CN119681937B - Industrial vision robot - Google Patents

Abstract

The invention relates to the technical field of robots, in particular to an industrial vision robot, which comprises a mechanical module, a vision module and a motion control module, wherein the mechanical module comprises an end execution unit, the end execution unit is movably arranged on a door-shaped frame at the tail end of a mechanical arm unit, connecting columns are fixedly connected to the inner walls of two sides of the door-shaped frame respectively, clamping claw discs are connected to the connecting columns, three groups of clamping claws are arranged on the clamping claw discs, the three groups of clamping claws are distributed in a circular array by taking the centers of the clamping claw discs as axes, the three groups of clamping claws on two sides grasp and fix a target object through extension, the spherical object is tightly clamped under the simultaneous action of the three groups of clamping claws on two sides, the fixed clamping of the spherical object can be realized under the condition of a certain error, the clamping position of the spherical object is automatically adjusted, and under the acting force of the three clamping claws, the center of the spherical object is positioned on the connecting line of the centers of the three groups of clamping claws on two sides, and the spherical object can be accurately placed.

Description

Industrial vision robot

Technical Field

The invention relates to the technical field of robots, in particular to an industrial vision robot.

Background

The industrial robot is a multi-degree-of-freedom mechanical tool widely applied to the industrial field, can realize the actions of grabbing, carrying and the like, greatly reduces the personnel cost of factories and improves the working efficiency. Along with the complicating of application scene, traditional fixed-point type robot can not satisfy the requirement, so vision robot is consequently generated, mainly through image acquisition, analysis work piece's characteristic and motion track to realize accurate snatch complicated processes such as screening.

The China patent number 202311137588.0 provides a 3D vision industrial robot, and the pick-up assembly is used for picking up pictures through the vision module after being lifted up, so that the condition that the pictures are picked up and are blurred due to too fast moving speed of the conveyor belt can be avoided, the parameter requirements on a camera part in the vision module are reduced, and the grabbing accuracy is ensured.

The present inventors have found that the prior art has at least the following problems:

the clamping assembly is used for grabbing workpieces in a shoveling mode, when the clamping assembly is applied to some spherical workpieces, the spherical workpieces can move on the clamping assembly, workpiece clamping is not tight or is separated easily, and grabbing success rate is reduced.

Disclosure of Invention

In view of the above, the present invention aims to provide an industrial vision robot to solve the problem of low success rate of grabbing a spherical workpiece in the prior art.

Based on the above object, the invention provides an industrial vision robot, which comprises a mechanical module, a mechanical arm unit, an end execution unit and a working task, wherein the mechanical module is used for providing a support and a movement basis for the whole robot, the mechanical arm unit is used for supporting the robot to move in a three-dimensional space, the end execution unit is used for directly contacting with a target object and completing the working task, and the industrial vision robot further comprises:

The system comprises a mechanical module, a visual module, an image processing unit, a communication unit and a communication unit, wherein the mechanical module is used for acquiring image information and controlling the movement of the mechanical module;

The system comprises a mechanical module, a motion control module, a position sensor, a communication unit, a control module and a control module, wherein the mechanical module is used for controlling the motion of the mechanical module;

The tail end execution unit comprises a gate-shaped frame movably mounted at the tail end of the mechanical arm unit, connecting columns are fixedly connected to the inner walls of two sides of the gate-shaped frame respectively, the connecting columns are connected with clamping jaw discs, three groups of clamping jaws are arranged on the clamping jaw discs and distributed in a circular array by taking the center of the clamping jaw discs as an axis, and the three groups of clamping jaws on two sides grasp and fix a target object through extension.

Optionally, install the fixed axle on the inner wall of door type frame both sides respectively, rotatable cover is equipped with rotatory cover on the fixed axle, fixedly connected with arc between two sets of rotatory covers, and the arc inboard is provided with the guide rail, and the image acquisition car is installed to the adaptation on the guide rail, and the image acquisition car can be along the guide rail removal for carry out multi-angle image acquisition to the target article of terminal execution unit centre gripping, install driven gear on one of them rotatory cover, driven gear meshing is connected with drive gear, and drive gear power is connected with the motor.

