Mechanical hand with automatic deviation correction function

Abstract

The utility model relates to a kind of mechanical hand with automatic deviation rectification function.The mechanical hand includes machine hand support, machine hand main body, mechanical hand calibration mechanism;Machine hand support includes support base, and each one support side frame of two sides of support base is arranged side by side;Machine hand main body includes the transverse linear drive element being equipped at the top of two support side frames, longitudinal linear drive element being equipped on transverse linear drive element, lifting linear drive element being equipped on longitudinal linear drive element, pick-and-place structure being equipped on lifting linear drive element;Mechanical hand calibration mechanism includes the camera vision calibration structure being equipped on support base, the vision calibration mark structure being equipped on the bottom of pick-and-place structure, and corresponding with camera vision calibration structure upper and lower cooperation.The utility model can solve the problem that traditional mechanical hand is prone to point deviation after long time cycle action, and then affect feeding accuracy, cause a large number of alarm, affect production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of flexible board production equipment technology, and in particular to a robotic arm with automatic deviation correction function. Background Technology

[0002] In the production process of circuit board products, testing is often required. To improve testing efficiency, automated gantry robots are typically used to load and unload test fixtures. However, in traditional technologies, automated gantry robots are prone to positional shifts after prolonged cyclical movements, affecting feeding accuracy, causing numerous alarms, and ultimately impacting production efficiency. Utility Model Content

[0003] This invention provides a robotic arm with automatic correction function, which can solve the technical problem that traditional robotic arms are prone to positional deviation after long-term cyclic operation, thus affecting the accuracy of material feeding, causing a large number of alarms, and affecting production efficiency.

[0004] To solve the above-mentioned technical problems, this utility model provides a robotic arm with automatic deviation correction function, comprising:

[0005] A robotic arm support includes a support base and two support side frames arranged side by side on both sides of the support base.

[0006] The main body of the robotic arm includes a transverse linear drive unit disposed on the top of the two side frames of the support brackets, a longitudinal linear drive unit connected to the transverse linear drive unit, a lifting linear drive unit and a vision positioning structure connected to the longitudinal linear drive unit, and a material handling structure disposed on the lifting linear drive unit, wherein the vision positioning structure is arranged side by side on the outer side of the material handling structure; and...

[0007] The robotic arm calibration mechanism includes a camera vision calibration structure mounted on the support base and a vision calibration mark structure mounted at the bottom of the material handling structure, wherein the vision calibration mark structure and the camera vision calibration structure are correspondingly matched.

[0008] Optionally, the material handling structure includes a material handling mounting base disposed on the lifting linear drive, a material handling adsorption plate disposed on the material handling mounting base, and a plurality of vacuum nozzles protruding from the bottom of the material handling adsorption plate.

[0009] The visual calibration mark structure includes a visual calibration mark block located at the bottom of the material pick-up and drop-off adsorption plate. The bottom surface of the visual calibration mark block is provided with a visual calibration pattern, which corresponds to and matches the camera visual calibration structure.

[0010] Optionally, the visual calibration pattern is recessed on the bottom surface of the visual calibration mark block, and the bottom surface of the visual calibration mark block is set to a black bottom surface or a white bottom surface, and the visual calibration pattern is set to a white pattern or a black pattern accordingly.

[0011] Optionally, at least one of the visual calibration marking blocks is provided at the bottom of the material pick-and-place adsorption plate;

[0012] The visual calibration pattern is set as a cross-shaped mark, a circular mark, or a rectangular mark.

[0013] Optionally, the visual calibration marker block is set as a rectangular block with a length of 5mm, a width of 5mm, and a thickness of 1.2mm;

[0014] The visual calibration pattern is set as a cross-shaped mark pattern, which has a length of 4mm, a width of 4mm, a cross edge length of 1mm, and a depth of 0.1mm.

[0015] Optionally, each of the material handling adsorption plates has two visual calibration marker blocks arranged side by side at its bottom, and each of the two visual calibration marker blocks has a cross-shaped marking pattern at its bottom; or,

[0016] Each of the material handling adsorption plates has three visual calibration marking blocks arranged side by side at its bottom. The bottom of the middle visual calibration marking block has a circular or rectangular marking pattern, and the bottom of the visual calibration marking blocks on both sides has a cross-shaped marking pattern.

