Quick-change visual identification device and robot

Abstract

The utility model belongs to the field of robot vision, and particularly relates to a quick-change visual recognition device and a robot. The quick-change visual identification device is applied to the mechanical arm of the robot and comprises a visual identification tool side and a visual identification tool side, the visual identification tool side comprises a box body and a visual module in the box body, the box body is connected with a quick-change tool and a contact charging module which are exposed out of the box body, and the quick-change tool is matched with the mechanical arm and is flexibly connected with the mechanical arm; the contact charging module corresponds to the charging base module, and when the charging base module is in contact with the contact charging module, the contact charging module is electrically communicated with the charging base module; wherein the box body is internally provided with a power supply module, and the power supply module is electrically connected with the visual module and is used for providing uninterrupted electric energy. And the power supply module is arranged in the box body, is electrically connected with the visual module and is used for providing uninterrupted electric energy, so that time delay of the visual module after power failure is avoided.

Description

Technical Field

[0001] The utility model belongs to the field of robot vision, in particular to a quick-change visual recognition device and a robot. Background Art

[0002] Robot vision can provide visual feedback for the robot's motion control. Existing image acquisition devices are usually directly installed on the robot's mechanical arm and move synchronously with the mechanical arm. However, this method has the following disadvantages:

[0003] 1. The required functions of image acquisition devices are different. For example, 3D cameras are usually used to locate targets, while 2D cameras are used to upload images for remote analysis and confirmation. Because a robot needs to have multiple working sides, if all image acquisition devices are installed on the robotic arm, the space is limited and the weight of the end of the robotic arm is increased.

[0004] 2. If the image acquisition device is installed on a robotic arm, it will be damaged to a certain extent in a high temperature environment.

[0005] In view of this, the present utility model is provided. Utility Model Content

[0006] In order to solve the technical problems raised in the prior art, the utility model provides a quick-change visual recognition device and a robot.

[0007] The first aspect of the utility model provides a quick-change visual recognition device, which is applied to the mechanical arm of a robot, including: a visual recognition tool side, including a box body, and a visual module in the box body, the box body is connected with a quick-change tooling exposed to the box body and a contact charging module, the quick-change tooling and the mechanical arm are adapted; a charging base module, the contact charging module and the charging base module correspond to each other, and the charging base module and the contact charging module are electrically connected when they are in contact; wherein a power supply module is arranged in the box body, and the power supply module and the visual module are electrically connected to provide uninterrupted power.

[0008] In an optional solution of the present application, the charging base module includes an insulating substrate, and a detachable or openable insulating cover connected to the insulating substrate is provided on a side of the insulating substrate facing away from the visual identification tool. A wiring groove is provided in the area covered by the insulating cover, and a first conductive terminal is provided in the wiring groove that runs through the entire insulating substrate; wherein one end of the first conductive terminal is exposed inside the wiring groove, and the other end is exposed on a side of the insulating substrate facing the visual identification tool to form a contact.

[0009] In an optional solution of the present application, the branching trough includes a main line and multiple branch lines; the main line is hollowed out from the edge of the insulating substrate and extends toward the branch line, and the first conductive terminal is arranged at the end of the branch line; wherein a waterproof connector and a main power line are arranged at the inlet end of the main line.

[0010] In an optional solution of the present application, the contact charging module includes: a conductive component for electrically connecting with the charging base module; an upper cover plate and a lower cover plate, wherein the upper cover plate and the lower cover plate form a plurality of columnar accommodating cavities, and the accommodating cavities are used to limit at least the radial degree of freedom of the conductive component.

[0011] In an optional solution of the present application, the conductive component includes: a second conductive terminal; a first elastic member connected to the second conductive terminal so that one end of the second conductive terminal can be retracted; a conductive column, a slot is provided at one end of the conductive column, the slot is used to install the second conductive terminal and an axial space for retraction is reserved in the slot, and the other end of the conductive column is an input end of an external power supply; a pressing piece, used to encapsulate the upper cover plate and the lower cover plate and constrain the conductive column at the same time; wherein, when the second conductive terminal is in contact with the charging base module, the second conductive terminal shrinks in the direction of the conductive column.

