Independent vision system mounting module and mechanical arm

Abstract

The utility model discloses an independent vision system mounting module and a mechanical arm, the independent vision system mounting module comprises a mounting frame, a camera, a light source and an anti-vibration pad, the camera is detachably arranged on the mounting frame, the light source is detachably arranged on one side of the camera, and the anti-vibration pad is arranged between the mounting frame and the camera; the mechanical arm comprises the independent vision system mounting module, and the independent vision system mounting module is detachably arranged at the tail end of an actuator of the mechanical arm. Different types of visual system assemblies can be rapidly installed on the mechanical arm through the detachable installation mode, a support does not need to be customized again, independent visual system installation modules can be rapidly replaced and overhauled, and normal operation of the visual system is ensured. Due to the existence of the structures such as the anti-vibration pad and the stable connection mode, the stability of the visual system is guaranteed, visual system faults caused by the problems such as vibration and loose connection are reduced, and the production efficiency and the product quality are further improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of mechanical arms, in particular to an independent vision system installation module and a mechanical arm. BACKGROUND

[0002] Mechanical arms are widely used in industrial automation fields such as assembly, welding, carrying and detection due to their flexibility and high precision. In recent years, in order to improve the intelligent level of the mechanical arm, an independent vision system is widely used. The independent vision system can collect environmental information through a vision camera and a light source, and guide the mechanical arm to perform accurate operation after analysis and processing.

[0003] In the field of industrial automation, the installation mode of the traditional independent vision system has many disadvantages. Firstly, the independent vision system is installed on one side of the mechanical arm, which has poor adaptability and is only suitable for specific light sources or lenses, which cannot meet the integration needs of various vision systems, so that the user needs to customize the bracket when replacing the light source or lens, resulting in additional investment of cost and time. Secondly, some brackets cannot quickly adjust the positions of the camera and the light source, which leads to low system debugging efficiency and is difficult to adapt to complex industrial scenes. Thirdly, the traditional bracket does not fully consider the adverse factors such as vibration and temperature change in the industrial environment, which easily causes unstable operation of the vision system, and further affects the production efficiency and product quality. SUMMARY

[0004] The application aims to overcome the deficiencies in the prior art and provide an independent vision system installation module and a mechanical arm.

[0005] The application provides an independent vision system installation module, which comprises a mounting frame, a camera which is detachably arranged on the mounting frame and is used for identifying a task target, a light source which is detachably arranged on one side of the camera and is used for illuminating the task target, and a shockproof pad which is arranged between the mounting frame and the camera.

[0006] Further, the light source is arranged in a ring shape and surrounds the working end of the camera.

[0007] Further, a plurality of waist-shaped holes are arranged on the mounting frame, and a threaded hole is arranged on the camera, so that the threaded hole is aligned with different waist-shaped holes, and the relative position of the camera and the mounting frame can be adjusted.

[0008] Further, the independent vision system installation module further comprises a connecting plate, and the connecting plate is used for connecting the camera and the light source.

[0009] Further, a sliding rail and a sliding block are arranged on the connecting plate, the sliding block is slidingly arranged on the sliding rail, one of the camera and the light source is connected to the connecting plate, and the other of the camera and the light source is connected to the sliding block, so that the sliding block can move along the sliding rail to adjust the relative position of the camera and the light source.

[0010] The application also provides a mechanical arm comprising the independent vision system mounting module; the independent vision system mounting module is detachably arranged at the end of the actuator of the mechanical arm.

[0011] Further, the mechanical arm further comprises a quick-change connector, the quick-change connector comprises: a first connecting part arranged at the end of the actuator of the mechanical arm; a second connecting part arranged on the independent vision system mounting module; the first connecting part is provided with a plug block, the second connecting part is provided with a plug hole, the plug block can be inserted into the plug hole; the outer periphery of the plug block and / or the inner wall of the plug hole is provided with at least one air bag; after the plug block is inserted into the plug hole, the air bag is inflated, the connection between the first connecting part and the second connecting part is fastened, thereby realizing the mounting of the independent vision system mounting module.

[0012] Further, the first connecting part is further provided with a plurality of positioning pins, the plurality of positioning pins are distributed in the circumferential direction and surround the plug block; the second connecting part is correspondingly provided with a plurality of positioning holes, the plurality of positioning holes are distributed in the circumferential direction and surround the plug hole; the positioning pins and the positioning holes one-to-one correspond.

[0013] Further, the mechanical arm further comprises a cable holder, the cable holder comprises: a ball bearing support which is detachably connected with the support of the mechanical arm; a clamping jaw arranged on the ball bearing support and used for clamping the cable of the camera and the light source; the ball bearing support has the characteristic of universal rotation, after the clamping jaw clamps the cable, through the relative rotation of the ball bearing support and the clamping jaw, the cable can be prevented from being excessively bent or stretched when the mechanical arm moves.

[0014] Further, the mechanical arm further comprises a flexible guide sleeve, the cable of the camera and the light source is arranged in the flexible guide sleeve, the flexible guide sleeve can protect the cable and prevent the cable from being twisted or wound when the mechanical arm moves.