[0017] Optionally, the visual calibration marker block is embedded in the bottom of the material handling adsorption plate, and the bottom surface of the visual calibration marker block is flush with the bottom surface of the material handling adsorption plate; or,

[0018] The visual calibration marking structure includes a marking block base embedded in the bottom of the material pick-and-place adsorption plate. The visual calibration marking block is embedded in the marking block base, and the bottom surface of the visual calibration marking block and the bottom surface of the marking block base are flush with the bottom surface of the material pick-and-place adsorption plate.

[0019] Optionally, the edge of the visual calibration marker block is provided with fastening screws.

[0020] Optionally, the main body of the robotic arm includes two lifting linear drive members arranged side by side on the longitudinal linear drive member, and one material picking and placing structure corresponding to each of the two lifting linear drive members;

[0021] The two material handling structures have their material handling adsorption plates arranged side by side, and each material handling adsorption plate is provided with at least one visual calibration mark block.

[0022] Optionally, the robotic arm body is provided in multiple ways, and the robotic arm calibration mechanism is provided in multiple ways corresponding to each other.

[0023] The beneficial effects of the technical solution provided by this utility model include:

[0024] By setting a visual calibration marker structure at the bottom of the material handling structure of the robot body and a camera visual calibration structure on the support base of the robot arm, the robot arm can move the material handling structure of the robot body above the camera visual calibration structure on the support base after long-term cyclical operation. The visual calibration marker structure at the bottom of the material handling structure, which cooperates with the camera visual calibration structure, can automatically calibrate and correct the position of the material handling structure, thereby adjusting and repairing the positional deviation of the material handling structure, ensuring the accuracy of material handling and placement, ensuring the accuracy of material feeding of the robot arm, avoiding alarms, and ensuring production efficiency. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a three-dimensional structural diagram of the robotic arm with automatic correction function described in an embodiment of the present invention. Figure 1 ;

[0027] Figure 2 This is a three-dimensional structural diagram of the robotic arm with automatic correction function described in an embodiment of the present invention. Figure 2 ;

[0028] Figure 3 This is a three-dimensional structural diagram of the robotic arm with automatic correction function described in an embodiment of the present invention. Figure 3 ;

[0029] Figure 4 This is a three-dimensional structural diagram of the main body of the robotic arm with automatic correction function as described in an embodiment of the present utility model;

[0030] Figure 5 This is a three-dimensional structural diagram of the material handling structure of the main body of the robot arm described in this embodiment of the utility model;

[0031] Figure 6 This is a three-dimensional structural diagram of the material handling adsorption plate and visual calibration mark structure of the main body of the robot arm described in this embodiment of the utility model.

[0032] Figure 7 This is a schematic diagram of the planar structure of the visual calibration mark structure described in an embodiment of the present invention;

[0033] Figure 8 This is a schematic diagram of the planar structure of the material picking and placing adsorption plate described in an embodiment of the present utility model;

[0034] Figure 9 This is a schematic diagram of the planar structure of the base block of the identifier block according to an embodiment of the present utility model.

[0035] In the diagram: 10. Robotic arm with automatic correction function; 100. Robotic arm support; 110. Support base; 112. Main base; 114. Calibration base; 120. Support side frame; 200. Robotic arm body; 210. Horizontal linear drive component; 212. First motor linear drive module; 214. Horizontal sliding base; 220. Vertical linear drive component; 222. Second motor linear drive module; 224. Vertical sliding base; 230. Lifting linear drive component; 232. Lifting mounting base; 234. Lifting drive cylinder; 240. Vision positioning structure. ; 242, Vision positioning frame; 244, Vision positioning camera module; 250, Material handling structure; 252, Material handling mounting base; 254, Material handling suction plate; 2542, Insertion slot; 2544, Material ejection hole; 2546, Threaded hole; 256, Vacuum nozzle; 300, Robotic arm calibration mechanism; 310, Camera vision calibration structure; 312, Calibration camera module; 314, Camera lens module; 320, Vision calibration marking structure; 322, Vision calibration marking block; 324, Vision calibration pattern; 326, Marking block base; 328, Fastening screw. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0037] like Figures 1 to 3 As shown, this utility model proposes a robotic arm 10 with automatic correction function, including a robotic arm support 100, a robotic arm body 200 disposed on the robotic arm support 100, and a robotic arm calibration mechanism 300 disposed on the robotic arm support 100 and the robotic arm body 200. After the robotic arm has been performing cyclical movements for a long time, the position of the robotic arm body 200 can be calibrated and corrected by the robotic arm calibration mechanism 300 to ensure the movement accuracy of the robotic arm.