[0012] In an optional solution of the present application, the power module includes: a power supply for providing uninterrupted power; and a power supply fixing frame, which cooperates with the shell or with a fixing plate to limit the power supply.

[0013] In an optional solution of the present application, the visual recognition tool side also includes: a power switch component, which is used to control the switching of the power on / off to supply energy to the visual module.

[0014] In an optional solution of the present application, the power switch assembly includes: a fixed seat connected to the box body; a button column, one end of which passes through the fixed seat and is exposed to the box body, and is slidably connected to the inner wall of the fixed seat; a second elastic member, connected to the button column so that the button column can be axially extended and retracted; an outer shell, embedded on the button column, and used to limit the radial position of the button column.

[0015] In an optional solution of the present application, the visual module includes at least one of a two-dimensional camera and a three-dimensional camera.

[0016] In an optional solution of the present application, the quick-change visual recognition device also includes a bracket, and the charging base module is placed on the bracket.

[0017] The second aspect of the present application also provides a robot, including a robot arm, and the above-mentioned quick-change visual recognition device as a tool side.

[0018] Beneficial effects:

[0019] The embodiment of the utility model provides a quick-change visual recognition device and a robot. The core of the application is to use the traditional visual recognition equipment as a tool side, and the robot arm and quick-change tooling are adapted to realize the quick-change function, so that the robot arm can have compatibility and be more flexible to adapt to the application of more scenarios, avoiding the single visual recognition device from being unable to adapt to the harsh environment and being damaged.

[0020] At the same time, the contact charging module on the charging base module and the visual recognition tool side can realize contact charging. In addition, a power module is arranged in the box body, and the power module and the visual module are electrically connected to provide uninterrupted power to avoid the delay of the visual module after power failure.

[0021] Other features and advantages of the embodiments of the present invention will be described in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 This is a first perspective of a structural schematic diagram of a quick-change visual recognition device 100 provided in an embodiment of the utility model;

[0024] Figure 2 Yes is relative Figure 1 Schematic diagram of the structure from the back view;

[0025] Figure 3 It is a schematic diagram of the modules inside the visual recognition tool side of the embodiment of the utility model;

[0026] Figure 4 It is a structural schematic diagram of the side of the charging base module facing the visual recognition tool in the quick-change visual recognition device provided by an embodiment of the utility model;

[0027] Figure 5 It is a structural schematic diagram of the side of the charging base module in the quick-change visual recognition device provided by the embodiment of the utility model facing away from the visual recognition tool;

[0028] Figure 6 It is an exploded schematic diagram of a charging base module in a quick-change visual recognition device provided by an embodiment of the utility model;

[0029] Figure 7 It is a cross-sectional view of the connection between the visual recognition tool side and the charging base module in the quick-change visual recognition device provided by the embodiment of the utility model;

[0030] Figure 8 It is a structural schematic diagram of a contact charging module in a quick-change visual recognition device provided by an embodiment of the utility model;

[0031] Fig. 9 The figure is an exploded diagram of the contact charging module in the quick-change visual recognition device provided by the embodiment of the utility model;

[0032] Fig.10 is a schematic diagram of the structure of a power module in a quick-change visual recognition device provided by an embodiment of the utility model; and

[0033] Fig.11 It is an exploded schematic diagram of a power switch assembly in a quick-change visual recognition device provided in an embodiment of the utility model.