[0015] The application provides an independent vision system mounting module, comprising a mounting frame, a camera, a light source and a shock pad, the camera is detachably arranged on the mounting frame, the light source is detachably arranged on one side of the camera, and the shock pad is arranged between the mounting frame and the camera; the independent vision system mounting module provided by the application can adapt to various types of light sources and lenses by being detachable, which greatly meets the integration needs of various vision systems. When the camera or the light source is replaced, the user does not need to re-customize the mounting frame, which reduces the cost and time investment and improves the resource utilization. When facing complex industrial scenes, the system debugging can be quickly completed, the debugging efficiency is significantly improved, and the mechanical arm can be quickly put into production work. Through the shock pad arranged between the mounting frame and the camera, the vibration in the industrial environment can be effectively absorbed, the influence of the vibration on the vision system is reduced, and combined with reasonable structural design, the vision system can resist adverse factors such as temperature changes to a certain extent, so as to ensure the stable operation of the vision system and further improve the production efficiency and product quality.

[0016] The application also provides a mechanical arm comprising the above-mentioned independent vision system mounting module, which is detachably arranged at the end of the actuator of the mechanical arm. The detachable mounting mode designed by the application enables different types of vision system components, such as different camera and light source combinations, to be quickly mounted on the mechanical arm without the need to customize the bracket. This not only reduces the cost and time investment, but also improves the efficiency of system integration, enabling the mechanical arm to be more quickly applied to different production tasks, enhancing the flexibility and response speed of enterprises in market competition. Quick replacement and maintenance of the independent vision system mounting module ensure the normal operation of the vision system, thereby providing accurate visual information for the mechanical arm and improving the intelligent level of the mechanical arm. At the same time, the presence of structures such as shock pads and stable connection modes ensure stability during the mounting and dismounting of the vision system and during the operation of the mechanical arm, reducing vision system failures caused by vibration, loose connections and other problems, further improving production efficiency and product quality. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 A structural schematic diagram of an independent vision system mounting module provided by the application is shown in the figure.

[0018] Figure 2 A structural schematic diagram of a mechanical arm provided by the application is shown in the figure.

[0019] Figure 3 A structural schematic diagram of the mechanical arm from another angle is shown in the figure. Figure 2 A structural schematic diagram of the mechanical arm from another angle is shown in the figure. DETAILED DESCRIPTION

[0020] In order to make the above-mentioned purposes, features and advantages of the application more obvious and easy to understand, the specific embodiments of the application will be described in detail below with reference to the accompanying drawings. In the following description, many specific details are set forth in order to provide a thorough understanding of the application. However, the application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the application, so the application is not limited by the specific embodiments disclosed below.

[0021] The application provides an independent vision system mounting module, comprising: a mounting frame 10; a camera 1 detachably arranged on the mounting frame 10 for identifying a task target; a light source 2 detachably arranged on one side of the camera 1 for illuminating the task target; and a shock pad 3 arranged between the mounting frame 10 and the camera 1.

[0022] For details, please refer to Figure 1 In the illustrated embodiment, the mounting frame 10 is provided in the form of a plate as the basic support structure of the entire independent vision system mounting module. For details, please refer to Figure 2 andFigure 3 One side of the mounting frame 10 is connected to the support of the actuator at the end of the robotic arm, and the other side is equipped with a shock-absorbing pad 3. The shock-absorbing pad 3 is located between the mounting frame 10 and the camera 1, and fits tightly against both. In an industrial environment, mechanical vibration is inevitable during the operation of the robotic arm. The shock-absorbing pad 3 is generally made of elastic materials, such as rubber or plastic. When mechanical vibration is transmitted between the mounting frame 10 and the camera 1, the shock-absorbing pad 3 undergoes elastic deformation, converting the vibration energy into its own elastic potential energy, thereby weakening the transmission of vibration and protecting the camera 1 and the light source 2.

[0023] Continue to refer to Figure 1 The camera 1 is similar in appearance to a traditional camera, consisting of a cube-shaped main body and a cylindrical lens. The cylindrical lens protrudes from the center of the cube-shaped main body and serves as the working end of the camera 1. The cube-shaped main body is connected to the shock-absorbing pad 3. The camera 1 is used for image acquisition and recognition of the target object and is the core component of the vision system.

[0024] Continue to refer to Figure 1 Light source 2 is positioned near the cylindrical lens. In actual equipment, any form of light source, such as a ring light source, point light source, or strip light source, can be selected according to lighting needs. During operation, camera 1 and light source 2 are aligned with the area to be inspected. Light source 2 provides uniform illumination, ensuring the quality of the image acquired by camera 1.

[0025] The camera 1 can be detachably mounted on the mounting bracket 10 by means of screw connection (fixing and adjustment by bolts), buckle (using the elastic deformation of the buckle to achieve the connection between the two), and pin (inserting the pin into the corresponding hole to achieve the connection between the two); the light source 2 can also be detachably mounted on one side of the camera 1 by means of screw connection, buckle, pin, etc.

[0026] The detachable nature of camera 1 allows for flexible position adjustment during practical use to meet the identification needs of targets in different locations and of different sizes. The detachable nature of light source 2 allows for easy replacement of different types of light sources with varying illumination ranges, angles, or brightness according to different task requirements.

[0027] The detachable design makes the installation process quick and easy. Furthermore, the position of the camera 1 and the type and angle of the light source 2 can be quickly adjusted at any time according to the actual task requirements, which greatly improves the flexibility and applicability of the entire independent vision system installation module, reduces installation and debugging time, and improves work efficiency.