[0038] Specifically, the robot arm support 100 may include a support base 110 and a support side frame 120 arranged side by side on both sides of the support base 110. Moreover, the robot arm body 200 may include a transverse linear drive 210 disposed on the top of the two support side frames 120, a longitudinal linear drive 220 connected to the transverse linear drive 210, a lifting linear drive 230 and a vision positioning structure 240 connected to the longitudinal linear drive 220, and a material handling structure 250 disposed on the lifting linear drive 230, with the vision positioning structure 240 arranged side by side on the outside of the material handling structure 250.

[0039] The transverse linear drive 210 drives the picking and placing structure 250 to move horizontally, the longitudinal linear drive 220 drives it to move horizontally, and the lifting linear drive 230 drives it to move vertically, facilitating the picking and placing structure 250's gripping and placing of materials. Furthermore, the transverse and longitudinal linear drive 210 can simultaneously move the vision positioning structure 240 horizontally, facilitating its visual detection and positioning of materials or other structural objects, and enabling the picking and placing structure 250 to accurately grip, place, and transfer materials.

[0040] Furthermore, such as Figures 2 to 4 As shown, the transverse linear drive 210 may include a first motor linear drive module 212 disposed on the top of one support side frame 120, and a transverse sliding base 214 connected to the first motor linear drive module 212 and slidably disposed on the other support side frame 120 (i.e., the transverse sliding base spans across the two support side frames 120); the longitudinal linear drive 220 may include a second motor linear drive module 222 disposed on the transverse sliding base 214, and a longitudinal sliding base 224 connected to the second motor linear drive module 222 and slidably disposed on the transverse sliding base 214, and the lifting linear drive 230 and the visual positioning structure 240 are both disposed on the longitudinal sliding base 224.

[0041] Furthermore, the lifting linear drive 230 may include a lifting mounting base 232 disposed on the longitudinal sliding base 224, and a lifting drive cylinder 234 disposed on the lifting mounting base 232, with the material handling structure 250 disposed on the lifting drive cylinder 234. The visual positioning structure 240 may include a visual positioning frame 242 disposed on the longitudinal sliding base 224, and a visual positioning camera module 244 disposed on the visual positioning frame 242, for visually positioning the material during the material handling process.

[0042] Moreover, such as Figures 2 to 5As shown, the robotic arm calibration mechanism 300 may include a camera vision calibration structure 310 disposed on the support base 110 and a vision calibration mark structure 320 disposed at the bottom of the material handling structure 250, with the vision calibration mark structure 320 corresponding to and cooperating with the camera vision calibration structure 310.

[0043] By setting a visual calibration mark structure 320 at the bottom of the material handling structure 250 of the robot body 200 and a camera visual calibration structure 310 on the support base 110 of the robot support 100, the robot can move the material handling structure 250 of the robot body 200 above the camera visual calibration structure 310 on the support base 110 after a long period of cyclical operation. Through the visual calibration mark structure 320 set at the bottom of the material handling structure 250 and cooperating with the camera visual calibration structure 310, the position of the material handling structure 250 can be automatically aligned and corrected, thereby adjusting and repairing the positional offset of the material handling structure 250, ensuring the accuracy of material handling and placement of the material handling structure 250, ensuring the accuracy of the robot's material supply, avoiding alarms, and ensuring production efficiency.

[0044] In addition, such as Figures 1 to 3 As shown, multiple robot arm bodies 200 can be provided, and multiple robot arm calibration mechanisms 300 can be provided one-to-one. Multiple robot arm bodies 200 can be set on the robot arm support 100, which can simultaneously grasp, place, and transport multiple materials; and by setting multiple robot arm calibration mechanisms 300, multiple robot arm bodies 200 can be calibrated one-to-one.