[0034] Reference numerals

[0035] 100. Quick-change visual recognition device;

[0036] 10. Visual recognition tool side; 20. Charging base module;

[0037] 30. Bracket;

[0038] 11. Quick-change tooling; 12. Contact charging module;

[0039] 101. cabinet; 102. visual module;

[0040] 103. Power module; 201. Insulating substrate;

[0041] 202, insulation cover; 203, branching duct;

[0042] 204, first conductive terminal; 2031, main circuit;

[0043] 2032, branch road; 205, waterproof joint;

[0044] 206. Main power line; 121. Conductive components;

[0045] 122. Upper cover plate; 123. Lower cover plate;

[0046] 124. Accommodating cavity; 1211. Second conductive terminal;

[0047] 1212, a first elastic member; 1213, a conductive column;

[0048] 1213a, notch; 125, pressing piece;

[0049] 1031. power supply; 1032. power supply fixing bracket;

[0050] 1033. fixing plate; 104. power switch assembly;

[0051] 1041. fixing seat; 1042. button column;

[0052] 1043. A second elastic member; 1044. An outer shell;

[0053] 1021. A two-dimensional camera; 1022. A three-dimensional camera. DETAILED DESCRIPTION

[0054] In order to make the above and other features and advantages of the utility model more clear, the utility model is further described below in conjunction with the accompanying drawings. It should be understood that the specific embodiments given herein are for the purpose of explaining to those skilled in the art and are only exemplary and not restrictive.

[0055] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0056] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0057] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0059]

General Utility Model Concept

[0060] Based on the above, the disadvantages of the current image acquisition device installed on the mechanical arm exist. To solve this problem, the embodiment of the utility model provides a general utility model concept:

[0061] By using the image recognition device as a quick-change tool and enabling the robot to automatically change different image recognition devices for quick change, the robot's visual application will be more flexible, the application scenarios can be more extensive, and the technical problems mentioned above can be solved.

[0062] The details are as follows:

[0063] See also Figure 1 to Figure 3 ,in Figure 1 This is a first perspective of a schematic diagram of the structure of the quick-change visual recognition device 100 provided by an embodiment of the utility model. Figure 2 is relative Figure 1 Schematic diagram of the structure from the back view. Figure 3 It is a schematic diagram of the modules inside the visual recognition tool side 10 of the embodiment of the utility model;

[0064] The quick-change visual recognition device 100 provided in the embodiment of the present utility model is applied to the mechanical arm of a robot, and includes:

[0065] The visual recognition tool side 10 includes a box body 101 and a visual module 102 in the box body 101. The box body 101 is connected with a quick-change tool 11 exposed outside the box body 101 and a contact charging module 12. The quick-change tool 11 and the robot arm are adapted to achieve quick change;

[0066] The charging base module 20 corresponds to the contact charging module 12 and the charging base module 20. When the charging base module 20 and the contact charging module 12 are in contact, the contact charging module 12 and the charging base module 20 are electrically connected;

[0067] It can be understood that the box body 101 is preferably made of dust-proof and heat-insulating materials, such as aluminum foil, etc., and its main purpose is to protect the visual module 102 inside it.

[0068] A quick-change fixture 11 is provided on at least one side surface or top surface of the box body 101. The quick-change fixture 11 can be a quick-change disk, a locking structure, a magnetic structure, etc. The quick-change fixture 11 is adapted to the robotic arm to drive the robotic arm and the quick-change fixture 11 for quick change.

[0069] In the embodiment of the utility model, the quick-change tool 11 adopts a quick-change plate and a flexible connection between the mechanical arm.

[0070] Furthermore, a power module 103 is provided in the box 101, which may be a UPS (Uninterruptible Power Supply). The power module 103 and the visual module 102 are electrically connected by a wiring harness in the box 101 to provide uninterruptible power when the charging base module 20 and the contact charging module 12 are not in contact.

[0071] It can be understood that when the vision module 102 is used as a tool side, if the robot arm picks up the tool side of the vision module 102 each time and then powers on, there will be a delay. Therefore, a power module 103 is placed inside the box 101. The power module 103 and the vision module 102 are electrically connected, which can keep the vision module 102 in a charging state at all times, thereby avoiding delays when the robot arm picks up the visual recognition tool side 10, resulting in information lag or loss.

[0072] Among them, when the visual recognition tool side 10 and the charging base module 20 come into contact, the visual recognition tool side 10 and the charging base module 20 are electrically connected, and the charging base module 20 can provide the power module 103 with charging. When the visual recognition tool side 10 is grasped by the robot arm and separated from the charging base module 20, the power module 103 provides an uninterrupted power supply to the visual module 102, so that the visual module 102 will not be in a power-off state, thereby ensuring the timeliness of the visual module 102.