[0028] In summary, the independent vision system mounting module provided by the application can be adapted to various types of light sources and lenses by setting the detachable camera 1 and light source 2, greatly meeting the integration needs of various vision systems. When replacing the camera 1 or the light source 2, the user does not need to re-customize the mounting rack 10, thereby reducing the cost and time investment and improving the resource utilization rate. When facing complex industrial scenes, the system can be quickly debugged, the debugging efficiency is significantly improved, and the mechanical arm can be quickly put into production work. By setting the shockproof pad 3 between the mounting rack 10 and the camera 1, the vibration in the industrial environment can be effectively absorbed, the influence of the vibration on the vision system is reduced, and in combination with a reasonable structure design, the vision system can resist adverse factors such as temperature changes to a certain extent, thereby ensuring stable operation of the vision system and improving the production efficiency and product quality.

[0029] Optionally, the shockproof pad 3 is made of silicone rubber. The silicone rubber material has good high and low temperature resistance. In the industrial environment, the silicone rubber material can still maintain stable elasticity and shock absorption characteristics in the face of frequent temperature changes. At the same time, the silicone rubber material has strong aging resistance and corrosion resistance, which can effectively prolong the service life of the shockproof pad 3 and ensure long-term stable operation of the vision system.

[0030] Optionally, the shockproof pad 3 is set in a wave shape. The surface of the shockproof pad 3 is in a wave shape, which increases the friction between the shockproof pad 3 and the mounting rack 10 and the camera 1, and can prevent the shockproof pad 3 from being displaced during vibration. At the same time, the wave-shaped structure can better disperse the vibration energy through its own deformation when subjected to stress and vibration, thereby improving the shock absorption effect.

[0031] Optionally, the mounting rack 10 is provided with a groove matching the shape of the shockproof pad 3, and the shockproof pad 3 can be embedded in the groove. The embedded installation makes the shockproof pad 3 better combined with the mounting rack 10, which can prevent the shockproof pad 3 from falling off during the operation of the mechanical arm, and also ensures that the shockproof pad 3 maintains a stable position when subjected to vibration.

[0032] Optionally, the light source 2 is set in a ring shape and surrounds the working end of the camera 1.

[0033] For details, please refer to Figure 1 and Figure 2 In the illustrated embodiment, the light source 2 has a ring structure and surrounds the cylindrical lens of the camera 1. The front surface of the light source 2 faces outward to facilitate the light source 2 to illuminate the front detection area of the camera 1, and the back surface of the light source 2 is close to the block-shaped body of the camera 1.

[0034] The surrounding arrangement of the light source 2 enables the light to be emitted in the direction of the camera 1, and the light can be evenly irradiated on the task target from multiple angles. Since the light is omnidirectional, compared with single-sided or local illumination, the shadow area on the task target can be reduced. When the light irradiates the surface of the task target, the reflected light enters the lens of the camera 1, so that the camera 1 can capture a clear, bright and less shadow image, providing high-quality visual information for subsequent image recognition and analysis.

[0035] Optionally, a plurality of waist-shaped holes are arranged on the mounting frame 10; and a threaded hole is arranged on the camera 1; so that the threaded hole is aligned with different waist-shaped holes, and the relative position of the camera 1 and the mounting frame 10 can be adjusted.

[0036] Specifically, refer to Figures 1 to 3 In the illustrated embodiment, a plurality of waist-shaped holes are arranged on the mounting frame 10, which provide support for the installation and position adjustment of the camera 1. The waist-shaped hole usually has a certain length, allowing the connecting member such as a bolt to move in the hole, thereby changing the position of the camera 1. The distribution of the waist-shaped hole can be designed according to actual needs to meet the adjustment requirements in different directions.

[0037] Continuing to refer to Figures 1 to 3 A threaded hole is arranged on the square-shaped body of the camera 1. By passing the bolt through the waist-shaped hole of the mounting frame 10 and screwing it into the threaded hole of the camera 1, the camera 1 can be fixed on the mounting frame 10. When the position of the camera 1 needs to be adjusted, the bolt is loosened, and the camera 1 can move within the range of the waist-shaped hole, and after being adjusted to the appropriate position, the bolt is tightened to fix the relative position of the camera 1 and the mounting frame 10.

[0038] In the actual installation process, first place the camera 1 on the mounting frame 10, so that the threaded hole on the camera 1 is aligned with the waist-shaped hole on the mounting frame 10. Then, use the bolt to pass through the waist-shaped hole and screw it into the threaded hole, and initially tighten the bolt, but not completely. The camera 1 can move within the waist-shaped hole. According to the task requirements, move the camera 1 up and down, left and right, or forward and backward, so that it is aligned with the target position. When the camera 1 is adjusted to the appropriate position, the bolt is completely tightened to fix the position of the camera 1. When the shooting requirements change, the bolt can be loosened so that the camera 1 can move again within the waist-shaped hole, or a new waist-shaped hole with a more appropriate position is selected to reinstall the camera 1.

[0039] The design of the waist-shaped hole allows the bolt to have a certain range of movement within the hole, which enables the camera 1 to adjust its position on the mounting bracket 10. By changing the position of the bolt in the waist-shaped hole, the camera 1 can move in the direction of the extension of the waist-shaped hole, thereby achieving accurate recognition of task targets at different positions. For example, if the waist-shaped hole extends horizontally, the camera 1 can move left and right in the horizontal direction; if the waist-shaped hole extends vertically, the camera 1 can move up and down in the vertical direction.