[0045] Alternatively, a robot body 200 can be mounted on the robot arm support 100, and a corresponding robot arm calibration mechanism 300 can be mounted on it. Furthermore, as needed, two or more robot bodies 200 can be mounted on the robot arm support 100, and two or more corresponding robot arm calibration mechanisms 300 can be mounted on them.

[0046] In this embodiment, two robot arms 200 can be arranged side by side on the robot arm support 100, and a robot arm calibration mechanism 300 is correspondingly arranged between each robot arm 200 and the robot arm support 100. Further, the support base 110 of the robot arm support 100 may include a main base 112 and a calibration base 114 recessed in the middle of the main base 112. Moreover, two support side frames 120 can be respectively arranged on both sides of the main base 112, and both robot arms 200 are slidably mounted on the two support side frames 120, with the material handling structures 250 of both robot arms 200 located above the calibration base 114. Two camera vision calibration structures 310 can be arranged side by side on the calibration base 114, corresponding one-to-one with the vision calibration marking structures 320 at the bottom of the material handling structures 250 of the two robot arms 200.

[0047] Furthermore, the camera vision calibration structure 310 may include a calibration camera module 312 disposed on the calibration base 114, and a camera lens module 314 protruding above the calibration camera module 312. The camera lens module 314 can be supported by a lens bracket disposed around the calibration camera module 312. Both the calibration camera module 312 and the camera lens module 314 are arranged facing upwards, corresponding vertically to the vision calibration mark structure 320 on the material handling structure 250 of the robot body 200. Moreover, the camera lens module 314 may protrude slightly beyond the top surface of the main base 112, or be flush with the top surface of the main base 112.

[0048] Moreover, such as Figures 3 to 5 As shown, the material handling structure 250 may include a material handling mounting base 252 mounted on the lifting linear drive component 230, a material handling adsorption plate 254 mounted on the material handling mounting base 252, and multiple vacuum nozzles 256 protruding from the bottom of the material handling adsorption plate 254. The material handling structure 250 can be configured as an adsorption structure with the material handling adsorption plate 254 and vacuum nozzles 256, capable of adsorbing and handling materials. Alternatively, multiple vacuum adsorption holes can be provided on the material handling adsorption plate 254, allowing the material to be adsorbed and handled by the material handling adsorption plate 254.

[0049] Moreover, such as Figures 5 to 7 As shown, the visual calibration mark structure 320 may include a visual calibration mark block 322 disposed at the bottom of the pick-and-place suction plate 254. The bottom surface of the visual calibration mark block 322 is provided with a visual calibration pattern 324, which corresponds vertically to the camera visual calibration structure 310. When it is necessary to calibrate the pick-and-place structure 250 of the robot body 200, the robot body 200 can move the pick-and-place structure 250 directly above the camera visual calibration structure 310, so that the visual calibration pattern 324 of the visual calibration mark block 322 on the pick-and-place structure 250 is vertically aligned with the camera visual calibration structure 310. The camera visual calibration structure 310 takes a picture of the visual calibration pattern 324 of the visual calibration mark block 322, and then the pick-and-place structure 250 is calibrated and corrected using an image calibration method.

[0050] Furthermore, the visual calibration pattern 324 can be recessed into the bottom surface of the visual calibration mark block 322, and the bottom surface of the visual calibration mark block 322 can be set to a black or white bottom surface, with the visual calibration pattern 324 correspondingly set to a white or black pattern. That is, when the bottom surface of the visual calibration mark block 322 is set to a black bottom surface, the visual calibration pattern 324 can be set to a white pattern; and when the bottom surface of the visual calibration mark block 322 is set to a white bottom surface, the visual calibration pattern 324 can be set to a black pattern. In this way, the color of the visual calibration pattern 324 can form a sharp contrast with the color of the bottom surface of the visual calibration mark block 322, making the two clearly distinguishable. This is more conducive to the camera module of the camera visual calibration structure 310 taking pictures to accurately identify the visual calibration pattern 324.