Optionally, the connecting column is fixedly arranged at the end part of the fixed shaft, the arc-shaped plate is a major arc, a avoidance gap for avoiding the connecting column is formed in the guide rail, a camera is formed in the clamping claw disc and used for image acquisition of a target object by the image acquisition vehicle, the image acquisition vehicle at least comprises an initial position, a first position, a second position, a third position and a fourth position, when the image acquisition vehicle is in the initial position, the image acquisition vehicle is positioned in the middle of the arc-shaped plate, the opening of the arc-shaped plate faces the feeding direction, the arc-shaped plate rotates upwards by 45 degrees, when the image acquisition vehicle is positioned in the first position and the fourth position, the image acquisition vehicle is positioned at the fixed shafts on two sides respectively, when the image acquisition vehicle is positioned in the second position, the opening of the arc-shaped plate is downward, and when the image acquisition vehicle is positioned in the third position, the image acquisition vehicle is positioned in the middle of the arc-shaped plate, and the opening of the arc-shaped plate is upward.

Optionally, the image acquisition car includes the automobile body, and the automobile body bottom is equipped with four at least wheels, and the wheel card is located in the gap between arc and the guide rail, fixedly mounted with camera on the automobile body.

Optionally, the gripper jaw includes the installation cover of fixed mounting on the gripper jaw dish, and the installation cover is inside to be equipped with the holding chamber, and the holding intracavity portion is equipped with a plurality of electromagnet rings, and electromagnetic matrix is constituteed to a plurality of electromagnet rings, the inside movable mounting of electromagnet ring has the ejector pin, and the end connection of ejector pin has the adsorption ring for cooperate with electromagnetic matrix, the contact head is installed to the other end of ejector pin for detect contact pressure.

Optionally, the inside fixed core that is equipped with of installation cover, set up the movable groove on the fixed core, the flexible installation friction strip in the movable groove, the movable groove bottom is equipped with the electromagnetic block, and the electromagnetic block is established ties with electromagnetic matrix, connects in parallel between a plurality of electromagnetic rings in the electromagnetic matrix, set up on ejector pin and the absorption ring with friction strip matched with friction groove, contact head and electromagnetic matrix and electromagnetic block electric connection.

Optionally, a distance meter is arranged in the mounting sleeve, the distance meter is used for detecting the position of the ejector rod, so that the position coordinates of the contact heads are determined, and the controller calculates the spherical center coordinates of the spherical target object according to the position coordinates of the contact heads on the ejector rod, and generates a movement command according to the spherical center coordinates, so that the driver places the target object at the command position.

Optionally, the fixed mounting of installation cover tip has the spacing ring, installs the stopper on the spacing ring, offered the spacing groove on the ejector pin, the stopper cooperatees with the spacing groove, avoids the ejector pin to deviate from in the installation cover.

Optionally, the fixed core and the friction strip are made of a ferromagnetic shielding material.

Optionally, the arm unit includes the base, installs the revolving stage on the base, installs the arm on the revolving stage, and arm end-to-end connection has the linking arm, installs driving motor on the linking arm, and driving motor passes through drive shaft and AND gate type frame fixed connection.

The invention has the beneficial effects that the invention provides the industrial vision robot, the acquired image is processed and analyzed through the image processing unit, the target object is selected, the movement track of the target object is predicted, the vision control unit sends a movement instruction to the movement control module according to the selected target object and the predicted movement track, the movement control module converts the movement instruction into control signals for all joint motors on the mechanical module according to the received instruction, the mechanical module is controlled to move rapidly, the end execution unit moves to the grabbing position to grab the target object, when the end execution unit grabs, the three groups of clamping claws on two sides simultaneously extend, under the simultaneous action of the three groups of clamping claws on two sides, the spherical target object is tightly clamped, the fixed clamping of the spherical object can be realized under the condition of a certain error, the clamping position of the spherical object is automatically adjusted, and under the acting force of the three clamping claws, the spherical center of the spherical object is positioned on the connecting line of the centers of the three groups of the clamping claws on two sides, so that the spherical object can be accurately placed when placed.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only of the invention and that other drawings can be obtained from them without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a system architecture of an industrial vision robot according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a mechanical module of an industrial vision robot according to an embodiment of the present invention;

FIG. 3 is a schematic diagram showing an industrial vision robot according to an embodiment of the present invention;

FIG. 4 is a schematic view of a first position of an industrial vision robot according to an embodiment of the present invention;

FIG. 5 is a schematic view of a second position of an industrial vision robot according to an embodiment of the present invention;

FIG. 6 is a schematic view of a third position of an industrial vision robot according to an embodiment of the present invention;

FIG. 7 is a schematic view of a fourth position of an industrial vision robot according to an embodiment of the present disclosure;

Fig. 8 is a schematic diagram of an internal structure of a gripper of an industrial vision robot according to an embodiment of the present invention.