[0040] By matching the waist-shaped hole on the mounting bracket 10 with the threaded hole on the camera 1, the relative position of the camera 1 and the mounting bracket 10 can be easily adjusted up, down, left, right, or forward and backward. This flexible adjustment method enables the camera 1 to accurately aim at task targets at different positions, whether at close or long distances, in horizontal or vertical directions, achieving precise recognition and greatly improving the adaptability and flexibility of the vision system. Pre-adjusting the position of the camera 1 enables it to better capture image information of the task target. Through precise position adjustment, problems such as image blurring, distortion, or target missing caused by improper camera 1 position can be avoided, thereby improving the accuracy of image recognition and providing high-quality image data for subsequent analysis and processing, which helps the robot to perform tasks more accurately. This detachable and adjustable mounting method makes the installation and debugging of the camera 1 more convenient.

[0041] To achieve more flexible multi-directional adjustment, in an embodiment, multiple waist-shaped holes extending in different directions are provided on the mounting bracket 10. For example, a set of waist-shaped holes is provided on the mounting bracket 10 in the horizontal direction and another set of waist-shaped holes is provided in the vertical direction. In this way, the horizontal position or the vertical position of the camera 1 can be adjusted as needed.

[0042] In another embodiment, the independent vision system mounting module includes multiple sets of mounting brackets 10, and the waist-shaped holes on each set of mounting brackets 10 extend in different directions. For example, the independent vision system mounting module includes two sets of mounting brackets 10, one set of which is provided with horizontally extending waist-shaped holes and the other set of which is provided with vertically extending waist-shaped holes; one set of mounting brackets 10 is also provided with threaded holes that can be used in cooperation with the waist-shaped holes on the other set of mounting brackets 10; and one set of mounting brackets 10 is used to connect the camera 1. In this way, the horizontal position or the vertical position of the camera 1 can be adjusted as needed or simultaneously.

[0043] In yet another embodiment, multiple rows and columns of waist-shaped holes are provided on the mounting bracket 10, and any waist-shaped hole extends horizontally along the row direction. In this way, by selecting different waist-shaped holes along the column direction to install the camera 1, the vertical position of the camera 1 can be adjusted; by selecting different waist-shaped holes along the row direction to install the camera 1, the horizontal position of the camera 1 can be adjusted.

[0044] The camera 1 can be flexibly adjusted in two or even more directions, further improving the adaptability and flexibility of the vision system to meet the needs of more complex industrial scenes.

[0045] Optionally, the independent vision system installation module further comprises a connecting plate 4, which is used to connect the camera 1 and the light source 2.

[0046] The connecting plate 4 serves as a bridge to connect the camera 1 and the light source 2 in the independent vision system installation module. For details, please refer to Figure 1 and Figure 3 In the illustrated embodiment, the connecting plate 4 is arranged in a bent shape to facilitate the connection of the side surface of the block-shaped main body of the camera 1 and the back surface of the light source 2. The connecting plate 4 is provided with screw mounting hole positions corresponding to the threaded holes on the camera 1 and the light source 2. When cooperating with the connecting plate 4, the threaded holes on the camera 1 are aligned with the hole positions on the connecting plate 4, and the screw is inserted to achieve the fixed connection of the two. Similarly, the threaded holes on the light source 2 are aligned with the hole positions on the connecting plate 4, and the screw is inserted to achieve the fixed connection of the two.

[0047] The screw connection method is simple to operate and can be completed using common tools. When the camera 1 or the light source 2 needs to be replaced, or the vision system needs to be maintained and debugged, they can be quickly detached from the connecting plate 4, greatly shortening the maintenance time and improving the work efficiency. The presence of the connecting plate 4 also enables the camera 1 and the light source 2 to be installed and adjusted as a relatively independent assembly, facilitating integration with devices such as robotic arms. During the construction of an industrial automation production line, the position and angle of the vision system can be flexibly adjusted according to actual needs, improving the adaptability and versatility of the system.

[0048] In other embodiments, the connecting plate 4 can also be connected to the camera 1 and the light source 2 detachably through magnetic attraction. For example, a strong magnet is embedded in the connecting plate 4, and a metal sheet capable of being attracted to the magnet is installed on the camera 1 and the light source 2. During installation, the camera 1 and the light source 2 are placed close to the connecting plate 4, and the magnet will automatically attract the metal sheet to achieve quick connection. During disassembly, only a certain external force is needed to overcome the magnetic force to remove the camera 1 and the light source 2. The magnetic connection method does not require tools, is convenient and fast, and can provide a certain connection strength.

[0049] Optionally, the connecting plate 4 is provided with a sliding rail and a sliding block, the sliding block is slidingly arranged on the sliding rail; the connecting plate 4 is connected to one of the camera 1 and the light source 2; the sliding block is connected to the other one of the camera 1 and the light source 2; the movement of the sliding block along the sliding rail can adjust the relative position of the camera 1 and the light source 2.

[0050] Specifically, the connecting plate 4 is fixedly provided with a slide rail, which is a guide rail with a certain length and extends linearly, and has a smooth surface to provide guidance and support for the sliding of the sliding block. One side of the connecting plate 4 is fixedly connected with the camera 1 or the light source 2 through a connection mode such as a screw, a buckle, or the like, to ensure the stability of the installation. The sliding block is used in cooperation with the slide rail and can freely slide on the slide rail. The sliding block is connected with the other one of the camera 1 and the light source 2, and is also fixedly connected through a connection mode such as a screw, a buckle, or the like. The size and shape of the sliding block are adapted to the slide rail, to ensure that no shaking or disengagement from the slide rail occurs during sliding.