[0051] In this embodiment, the visual calibration mark block 322 can be an aluminum alloy block or other metal block. Furthermore, a recessed graphic pattern can be engraved and milled onto the bottom surface of the visual calibration mark block 322 using a CNC machine tool or other processing equipment to form a recessed visual calibration pattern 324. Moreover, the bottom surface of the visual calibration mark block 322 can be treated with black anodizing to make it black; while the visual calibration pattern 324 can be directly engraved and milled into a white pattern on the bottom surface of the aluminum alloy block, or formed into a white pattern using other methods (such as spray painting). By setting the bottom surface of the visual calibration mark block 322 to black and the visual calibration pattern 324 to white (such as silver-white), the boundaries of the visual calibration pattern 324 are clearly defined, making them easily distinguishable.

[0052] Furthermore, at least one visual calibration marker block 322 can be provided at the bottom of the material handling adsorption plate 254. This means that either one visual calibration marker block 322 with a visual calibration pattern 324 can be provided at the bottom of the material handling adsorption plate 254, or multiple visual calibration marker blocks 322 with visual calibration patterns 324 can be provided. During the detection and calibration process, one visual calibration marker block 322 can be used as the main detection and calibration block, while the others are used as redundancy; alternatively, multiple visual calibration marker blocks 322 can be detected simultaneously.

[0053] In this embodiment, two visual calibration marker blocks 322 can be arranged side by side at the bottom of the material handling adsorption plate 254, and the two visual calibration marker blocks 322 can be located outside the multiple vacuum nozzles 256 at the bottom of the material handling adsorption plate 254. Moreover, the material handling adsorption plate 254 can be a rectangular plate, and the two visual calibration marker blocks 322 can be arranged symmetrically about the width center line or length center line of the rectangular bottom surface of the rectangular plate. Furthermore, the two visual calibration marker blocks 322 can be located on the edge side of the rectangular bottom surface of the rectangular plate, while the multiple vacuum nozzles 256 can be located in the middle of the rectangular bottom surface of the rectangular plate.

[0054] Furthermore, the visual calibration marker block 322 is a rectangular block, and the visual calibration pattern 324 can be set on the rectangular surface of the rectangular block. The rectangular block can be 5mm long, 5mm wide, and 1.2mm thick. Moreover, the visual calibration pattern 324 can be a cross-shaped marker pattern, a circular marker pattern, or a rectangular marker pattern. The visual calibration pattern 324 can be set as a cross, a circle, or a rectangle, which is simple and convenient for the camera visual calibration structure 310 to recognize.

[0055] In this embodiment, the visual calibration pattern 324 on the visual calibration mark block 322 can be set as a cross-shaped mark pattern. Moreover, when the visual calibration pattern 324 is set as a cross-shaped mark pattern, the length of the cross-shaped mark pattern is 4mm, the width is 4mm, the length of the cross edge is 1mm, and the depth is 0.1mm.

[0056] Moreover, such as Figures 1 to 3 As shown, the robot body 200 includes two lifting linear drive units 230 arranged side-by-side on the longitudinal linear drive unit 220, and a material handling structure 250 corresponding to each of the two lifting linear drive units 230. The robot body 200 can have two material handling structures 250 arranged side-by-side, allowing for simultaneous handling of one or two materials, or handling of two materials separately. Furthermore, the material handling suction plates 254 of the two material handling structures 250 are arranged side-by-side, and each suction plate 254 is provided with at least one visual calibration marker block 322. Through the visual calibration marker block 322 provided on each suction plate 254, each material handling structure 250 can be calibrated separately in conjunction with the camera visual calibration structure 310.

[0057] In this embodiment, as Figures 4 to 5 As shown, each material handling adsorption plate 254 may have two visual calibration mark blocks 322 arranged side by side at its bottom, and each visual calibration mark block 322 may have a cross-shaped mark pattern at its bottom. This allows for the placement of two visual calibration mark blocks 322 with cross-shaped mark patterns on each material handling adsorption plate 254, facilitating calibration of the material handling adsorption plate 254 and the material handling structure 250 via the camera visual calibration structure 310.

[0058] In addition, in some embodiments, two visual calibration marker blocks 322 may be arranged side by side at the bottom of each material handling adsorption plate 254. Each visual calibration marker block 322 may have a circular marker pattern or a rectangular marker pattern at its bottom. This allows for the placement of two visual calibration marker blocks 322 with circular or rectangular marker patterns on each material handling adsorption plate 254, facilitating calibration of the material handling adsorption plate 254 and the material handling structure 250 via the camera visual calibration structure 310.

