 6 accurately positions the umbrella skirt. The hydraulic cylinder 505 is adjusted to move the limiting airbag 502 above the umbrella skirt. Then, the deflection cylinder 510 is adjusted to rotate the deflection slide rod 508 in the sliding ring rail 506 to the lower position. Finally, the push cylinder 511 is adjusted to move the limiting airbag 502 to elastically position and clamp the umbrella skirt. The two limiting airbags 502 are staggered to achieve staggered surrounding elastic positioning of the porcelain insulator. This reduces the contact area of ​​the umbrella skirt while strengthening the clamping of the porcelain insulator, thus protecting the umbrella skirt.

[0038] It should be noted that the limiting airbags 502 in the two misaligned reinforcement mechanisms 5 are misaligned along the axis of the porcelain insulator.

[0039] Reference Figure 7 and Figure 8 In a preferred embodiment, the misalignment reinforcement mechanism 5 further includes: Mounting plate 509 is fixedly connected to the outer wall of sliding ring rail 506 located on deflection slide rod 508. The side of mounting plate 509 facing deflection slide rod 508 is connected to deflection cylinder 510 by hinge, and the output end of deflection cylinder 510 is connected to one side of deflection slide rod 508 by hinge. The push cylinder 511 is fixedly connected to the side of the deflection slide bar 508 near the bottom end; The rear plate 503 is fixedly connected to the output end of the push cylinder 511; The limiting airbag 502 is fixedly connected to the inner curved surface of the rear plate 503.

[0040] Reference Figure 1 and Figure 2 In a preferred embodiment, a connecting rod 8 is fixedly connected to the top of the end frame 9, and a module frame 7 is fixedly connected to the downward-facing end of the connecting rod 8. A visual recognition module 6 is provided on the downward-facing side of the module frame 7.

[0041] Reference Figure 1 , Figure 2 , Figure 9 and Figure 10 In a preferred embodiment, it further includes: Two clamping cylinders 15 are fixedly connected to the opposite side of the two adjusting plates 3; Two end plates 4 are fixedly connected to the output ends of two clamping cylinders 15. External plates 19 are distributed in a ring on the opposite side of the two end plates 4. A positioning cylinder 18 is fixedly connected to the side of each external plate 19 away from the center point of the end plate 4. Multiple positioning grooves 20 are provided on opposite sides of the two end plates 4. Each positioning groove 20 has a positioning slider 21 slidably connected inside it. The positioning slider 21 is fixedly connected to the output end of the adjacent positioning cylinder 18.

[0042] Reference Figure 9 and Figure 10 In a preferred embodiment, it further includes: Two reinforcing ring rails 22 are fixedly connected to the opposite side of the two adjusting plates 3. The reinforcing ring rails 22 are located around the clamping cylinder 15. Multiple reinforcing slide rods 17 are slidably connected on the reinforcing ring rails 22. One end of the reinforcing slide rod 17 is fixedly connected to one side of the end plate 4. The second pressure sensor 25 is fixedly connected to the reserved slot opened on the positioning slider 21. The positioning slider 21 is located in the reserved slot outside the second pressure sensor 25, and the second telescopic connecting rod 23 is distributed in a ring. The ends of multiple telescopic connecting rods 23 are fixedly connected to the same pressure plate 24. The clamping claw 16 is fixedly connected to the side of the pressure plate 24 away from the pressure sensor 25.

[0043] The method of using a vision-recognition intelligent gripping robot, as described above, includes the following steps: Step 1: The robotic arm body 1 moves the gripper 16 under the unfolding frame 11 to the porcelain insulator. The visual recognition module 6 accurately positions the porcelain insulator. Then, the gripping cylinder 15 is adjusted to move the end plate 4 towards both ends of the porcelain insulator. The positioning cylinder 18 is adjusted to move the gripper 16 to achieve end positioning of the porcelain insulator. During the positioning process, the pressure sensor 25 monitors the gripping pressure in real time. Step 2: After the porcelain insulator is clamped and positioned, the gravity slider 202 slides to the bottom of the adjusting ring rail 201 under its own weight and the weight it carries. At this time, the cross rod 203 is located under the porcelain insulator. The adjusting hydraulic cylinder 206 drives the protective pad 208 on the bonding plate 221 to contact the lower surface of the porcelain insulator, and the bottom end of the porcelain insulator is tracked and supported. Step 3: Finally, the visual recognition module 6 accurately positions the umbrella skirt, adjusts the hydraulic cylinder 505 to move the limiting airbag 502 to the top of the umbrella skirt, then adjusts the deflection cylinder 510 to rotate the deflection slide rod 508 to the lower position in the sliding ring rail 506, and finally adjusts the push cylinder 511 to move the limiting airbag 502 to elastically position and clamp the umbrella skirt. The two limiting airbags 502 are staggered to achieve the staggered surrounding elastic positioning of the porcelain insulator.