[0051] In an embodiment, the connecting plate 4 is connected with the camera 1, and the sliding block is connected with the light source 2. The position of the camera 1 is relatively fixed, and the relative position and angle of the light source 2 with respect to the camera 1 can be adjusted by sliding the sliding block on the slide rail, to achieve different angles and intensities of illumination on the task target.

[0052] By adjusting the relative positions of the camera 1 and the light source 2, the angle and distance of the light source 2 irradiating onto the task target can be changed. Different angles and distances will cause changes in the distribution and intensity of light on the target surface. For example, when the light source 2 is close to the camera 1, the light will be more concentrated; when the light source 2 is far away from the camera 1, the light will be more dispersed. By reasonably adjusting the relative positions of the two, the light can be uniformly irradiated onto the task target, reducing the generation of shadows, thereby providing ideal imaging conditions for the camera 1.

[0053] It should be noted that, in actual cooperation, the sliding block can be pushed manually or with the aid of external tools to slide on the slide rail, thereby adjusting the relative positions and angles of the camera 1 and the light source 2. At this time, the slide rail and the sliding block have damping, and when the external force is large enough, the movement of the sliding block can be realized.

[0054] Alternatively, a driving structure such as a pneumatic cylinder can be provided, so that the driving structure is connected with the sliding block, and the movement of the sliding block can be automatically realized according to the needs.

[0055] By sliding the sliding block on the slide rail, precise adjustment of the irradiation angle and brightness of the light source 2 can be achieved. According to different task targets and working scenes, the relative positions of the light source 2 and the camera 1 can be flexibly adjusted, so that the light can uniformly cover the target object, avoiding local over-brightness or over-darkness, effectively reducing the generation of shadows, thereby providing high-quality images for the camera 1 and improving the accuracy and reliability of image recognition. This adjustable structure design enables the independent vision system installation module to adapt to various different working scenes and task requirements. Whether for objects with complex shapes or under different lighting conditions, the relative positions of the camera 1 and the light source 2 can be adjusted to quickly find the best illumination and shooting angle, improving the versatility and adaptability of the system.

[0056] The application also provides a mechanical arm comprising the above-mentioned independent vision system installation module; the independent vision system installation module is detachably arranged at the end of the actuator of the mechanical arm.

[0057] It should be explained that the actuator refers to a structure that can achieve the task target work, such as a gripper, a suction cup, a hook, etc., which is installed at the final active end of the mechanical arm. By arranging the independent vision system installation module at the end of the actuator of the mechanical arm, when the mechanical arm moves and drives the actuator to act, the independent vision system installation module can follow the actuator to move to the target position, thereby directly, quickly and accurately providing positioning information for the actuator.

[0058] The independent vision system installation module can be detachably arranged at the end of the actuator of the mechanical arm through screwing (threaded holes are arranged on the end of the actuator of the mechanical arm and the independent vision system installation module, so that the threaded holes on the two are opposite, a screw is inserted to achieve fixation), buckling (the end of the actuator of the mechanical arm is provided with an elastic buckle, and the independent vision system installation module is provided with a buckle slot matched with the buckle, the buckle slot is aligned with the buckle during installation, and the buckle is pressed to be buckled into the buckle slot to achieve fixation), bolt (the end of the actuator of the mechanical arm has a bolt hole, and the independent vision system installation module has a corresponding bolt, the bolt hole is aligned with the bolt during installation, and the bolt is inserted to achieve fixation), magnetic attraction (the end of the actuator of the mechanical arm is provided with a magnet, and the independent vision system installation module is provided with a metal part that can be attracted by the magnet, and the fixation is achieved through magnetic force), etc.

[0059] The detachable design enables the vision system to be quickly detached from the end of the actuator when a fault occurs or when a component needs to be replaced, greatly shortening the replacement and maintenance time. Compared with the traditional fixed installation method which is difficult to disassemble, the maintenance efficiency of the equipment is improved, the downtime caused by equipment failure is reduced, and the operation efficiency of the entire production system is improved. When the vision system of the mechanical arm needs to be upgraded or adjusted according to different production tasks, different specifications or functions of the independent vision system installation module can also be conveniently replaced through quick insertion. For example, a camera 1 with higher resolution or a light source 2 with different lighting effects is replaced to adapt to different production needs. Such flexibility enables the mechanical arm to better adapt to diversified industrial scenarios, thereby improving the universality and adaptability of the equipment and reducing the equipment procurement and upgrading costs of enterprises.

[0060] The detachable installation method designed by the application enables different types of vision system components, such as different cameras 1 and light sources 2 combinations, to be quickly installed on the mechanical arm without the need to re-customize the bracket. This not only reduces the cost and time investment, but also improves the efficiency of system integration, enabling the mechanical arm to be more quickly applied to different production tasks, enhancing the flexibility and response speed of the enterprise in market competition. Rapid replacement and maintenance of the independent vision system installation module ensures the normal operation of the vision system, thereby providing accurate visual information for the mechanical arm and improving the intelligent level of the mechanical arm. At the same time, the presence of structures such as shock pads 3 and stable connection methods ensure stability during the installation and disassembly of the vision system and during the operation of the mechanical arm, reducing vision system failures caused by vibration, loose connections, and other problems, further improving production efficiency and product quality.