[0059] In addition, in some other embodiments, three visual calibration mark blocks 322 are arranged side by side at the bottom of each material pick-up and drop-off adsorption plate 254. The bottom of the middle visual calibration mark block 322 is provided with a circular mark pattern, and the bottom of the visual calibration mark blocks 322 on both sides is provided with a cross-shaped mark pattern or a rectangular mark pattern; or, three visual calibration mark blocks 322 are arranged side by side at the bottom of each material pick-up and drop-off adsorption plate 254. The bottom of the middle visual calibration mark block 322 is provided with a cross-shaped mark pattern or a rectangular mark pattern, and the bottom of the visual calibration mark blocks 322 on both sides is provided with a circular mark pattern.

[0060] Alternatively, each material handling adsorption plate 254 may have two visual calibration marker blocks 322 arranged side-by-side at its bottom. One visual calibration marker block 322 may have a cross-shaped circular marker pattern at its bottom, while the other visual calibration marker block 322 may have a circular marker pattern or a rectangular marker pattern at its bottom. This allows each material handling adsorption plate 254 to simultaneously have both a visual calibration marker block 322 with a circular marker pattern and a visual calibration marker block 322 with a cross-shaped marker pattern.

[0061] Moreover, such as Figures 5 to 7 As shown, in some embodiments, the visual calibration marker block 322 can be embedded in the bottom of the material handling adsorption plate 254, with the bottom surface of the visual calibration marker block 322 flush with the bottom surface of the material handling adsorption plate 254. This allows the visual calibration marker block 322 to be embedded in the bottom of the material handling adsorption plate 254 for easy assembly and disassembly; moreover, it ensures that the bottom surface of the visual calibration marker block 322 is flush with the bottom surface of the material handling adsorption plate 254, without affecting the visual calibration pattern 324 on the bottom surface of the visual calibration marker block 322 for image recognition.

[0062] Furthermore, a rectangular mounting groove 2542 can be provided on the bottom surface of the material handling adsorption plate 254, corresponding to the shape of the rectangular visual calibration mark block 322. The length, width, and depth of the mounting groove 2542 are set to correspond one-to-one with the length, width, and thickness of the visual calibration mark block 322, so as to facilitate the embedding of the visual calibration mark block 322 into the mounting groove 2542.

[0063] Furthermore, the edges of the visual calibration marker block 322 may be equipped with fastening screws 328. Specifically, a threaded hole 2546 may be provided around each of the four sides of the rectangular mounting slot 2542, and a fastening screw 328 may be provided at each of one or two pairs of diagonally opposite threaded holes. The edges of the fastening screws 328 can be used to fix the corners of the visual calibration marker block 322, preventing the visual calibration marker block 322 from falling off. In addition, a material ejection hole 2544 may be provided through the center of the mounting slot 2542 of the material pick-up and drop suction plate 254, so that the material ejection hole corresponds to the center of the visual calibration marker block 322, making it easy to disassemble the visual calibration marker block 322 through the material ejection hole 2544.

[0064] Furthermore, such as Figures 8 to 9 As shown, the visual calibration label structure 320 may further include a label base block 326 embedded in the bottom of the material handling adsorption plate 254. The visual calibration label block 322 may be embedded in the label base block 326, and the bottom surface of both the visual calibration label block 322 and the bottom surface of the label base block 326 are flush with the bottom surface of the material handling adsorption plate 254. That is, the visual calibration label block 322 can be directly embedded in the bottom of the material handling adsorption plate 254, or it can be embedded in the label base block 326 first, and then the label base block 326 can be embedded in the material handling adsorption plate 254.

[0065] The robotic arm 10 with automatic correction function proposed in this utility model reduces problems such as product scratches and vacuum suction alarms caused by precision deviation of the robotic arm body 200 through visual automatic correction calibration, significantly improving production speed, reducing operation time, and thus increasing output; automatic visual correction calibration can reduce human intervention, ensure a more continuous and stable production process, and avoid production interruptions caused by human factors; automatic visual correction calibration can reduce human error, thereby improving production quality.