[0073] The following is a detailed description of each module:

[0074] See also Figures 4 to 6 , Figure 4 It is a structural schematic diagram of the side of the charging base module 20 facing the visual recognition tool side 10 in the quick-change visual recognition device 100 provided by the embodiment of the utility model; Figure 5 It is a structural schematic diagram of the side of the charging base module 20 away from the visual recognition tool side 10 in the quick-change visual recognition device 100 provided by the embodiment of the utility model; Figure 6It is an exploded schematic diagram of the charging base module 20 in the quick-change visual recognition device 100 provided in an embodiment of the present utility model.

[0075] The charging base module 20 includes a rectangular insulating substrate 201 , one side of the insulating substrate 201 faces the visual recognition tool side 10 , and the other side is placed at a preset position for positioning by the robot arm.

[0076] On the side of the insulating substrate 201 facing away from the visual recognition tool side 10, there is provided an insulating cover plate 202 connected to the insulating substrate 201 and detachable or openable, and a wire dividing groove 203 is provided in the area covered by the insulating cover plate 202, and a first conductive terminal 204 that runs through the entire insulating substrate 201 is provided in the wire dividing groove 203; on the side of the insulating substrate 201 facing the visual recognition tool side 10, that is, one end of the first conductive terminal 204 is exposed inside the wire dividing groove 203, and the other end is exposed on the side of the insulating substrate 201 facing the visual recognition tool side 10 to form a contact. The electric contact formed by the first conductive terminal 204 exposed from the surface is electrically connected to the contact charging module 12 in a contact manner.

[0077] It can be understood that the wiring slot 203 is mainly used to standardize the power line, data line and other wires, thereby isolating the corresponding wires and terminals to prevent mutual interference such as short circuit. The insulating cover 202 is designed to be dustproof and insulated, and on the other hand, it is designed to be detachable or openable for easy repair and maintenance.

[0078] In a specific solution, the branching duct 203 includes a main line 2031 and a plurality of branch lines 2032;

[0079] Furthermore, the main path 2031 is hollowed out from the edge of the insulating substrate 201 and extends to the branch path 2032, and the first conductive terminal 204 is arranged at the end of the branch path 2032; wherein, a waterproof connector 205 and a main power line 206 are arranged at the inlet end of the main path 2031, and the waterproof connector 205 and the inlet end of the main path 2031 match each other, so that the branching groove 203 can be waterproof and dustproof.

[0080] After the main power line 206 is introduced from the main line, it is divided into the branch line 2032. One end of the first conductive terminal 204 is exposed inside the branching groove 203, and is respectively connected to the branch line of the main power line 206 at the end of the branch line 2032, and the other end is exposed on the side of the insulating substrate 201 facing the visual identification tool side 10, thereby forming corresponding live wire contacts, ground wire contacts and neutral wire contacts.

[0081] See also Figures 7 to 9 , Figure 7 It is a cross-sectional view of the connection between the visual recognition tool side 10 and the charging base module 20 in the quick-change visual recognition device 100 provided by the embodiment of the utility model; Figure 8 It is a structural schematic diagram of the contact charging module 12 in the quick-change visual recognition device 100 provided in an embodiment of the utility model; Fig. 9 It is an exploded diagram of the contact charging module 12 in the quick-change visual recognition device 100 provided in an embodiment of the present invention.

[0082] Furthermore, the contact charging module 12 includes a conductive component 121, an upper cover plate 122 and a lower cover plate 123;

[0083] The conductive component 121 is used to be in electrical contact with the charging base module 20 ; the upper cover plate 122 and the lower cover plate 123 form a plurality of cylindrical accommodating cavities 124 , and the accommodating cavities 124 are used to limit at least radial freedom of the conductive component 121 .