[0061] In an embodiment, the mechanical arm further comprises a quick-change connector 20, which comprises: a first connecting part 21 provided at the end of the actuator of the mechanical arm; and a second connecting part 22 provided on the independent vision system installation module; the first connecting part 21 is provided with a plug, and the second connecting part 22 is provided with a socket, the plug can be inserted into the socket; at least one air bag is provided on the outer periphery of the plug and / or the inner wall of the socket; after the plug is inserted into the socket, the air bag is inflated to tighten the connection between the first connecting part 21 and the second connecting part 22, thereby achieving the installation of the independent vision system installation module.

[0062] For details, please refer to Figure 2 In the illustrated embodiment, the end of the actuator is provided with a first connecting part 21, the main body of which is substantially cylindrical, and the middle part of the first connecting part 21 is provided with a protruding cylindrical plug; the side of the mounting bracket 10 away from the camera 1 is provided with a second connecting part 22, the main body of which is also substantially cylindrical, and the middle part of the second connecting part 22 is recessed to form a cylindrical socket; a circular hole is provided on the outer periphery of the plug, and a plurality of air bags are provided inside the plug, one air bag in each circular hole, which will protrude from the circular hole after inflation, thereby increasing the friction between the plug and the socket and tightening the connection between the first connecting part 21 and the second connecting part 22. The first connecting part 21 is also provided with an air pipe connected to the gas supply device outside, and the gas supply device is used to control the inflation and contraction of the air bag.

[0063] When installing, the plug of the first connecting part 21 is aligned with the socket of the second connecting part 22, and then the plug is inserted into the socket. Next, the gas supply device is started to inflate the air bag, causing the air bag to expand. The expanded air bag tightly adheres to the inner wall of the socket, thereby generating sufficient friction and fastening force to firmly connect the first connecting part 21 and the second connecting part 22 together, achieving the fixation of the independent visual system installation module at the end of the mechanical arm executor. When disassembly is required, the gas in the air bag is discharged by controlling the gas supply device, the air bag is deflated, and the fastening force between the plug and the socket disappears, at which time the plug can be easily pulled out of the socket, completing the disassembly of the independent visual system installation module. This connection method not only provides sufficient fastening force, but also, due to the elasticity of the air bag, can to some extent buffer the vibration generated during the operation of the mechanical arm, playing a role in protecting the independent visual system installation module.

[0064] Since the plug and the socket are both cylindrical structures, there is a relative rotational degree of freedom between the plug and the socket. When the plug is inserted into the socket and the air bag is not fully inflated, the first connecting part 21 and the second connecting part 22 can be rotated relative to each other, and thus the inclination angle of the independent visual system installation module can be adjusted. After adjusting to the appropriate shooting angle, the air bag is inflated, and the friction generated by the air bag is used to fix the angle, ensuring that the independent visual system installation module can maintain a suitable and stable shooting angle during the operation of the mechanical arm.

[0065] The design of the quick-change connector 20 solves the problem of difficult installation and replacement of traditional independent visual systems. Through the insertion of the plug into the socket and the inflation and deflation of the air bag, the installation and disassembly of the independent visual system installation module can be completed in a short time, greatly shortening the time for equipment maintenance and replacement of parts, improving production efficiency, and reducing the loss caused by equipment downtime for the enterprise. The cylindrical structure of the plug and the socket allows the inclination angle of the independent visual system installation module to be easily adjusted. In actual industrial production, different task objectives and working scenarios may require different shooting angles, and this flexible angle adjustment function can ensure that the camera can obtain the best shooting angle, improve the quality of image acquisition, and thus provide more accurate visual information for the mechanical arm, further improving the accuracy and intelligence level of the mechanical arm operation, and better adapting to the complex and variable demands of industrial production. The air bag fastening method not only provides reliable connection, but also can buffer the vibration during the operation of the mechanical arm. This is crucial for ensuring the stable operation of the independent visual system installation module, reducing image blurring, equipment loosening, and other problems caused by vibration, improving the stability and reliability of the visual system, and thus ensuring the continuity of the production process and the stability of the product quality.

[0066] Optionally, the first connecting part 21 is also provided with a plurality of positioning pins, which are distributed along the circumferential direction and surround the insert block; the second connecting part 22 is provided with a plurality of positioning holes, which are distributed along the circumferential direction and surround the insert hole; the positioning pins and positioning holes correspond one-to-one.

[0067] For details, please refer to Figure 2 In the illustrated embodiment, the first connecting part 21 has a ring of positioning pins surrounding the insert block on its stepped surface, and the positioning pins are cone-shaped; the second connecting part 22 has a ring of positioning holes surrounding the insert hole on its stepped surface, and the shape and size of the positioning holes are adapted to the positioning pins, and their positions correspond one-to-one, so that the positioning pins can be accurately inserted and tightly fitted with them.