Marked in the figure as:

101. Base, 102, rotary table, 103, mechanical arm, 104, connecting arm, 105, driving motor, 1301, door type frame, 1302, connecting post, 1303, clamping jaw disk, 1304, camera port, 1305, clamping jaw, 1, arc plate, 2202, driving gear, 2203, driven gear, 2204, fixed shaft, 2205, rotary sleeve, 2206, limiting plate, 2207, image acquisition vehicle, 2208, guide rail, 2209, avoidance gap, 2271, vehicle body, 2272, wheels, 2273, camera, 1351, mounting sleeve, 1352, electromagnet ring, 1353, fixed core, 1354, electromagnet block, 1355, movable groove, 1356, friction bar, 1357, ejector pin, 1358, contact head, 1359, limiting groove, 1360, limiting ring, 1361, limiting block, 1362, adsorption ring, 1363, friction groove.

Detailed Description

The present invention will be further described in detail with reference to specific embodiments in order to make the objects, technical solutions and advantages of the present invention more apparent.

It is to be noted that unless otherwise defined, technical or scientific terms used herein should be taken in a general sense as understood by one of ordinary skill in the art to which the present invention belongs. The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.

As shown in fig. 1 to 8, an embodiment of the present invention provides an industrial vision robot including a machine module 11 for providing a basis for supporting and moving the entire robot, including a robot arm unit 12 for supporting the robot to move in a three-dimensional space, an end effector unit 13 for directly contacting with a target object and completing a task, and further including:

The system comprises a vision module 21, an image processing unit 23, a vision control unit 24, a communication unit 25 and a control unit, wherein the vision module 21 is used for acquiring image information and controlling the movement of the mechanical module 11, the image processing unit 23 is used for processing and analyzing the acquired image, the vision control unit 24 is used for providing guidance for the movement control of the mechanical module 11 according to the result of image processing and sending movement instructions, and the communication unit 25 is used for communicating with other modules;

The motion control module 31 is used for controlling the motion of the mechanical module 11, and comprises a controller 32, a driver 33, a position sensor 34, a communication unit 35 and a control unit, wherein the controller 32 is used for receiving a motion instruction from the vision module 21 and converting the motion instruction into a control signal for each joint motor of the mechanical module 11;

The end execution unit 13 comprises a gate-shaped frame 1301 movably mounted at the end of the mechanical arm unit 12, connecting columns 1302 are fixedly connected to the inner walls of two sides of the gate-shaped frame 1301 respectively, the connecting columns 1302 are connected with a gripper disc 1303, three groups of gripper arms 1305 are arranged on the gripper disc 1303, the three groups of gripper arms 1305 are distributed in a circular array with the center of the gripper disc 1303 as an axis, and the three groups of gripper arms 1305 on two sides grasp and fix a target object through extension.

When the object is grabbed, the image acquisition unit 22 acquires an image of the object on the conveyor belt, the image processing unit 23 processes and analyzes the acquired image, the object is selected, the motion track of the object is predicted, the visual control unit 24 sends a motion instruction to the motion control module 31 according to the selected object and the predicted motion track, the motion control module 31 converts the motion instruction into control signals for all joint motors on the mechanical module 11 according to the received instruction, the mechanical module 11 is controlled to rapidly move so that the end execution unit 13 moves to a grabbing position to grab the object, when the end execution unit 13 grabs the object, the three groups of clamping claws 1305 on two sides simultaneously extend, the spherical object is tightly clamped under the simultaneous action of the three groups of clamping claws 1305 on two sides, the fixed clamping of the spherical object can be realized under the condition of a certain error, the clamping position of the spherical object is automatically adjusted, and under the acting force of the three clamping claws 1305, the sphere center of the spherical object is positioned on the connecting line of the centers of the three groups of the clamping claws 1305 on two sides, so that the spherical object can be accurately placed when placed.