[0044] Application of an intelligent gripping robot based on the aforementioned visual recognition in the gripping of ultra-high voltage porcelain insulators.

[0045] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A vision-recognition-based intelligent gripping robotic arm, characterized in that, include: Robotic arm body (1); The end frame (9) is fixedly connected to the output end of the robot body (1); An unfolding frame (11) is fixedly connected to the outer side wall of the end frame (9). The bottom of the unfolding frame (11) has an unfolding groove (13). The top of the unfolding frame (11) near both ends is fixedly connected to a side block (10). An unfolding cylinder (14) is fixedly connected to the opposite side of the two side blocks (10). An unfolding slide (12) is fixedly connected to the output end of the two unfolding cylinders (14). The unfolding slide (12) is slidably connected to the inside of the unfolding groove (13). Two adjusting plates (3) are fixedly connected to the bottom of the adjacent unfolding carriage (12); The tracking support mechanism (2) is located on one side of the adjustment plate (3). The tracking support mechanism (2) includes an adjustment ring rail (201), and the adjustment ring rail (201) is fixedly connected to one side of the adjustment plate (3). The misalignment reinforcement mechanism (5) is set on the opposite side of the two adjustment plates (3). The misalignment reinforcement mechanism (5) includes an intermediate frame (501), and telescopic connecting rods (504) are fixedly connected at equal distances on both sides of the intermediate frame (501). The end of the telescopic connecting rod (504) is fixedly connected to one side of the adjacent adjustment plate (3).

2. The intelligent gripping robotic arm with visual recognition according to claim 1, characterized in that, The tracking support mechanism (2) also includes: The gravity slider (202) is slidably connected inside the adjusting ring rail (201); A strut (203) is fixedly connected to one side of the gravity slider (202), and a hydraulic cylinder (206) is fixedly connected to the bottom of the strut (203) away from the adjusting ring rail (201). The bottom frame (213) is fixedly connected to the output end of the hydraulic cylinder (206) located above, and the bottom inner wall of the bottom frame (213) is fixedly connected with positioning slide rods (218) at equal distances. The movable pressure plate (217) is slidably connected to multiple positioning slide rods (218). The top of the movable pressure plate (217) is connected to two symmetrically distributed bonding plates (221) by a hinge. Both bonding plates (221) are provided with protective pads (208) facing upward. Gravity compression springs (220) are fixedly connected at equal distances to the top of the movable pressure plate (217) below the two bonding plates (221). The ends of the gravity compression springs (220) are fixedly connected to the side walls facing downward on the adjacent bonding plates (221). The bottom of the bottom frame (213) is fixedly connected to two built-in slide rods (205). The cross rod (203) is fixedly connected to an outer slide cylinder (207) below the two built-in slide rods (205). The built-in slide rods (205) are slidably connected to the inside of the adjacent outer slide cylinders (207). Pressure sensor 1 (219) is fixedly connected to the bottom inner wall of the bottom frame (213) located below the movable pressure plate (217), and the pressure sensor 1 (219) is in contact with the bottom of the movable pressure plate (217).

3. The intelligent gripping robotic arm with visual recognition according to claim 2, characterized in that, The tracking support mechanism (2) also includes: The inner ring frame (209) is fixedly connected to the inner ring surface of the adjusting ring rail (201), and a motor frame (210) is fixedly connected in the inner ring frame (209). A drive motor (212) is fixedly connected in a motor frame (210). The output shaft of the drive motor (212) is fixedly connected to a drive shaft (204) via a coupling. A rotating rod (211) is fixedly connected to the outer side wall of the drive shaft (204). A metal sensor sheet (215) is fixedly connected to the outer wall of the gravity slider (202) facing upwards; The mounting ring (214) is fixedly connected to the side of the rotating rod (211) near the gravity sensor plate. An inductive proximity switch (216) is fixedly connected inside the mounting ring (214), and the inductive proximity switch (216) is in contact with the metal sensor plate (215).

4. The intelligent gripping robotic arm with visual recognition according to claim 1, characterized in that, The misalignment reinforcement mechanism (5) also includes: The sliding long rod (507) is fixedly connected to the inner walls of both sides of the intermediate frame (501); Two sliding ring rails (506) are slidably connected to a sliding long rod (507). Hydraulic cylinders (505) are fixedly connected to the inner walls of both sides of the intermediate frame (501), and the output end of the hydraulic cylinders (505) is fixedly connected to one side of the adjacent sliding ring rail (506). The deflection slide bar (508) is slidably connected to the sliding ring rail (506).