[0068] The positioning pins are inserted into the positioning holes to achieve precise positioning between the first connecting part 21 and the second connecting part 22. During installation, when the insert of the first connecting part 21 is inserted into the insertion hole of the second connecting part 22, the positioning pins are simultaneously aligned with and inserted into the positioning holes. This ensures the accurate installation position of the independent vision system mounting module at the end effector of the robotic arm. The mating relationship between them restricts the relative movement between the first connecting part 21 and the second connecting part 22, thus achieving precise positioning. Multiple positioning pins are distributed circumferentially, constraining the connection from multiple directions and improving the accuracy and reliability of positioning. Since the positioning pins surround the insert along the circumferential direction, and the positioning holes surround the insertion holes, the mating between the positioning pins and the positioning holes effectively prevents circumferential movement between the first connecting part 21 and the second connecting part 22 when the robotic arm vibrates or is subjected to other external forces. After the positioning pins are inserted into the positioning holes, a mechanical constraint is formed, restricting the relative rotation between the two, thereby ensuring the positional stability of the independent vision system mounting module at the end effector of the robotic arm. In industrial environments, the movement of robotic arms can generate various vibrations and external forces. Circumferential movement can cause changes in the shooting angle of the vision system, affecting the accuracy of image acquisition. The structure of locating pins and holes provides reliable constraints, ensuring the vision system maintains a stable position during robotic arm movement, thereby improving the stability and reliability of the vision system. The cooperation between locating pins and holes can also reduce the impact of vibration on connecting parts to a certain extent. During robotic arm operation, vibration may cause connecting parts to loosen, affecting the normal operation of the equipment. The constraints of locating pins and holes can disperse and absorb some vibration energy, reducing the impact of vibration on connecting parts, extending the service life of the equipment, and reducing equipment maintenance and repair costs.

[0069] Optionally, the mechanical arm further comprises a cable holder 31, which comprises: a ball bearing support, detachably connected to the support of the mechanical arm; a clamping jaw, provided on the ball bearing support, used to clamp the cable of the camera 1 and the light source 2; the ball bearing support has the characteristic of universal rotation, and after the clamping jaw clamps the cable, the relative rotation between the ball bearing support and the clamping jaw can avoid excessive bending or stretching of the cable during the movement of the mechanical arm.

[0070] Specifically refer to Figure 2 and Figure 3 In the illustrated embodiment, the ball bearing support is provided on one arm of the mechanical arm, and a clamping jaw is provided on the ball bearing support, which can clamp the cable. The cable of the camera 1 and the light source 2 is used to transmit the image signal collected by the camera 1 and power the light source 2, etc.

[0071] The ball bearing support has the characteristic of being detachable, and is connected to the support of the mechanical arm by a suitable connection method such as bolt connection, buckle connection, etc. The ball bearing support is internally provided with a ball bearing, so that the support can rotate freely in three-dimensional space. The ball bearing is composed of a ball, an inner ring and an outer ring, and the ball rolls between the inner ring and the outer ring, allowing the support to rotate in different directions. The ball bearing support has the characteristic of universal rotation. This universal rotation characteristic allows the support to rotate freely in multiple directions to adapt to various changes in posture during the movement of the mechanical arm.

[0072] The clamping jaw is provided on the ball bearing support and is a fixed structure that can elastically clamp the cable. The clamping jaw is made of elastic materials such as rubber, elastic plastic, etc., and has a certain elastic deformation capacity. When the cable is placed in the clamping jaw, the elastic material of the clamping jaw will deform and generate an inward clamping force to tightly hold the cable. This elastic clamping force can not only ensure the stability of the cable in the clamping jaw, but also will not damage the cable. At the same time, when the cable is subjected to external force, the elasticity of the clamping jaw can also buffer the external force to a certain extent to protect the cable.

[0073] During installation, the cable is placed in the appropriate position of the clamping jaw, and then the elasticity of the clamping jaw is used to clamp the cable. When the mechanical arm moves, it will drive the camera 1 and the light source 2 to move, at which time the cable will be subjected to a certain tension and bending force. Since the ball bearing support has the characteristic of universal rotation, the clamping jaw will adjust its posture by the relative rotation between the ball bearing support and the clamping jaw according to the stress condition of the cable, compensate for the change in the path of the cable due to twisting, and thus avoid excessive bending or stretching of the cable.

[0074] The design of the cable holder 31 effectively solves the problem of cable over-bending, stretching, twisting or winding due to the movement of the robot arm. Through the universal rotation of the ball bearing support and the elastic clamping of the claw, the position and attitude of the cable can be adjusted in real time, avoiding excessive stress on the cable, thereby prolonging the service life of the cable, reducing equipment failure and downtime caused by cable damage, and improving the reliability and production efficiency of the equipment. In addition, the detachable design of the ball bearing support allows users to easily adjust its installation position according to the actual movement range and working scene of the robot arm. This allows for more rational cable arrangement, allowing the cable to smoothly follow the movement of the robot arm and avoiding a chaotic cable arrangement. At the same time, this adjustability also facilitates the inspection and replacement of the cable during equipment maintenance and repair, reducing maintenance costs and difficulty. Good protection and orderly arrangement of the cable help to improve the stability of the entire robot arm system. During the operation of the robot arm, stable cable state can ensure the normal operation of the camera 1 and the light source 2, providing accurate visual information for the robot arm, so that the robot arm can perform tasks more accurately and improve production quality and efficiency. Whether in high-speed motion or complex spatial motion, the cable holder 31 can adapt to various motion attitudes of the robot arm. Its universal rotation and elastic clamping characteristics ensure that the cable is effectively protected in various working conditions, enhancing the applicability and reliability of the robot arm in different industrial environments.