[0084] It can be understood that the upper cover plate 122 and the lower cover plate 123 are both injection molded parts, and corresponding holes are designed inside them. When the upper cover plate 122 and the lower cover plate 123 are combined, the accommodating cavity 124 inside them can limit the radial movement of the conductive component 121.

[0085] Please continue reading Fig. 9 In the embodiment of the utility model, the conductive component 121 includes a second conductive terminal 1211 in the shape of a column, a first elastic member 1212 and a conductive column 1213; the first elastic member 1212 is connected to the second conductive terminal 1211, so that one end of the second conductive terminal 1211 can be retracted; a slot 1213a is opened at one end of the conductive column 1213, the slot 1213a is used to install the second conductive terminal 1211 and an axial space for retraction is reserved in the slot 1213a, and the other end of the conductive column 1213 is the input end of the external power supply.

[0086] Furthermore, the contact charging module 12 further includes a pressing piece 125, which is used to encapsulate the upper cover plate 122 and the lower cover plate 123 while constraining the conductive pillar 1213;

[0087] When the second conductive terminal 1211 contacts the charging base module 20 , the second conductive terminal 1211 contracts toward the conductive column 1213 .

[0088] It can be understood that when the visual identification tool side 10 and the charging base module 20 are in contact, the second conductive terminal 1211 is squeezed and contracts in the direction of the conductive column 1213, and at the same time, the first elastic member 1212 gives a rebound force in the opposite direction to the second conductive terminal 1211, so that the second conductive terminal 1211 and the first conductive terminal 204 are more firmly connected when in contact.

[0089] Please continue reading Fig.10 and Fig.11 , Fig.10It is a structural schematic diagram of the power module 103 in the quick-change visual recognition device 100 provided in an embodiment of the utility model; Fig.11 It is an exploded schematic diagram of the power switch assembly 104 in the quick-change visual recognition device 100 provided in an embodiment of the present utility model.

[0090] The power module 103 includes a power supply 1031 and a fixing plate 1033 . The power supply 1031 is used to provide uninterrupted power. The power supply fixing frame 1032 cooperates with the box body 101 or cooperates with the fixing plate 1033 to limit the power supply 1031 .

[0091] The visual recognition tool side 10 also includes a power switch component 104 , which is used to control the power supply 1031 to turn on / off the switching of supplying energy to the visual module 102 .

[0092] The power switch assembly 104 includes a fixing seat 1041, a button column 1042, a second elastic member 1043 and an outer shell 1044; the fixing seat 1041 is connected to the box body 101; one end of the button column 1042 passes through the fixing seat 1041 and is exposed to the box body 101 and is slidably connected to the inner wall of the fixing seat 1041; the second elastic member 1043 is connected to the button column 1042 so that the button column 1042 can be axially extended and retracted; the outer shell 1044 is embedded on the button column 1042 and is used to limit the radial direction of the button column 1042.

[0093] In an optional embodiment of the present invention, the vision module 102 includes at least one of a two-dimensional camera 1021 and a three-dimensional camera 1022 .

[0094] Please return to Figure 1 The utility model further includes a bracket 30 , and the charging base module 20 is placed on the bracket 30 .

[0095] In addition, when the power module 103 is placed on the bracket 30, the charging base module 20 will charge the uninterruptible power supply.

[0096] Furthermore, those skilled in the art should understand that if all or part of the sub-modules involved in the various products of the quick-change visual recognition device 100 provided in the embodiment of the utility model are combined and replaced by fusion, simple change, mutual conversion, etc., such as the components are placed and moved; or the products they constitute are set as one piece; or designed to be detachable; all the combined components can form equipment / devices / systems with specific functions, using such equipment / devices / systems to replace the corresponding components of the utility model also falls within the protection scope of the utility model.