5. The intelligent gripping robotic arm with visual recognition according to claim 4, characterized in that, The misalignment reinforcement mechanism (5) also includes: Mounting plate (509) is fixedly connected to the outer wall of the sliding ring rail (506) on the deflection slide rod (508). The side of the mounting plate (509) facing the deflection slide rod (508) is connected to the deflection cylinder (510) by a hinge, and the output end of the deflection cylinder (510) is connected to one side of the deflection slide rod (508) by a hinge. The push cylinder (511) is fixedly connected to the side of the deflection slide bar (508) near the bottom end; The rear plate (503) is fixedly connected to the output end of the push cylinder (511); The limiting airbag (502) is fixedly connected to the inner curved surface of the rear plate (503).

6. The intelligent gripping robot with visual recognition according to claim 1, characterized in that, The top of the end frame (9) is fixedly connected to a connecting rod (8), and the end of the connecting rod (8) facing downward is fixedly connected to a module frame (7). A visual recognition module (6) is provided on the side of the module frame (7) facing downward.

7. The intelligent gripping robot with visual recognition according to claim 1, characterized in that, Also includes: Two clamping cylinders (15) are fixedly connected to the opposite side of two adjusting plates (3); Two end plates (4) are fixedly connected to the output ends of two clamping cylinders (15). External plates (19) are distributed in a ring on the opposite side of the two end plates (4). A positioning cylinder (18) is fixedly connected to the side of each external plate (19) away from the center point of the end plate (4). Multiple positioning grooves (20) are opened on opposite sides of the two end plates (4). Each positioning groove (20) has a positioning slider (21) slidably connected inside. The positioning slider (21) is fixedly connected to the output end of the adjacent positioning cylinder (18).

8. The intelligent gripping robot with visual recognition according to claim 7, characterized in that, Also includes: Two reinforcing ring rails (22) are fixedly connected to the opposite side of two adjusting plates (3). The reinforcing ring rails (22) are located around the clamping cylinder (15). Multiple reinforcing slide rods (17) are slidably connected on the reinforcing ring rails (22). One end of the reinforcing slide rod (17) is fixedly connected to one side of the end plate (4). The second pressure sensor (25) is fixedly connected to the reserved slot opened on the positioning slider (21). The positioning slider (21) is located in the reserved slot outside the second pressure sensor (25) and has telescopic connecting rods (23) arranged in a ring. The ends of multiple telescopic connecting rods (23) are fixedly connected to the same pressure plate (24). The clamping claw (16) is fixedly connected to the side of the pressure plate (24) away from the pressure sensor (25).

9. A method of using a vision-recognition intelligent gripping robot, comprising using the vision-recognition intelligent gripping robot as described in claim 8, characterized in that, Includes the following steps: Step 1: The robot body (1) drives the gripper (16) under the unfolding frame (11) to move to the porcelain insulator. The visual recognition module (6) accurately positions the porcelain insulator. Then, the gripper cylinder (15) is adjusted to drive the end plate (4) to move towards both ends of the porcelain insulator. The positioning cylinder (18) is adjusted to drive the gripper (16) to achieve the positioning of the porcelain insulator end. During the positioning process, the pressure sensor 2 (25) monitors the gripping pressure in real time. Step 2: After the porcelain insulator is clamped and positioned, the gravity slider (202) slides to the bottom of the adjusting ring rail (201) under its own weight and the weight it carries. At this time, the cross rod (203) is located under the porcelain insulator. The adjusting hydraulic cylinder (206) drives the protective pad (208) on the bonding plate (221) to contact the lower surface of the porcelain insulator, and the bottom end of the porcelain insulator tracks and supports. Step 3: Finally, the visual recognition module (6) accurately positions the umbrella skirt, adjusts the hydraulic cylinder 2 (505) to drive the limiting airbag (502) to move above the umbrella skirt, then adjusts the deflection cylinder (510) to drive the deflection slide bar (508) to rotate to the lower position in the sliding ring rail (506), and finally adjusts the push cylinder (511) to drive the limiting airbag (502) to elastically position and clamp the umbrella skirt. The two limiting airbags (502) are staggered to achieve the staggered surrounding elastic positioning of the porcelain insulator.

10. An application of an intelligent gripping robot based on visual recognition as described in any one of claims 1-9 in the gripping of ultra-high voltage porcelain insulators.

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