[0075] Optionally, the robot arm further comprises a flexible guide sleeve 32, the cables of the camera 1 and the light source 2 are arranged in the flexible guide sleeve 32, and the flexible guide sleeve 32 can protect the cables and prevent the cables from twisting or winding during the movement of the robot arm.

[0076] For details, please refer to Figures 1 to 3 In the illustrated embodiment, the flexible guide sleeve 32 is in the form of a circular tube, one end of the flexible guide sleeve 32 is connected to the cable holder 31, the other end extends outward, the cable is arranged in the flexible guide sleeve 32, and the flexible guide sleeve 32 provides guidance and protection for the extension of the cable. The tubular structure of the flexible guide sleeve 32 constrains the cable in a fixed channel, limiting the movement range of the cable and preventing the cables from winding around each other. At the same time, due to the flexibility and deformability of the guide sleeve, it can adapt to the position changes of the cable in different motion states, ensuring that the cable always maintains an orderly arrangement and does not wind around.

[0077] The flexible guide sleeve 32 can be made of flexible materials such as rubber, plastic, etc. with elastic properties, and can also be provided in the form of a flexible tube, a bellows, etc. with flexible characteristics. When subjected to external forces, the flexible guide sleeve 32 can deform, thereby absorbing and buffering the tension and pressure generated on the cable when the robot arm moves. When the robot arm moves, the flexible guide sleeve 32 will bend, stretch or contract with the movement of the robot arm, allowing the cable to move relatively freely inside the guide sleeve, avoiding damage to the cable due to excessive stress.

[0078] The cable holder 31 cooperates with the flexible guide sleeve 32 to orderly arrange and fix the cables. The cables are first arranged and fixed by the cable clamping device, and then passed into the flexible guide sleeve 32. This cooperation can further ensure that the cables do not loosen or become disordered when the robot arm moves.

[0079] The flexible guide sleeve 32 solves the problems of cable twisting, winding, pulling, etc. when the robot arm moves. By passing the cable into the flexible guide sleeve 32, the cable is always in a protected state, avoiding damage to the cable due to the movement of the robot arm, greatly extending the service life of the cable, reducing the downtime of the equipment due to cable failure, and improving the reliability and production efficiency of the equipment. Combined with the use of the cable holder 31, all signal lines and cables of the camera 1 and the light source 2 can be arranged in order. During the movement of the robot arm, the cables will not become disordered or interfere with each other, ensuring the normal operation of the cables, thereby providing protection for the stable operation of the camera 1 and the light source 2, and helping to improve the performance and operation accuracy of the vision system of the robot arm. The flexibility and stretchable and contractible properties of the flexible guide sleeve 32 enable it to adapt to various complex motion postures of the robot arm. Whether it is a large amplitude swing of the robot arm or a fine motion adjustment, the flexible guide sleeve 32 can deform accordingly with the movement of the robot arm, protecting the cable from damage and enhancing the applicability and reliability of the robot arm in different working scenarios. Since the cable is effectively protected, the frequency of cable damage is reduced, thereby reducing the maintenance cost of the equipment. At the same time, the orderly arrangement of the cables also facilitates the inspection and replacement of the cables during equipment maintenance and repair, improving the efficiency of maintenance work and reducing the operating costs of the enterprise.

[0080] The above embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as limiting the scope of the patent application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. An independent vision system mounting module, characterized by, The independent visual system installation module is detachably arranged on the end of the actuator of the mechanical arm. The first connecting part (21) is provided with an insertion block, and the second connecting part (22) is provided with an insertion hole, and the insertion block can be inserted into the insertion hole. The outer periphery of the insertion block and / or the inner wall of the insertion hole is provided with at least one air bag. The insertion block is inserted into the insertion hole, so that the air bag is inflated, the connection between the first connecting part (21) and the second connecting part (22) is fastened, the installation of the independent visual system installation module is realized. The first connecting part (21) is further provided with a plurality of positioning pins, and the plurality of positioning pins are distributed in the circumferential direction and surround the insertion block.

2. The self-contained vision system mounting module of claim 1, wherein, The second connecting part (22) is correspondingly provided with a plurality of positioning holes, and the plurality of positioning holes are distributed in the circumferential direction and surround the insertion hole.

3. The self-contained vision system mounting module of claim 1, wherein, The positioning pins correspond to the positioning holes one by one. The ball bearing support is detachably connected with the support of the mechanical arm. The ball bearing support has the characteristic of universal rotation, and after the claw clamps the cable, through the relative rotation of the ball bearing support and the claw, the cable can be prevented from being excessively bent or stretched when the mechanical arm moves.

4. The self-contained vision system mounting module of claim 1, wherein, ​ 5. The self-contained vision system mounting module of claim 4, wherein, ​ ​ ​ ​ 6. A robot arm, characterized in that ​ ​ 7. The robot arm of claim 6, wherein, ​ ​ ​ ​ ​ ​ 8. The robotic arm of claim 7, wherein, ​ ​ ​ 9. The robotic arm of claim 6, wherein, ​ ​ ​ ​ 10. The robotic arm of claim 6, wherein, Further comprising a flexible guide sleeve (32), cables of the camera (1) and the light source (2) are arranged in the flexible guide sleeve (32), the flexible guide sleeve (32) can protect the cables and prevent the cables from being twisted or wound when the mechanical arm moves.

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