[0097] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0098] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A quick-change visual recognition device, applied to a robot arm, characterized in that: include: The visual recognition tool side (10) comprises a box (101) and a visual module (102) in the box (101); the box (101) is connected with a quick-change tool (11) exposed outside the box (101) and a contact charging module (12); the quick-change tool (11) is adapted to the robot arm and flexibly connected to the robot arm; A charging base module (20), corresponding to the contact charging module (12) and the charging base module (20), and electrically connected when the charging base module (20) and the contact charging module (12) are in contact; A power module (103) is provided in the box (101), and the power module (103) and the vision module (102) are electrically connected to provide uninterrupted power.

2. The quick-change visual recognition device according to claim 1, characterized in that: The charging base module (20) comprises an insulating substrate (201), a surface of the insulating substrate (201) facing away from the visual recognition tool side (10) being provided with an insulating cover plate (202) connected to the insulating substrate (201) and being detachable or openable, a wire dividing groove (203) being provided in the area covered by the insulating cover plate (202), and a first conductive terminal (204) penetrating the entire insulating substrate (201) being provided in the wire dividing groove (203); One end of the first conductive terminal (204) is exposed inside the wiring slot (203), and the other end is exposed on a surface of the insulating substrate (201) facing the visual recognition tool side (10) to form a contact.

3. The quick-change visual recognition device according to claim 2, characterized in that: The branching trough (203) comprises a main path (2031) and a plurality of branch paths (2032); The main path (2031) is hollowed out from the edge of the insulating substrate (201) and extends toward the branch path (2032), and the first conductive terminal (204) is arranged at the end of the branch path (2032); Wherein, a waterproof connector (205) and a main power line (206) are provided at the inlet end of the main path (2031).

4. The quick-change visual recognition device according to any one of claims 1 to 3, characterized in that: The contact charging module (12) comprises: A conductive component (121) for electrically contacting and communicating with the charging base module (20); An upper cover plate (122) and a lower cover plate (123), wherein the upper cover plate (122) and the lower cover plate (123) form a plurality of accommodating cavities (124), and the accommodating cavities (124) are used to limit at least radial freedom of the conductive component (121).

5. The quick-change visual recognition device according to claim 4, characterized in that: The conductive component (121) comprises: A second conductive terminal (1211); A first elastic member (1212) connected to the second conductive terminal (1211) so that one end of the second conductive terminal (1211) is retractable; A conductive column (1213), one end of which is provided with a notch (1213a), the notch (1213a) being used to install the second conductive terminal (1211) and an axial space for expansion and contraction is reserved in the notch (1213a), and the other end of the conductive column (1213) is an input end of an external power supply; The contact charging module (12) further comprises: A pressing piece (125) for encapsulating the upper cover plate (122) and the lower cover plate (123) and constraining the conductive column (1213); Wherein, when the second conductive terminal (1211) is in contact with the charging base module (20), the second conductive terminal (1211) contracts in the direction of the conductive column (1213).

6. The quick-change visual recognition device according to claim 1, characterized in that: The power module (103) comprises: A power supply (1031) for providing uninterrupted power; A power supply fixing frame (1032) cooperates with the box body (101) or cooperates with the fixing plate (1033) to limit the power supply (1031); The visual recognition tool side (10) also includes: The power switch component (104) is used to control the switching of the power supply (1031) to supply power to the visual module (102) on / off.

7. The quick-change visual recognition device according to claim 6, characterized in that: The power switch assembly (104) comprises: A fixing seat (1041) connected to the box body (101); A button column (1042), one end of which passes through the fixing seat (1041) and is exposed outside the box (101), and is slidably connected to the inner wall of the fixing seat (1041); A second elastic member (1043), connected to the button column (1042) so that the button column (1042) can be extended and retracted in the axial direction; The outer shell (1044) is embedded on the button column (1042) and is used to limit the radial direction of the button column (1042).

8. The quick-change visual recognition device according to claim 1, characterized in that: The vision module (102) includes at least one of a two-dimensional camera (1021) and a three-dimensional camera (1022).

9. The quick-change visual recognition device according to claim 1, characterized in that: It also includes a bracket (30), on which the charging base module (20) is placed.

10. A robot, characterized in that: include: Robotic arm; A quick-change visual recognition device as claimed in any one of claims 1 to 9.

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