[0066] It should be noted that in this invention, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0067] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features of the present invention.

Claims

1. A robotic arm with automatic deviation correction function, characterized in that, include: A robotic arm support includes a support base and two support side frames arranged side by side on both sides of the support base. The main body of the robotic arm includes a transverse linear drive unit disposed on the top of the two side frames of the support, a longitudinal linear drive unit connected to the transverse linear drive unit, a lifting linear drive unit and a vision positioning structure connected to the longitudinal linear drive unit, and a material picking and placing structure disposed on the lifting linear drive unit, wherein the vision positioning structure is disposed side by side on the outside of the material picking and placing structure. as well as, The robotic arm calibration mechanism includes a camera vision calibration structure mounted on the support base and a vision calibration mark structure mounted at the bottom of the material handling structure, wherein the vision calibration mark structure and the camera vision calibration structure are correspondingly matched.

2. The robot with automatic deviation correction function according to claim 1, wherein, The material handling structure includes a material handling mounting base on the lifting linear drive, a material handling adsorption plate on the material handling mounting base, and a plurality of vacuum nozzles protruding from the bottom of the material handling adsorption plate. The visual calibration mark structure includes a visual calibration mark block located at the bottom of the material pick-up and drop-off adsorption plate. The bottom surface of the visual calibration mark block is provided with a visual calibration pattern, which corresponds to and matches the camera visual calibration structure.

3. The robotic arm with automatic deviation correction function according to claim 2, characterized in that, The visual calibration pattern is recessed on the bottom surface of the visual calibration mark block, and the bottom surface of the visual calibration mark block is set to a black bottom surface or a white bottom surface, and the visual calibration pattern is set to a white pattern or a black pattern accordingly.

4. The robotic arm with automatic deviation correction function according to claim 3, characterized in that, At least one visual calibration mark block is provided at the bottom of the material pick-and-place adsorption plate; The visual calibration pattern is set as a cross-shaped mark, a circular mark, or a rectangular mark.

5. The robotic arm with automatic deviation correction function according to claim 3, characterized in that, The visual calibration marker block is set as a rectangular block with a length of 5mm, a width of 5mm, and a thickness of 1.2mm; The visual calibration pattern is set as a cross-shaped mark pattern, which has a length of 4mm, a width of 4mm, a cross edge length of 1mm, and a depth of 0.1mm.

6. The robotic arm with automatic correction function according to any one of claims 2-5, characterized in that, Each of the aforementioned material handling and dispensing adsorption plates has two visual calibration marker blocks arranged side by side at its bottom, and each of the two visual calibration marker blocks has a cross-shaped marking pattern at its bottom; or, Each of the material handling adsorption plates has three visual calibration marking blocks arranged side by side at its bottom. The bottom of the middle visual calibration marking block has a circular or rectangular marking pattern, and the bottom of the visual calibration marking blocks on both sides has a cross-shaped marking pattern.

7. The robotic arm with automatic deviation correction function according to any one of claims 2-5, characterized in that, The visual calibration marker block is embedded in the bottom of the material handling adsorption plate, and the bottom surface of the visual calibration marker block is flush with the bottom surface of the material handling adsorption plate; or, The visual calibration marking structure includes a marking block base embedded in the bottom of the material pick-and-place adsorption plate. The visual calibration marking block is embedded in the marking block base, and the bottom surface of the visual calibration marking block and the bottom surface of the marking block base are flush with the bottom surface of the material pick-and-place adsorption plate.

8. The robotic arm with automatic deviation correction function according to claim 7, characterized in that, The edge of the visual calibration mark block is equipped with fastening screws.

9. The robotic arm with automatic deviation correction function according to any one of claims 2-5, characterized in that, The main body of the robotic arm includes two lifting linear drive components arranged side by side on the longitudinal linear drive component, and one material picking and placing structure corresponding to each of the two lifting linear drive components; The two material handling structures have their material handling adsorption plates arranged side by side, and each material handling adsorption plate is provided with at least one visual calibration mark block.

10. The robotic arm with automatic correction function according to any one of claims 1-5, characterized in that, The robotic arm body is provided in multiple ways, and the robotic arm calibration mechanism is provided in multiple ways corresponding to each other.

Images