In some alternative embodiments, as shown in fig. 2-8, fixed shafts 2204 are respectively mounted on the inner walls of two sides of the door-shaped frame 1301, rotating sleeves 2205 are rotatably sleeved on the fixed shafts 2204, arc plates 2201 are fixedly connected between the two groups of rotating sleeves 2205, guide rails 2208 are arranged on the inner sides of the arc plates 2201, an image acquisition vehicle 2207 is adaptively mounted on the guide rails 2208, the image acquisition vehicle 2207 can move along the guide rails 2208 and is used for performing multi-angle image acquisition on a target object clamped by the end execution units 13, driven gears 2203 are mounted on one rotating sleeve 2205, the driven gears 2203 are meshed with driving gears 2202, the driving gears 2202 are in power connection with motors, and limiting plates 2206 are respectively mounted on two ends of each arc plate 2201. After the spherical target object is clamped, the driven gear 2203 is driven to rotate through the driving gear 2202, so that the arc plate 2201 is driven to rotate, the image acquisition is carried out on a plurality of angles of the target object in cooperation with the movement of the image acquisition vehicle 2207, and therefore omnibearing flaw detection and appearance detection are achieved.

In some alternative embodiments, as shown in fig. 2-8, the connecting column 1302 is fixedly mounted at the end of the fixed shaft 2204, the arc 2201 is a major arc, the guide rail 2208 is provided with a avoiding notch 2209 for avoiding the connecting column 1302, the gripper disc 1303 is provided with a camera opening 1304 for capturing images of a target object by the image capturing truck 2207, the image capturing truck 2207 at least has an initial position, a first position, a second position, a third position and a fourth position, when the image capturing truck 2207 is in the initial position, the image capturing truck 2207 is positioned in the middle of the arc 2201, the opening of the arc 2201 faces the incoming material direction, the arc 2201 rotates upwards by 45 degrees, when the image capturing truck 2207 is in the first position and the fourth position, the image capturing truck 2207 is positioned at the fixed shaft 2204 on two sides, when the image capturing truck 2207 is in the second position, the image capturing truck 2207 is positioned in the middle of the arc 2201, when the image capturing truck 2207 is positioned in the third position, the image capturing truck 2207 is positioned in the middle of the arc 2201, and when the image capturing truck 2207 is positioned in the middle of the arc 2201. When the initial position, image acquisition car 2207 overlooks towards the incoming material direction, conveniently carries out long shot, after accomplishing the centre gripping afterwards, carries out multi-angle figure collection respectively in first position, second position, third position and fourth position, realizes the omnidirectional image detection to target article, promotes and detects the precision.

In some alternative embodiments, as shown in fig. 6, the image capturing vehicle 2207 includes a vehicle body 2271, at least four wheels 2272 are disposed at the bottom of the vehicle body 2271, the wheels 2272 are clamped in a gap between the arc 2201 and the guide rail 2208, and a camera 2273 is fixedly mounted on the vehicle body 2271. The vehicle body 2271 is driven to move by the wheels 2272, and the wheels 2272 are clamped in the gap between the arc 2201 and the guide rail 2208 to ensure no derailment.

In some alternative embodiments, as shown in fig. 8, the gripper claw 1305 includes a mounting sleeve 1351 fixedly mounted on the gripper claw disc 1303, a receiving cavity is disposed inside the mounting sleeve 1351, a plurality of electromagnet rings 1352 are disposed inside the receiving cavity, the plurality of electromagnet rings 1352 form an electromagnetic matrix, a mandrel 1357 is movably mounted inside the electromagnet rings 1352, an adsorption ring 1362 is connected to an end of the mandrel 1357 and is used for being matched with the electromagnetic matrix, and a contact head 1358 is mounted at the other end of the mandrel 1357 and is used for detecting contact pressure. In use, one of the electromagnet rings 1352 is energized via the electromagnetic matrix so that it guides the suction ring 1362 until sufficient pressure is detected by the contact head 1358.

In some alternative embodiments, as shown in fig. 8, a fixed core 1353 is provided inside the mounting sleeve 1351, a movable groove 1355 is provided on the fixed core 1353, a friction strip 1356 is elastically mounted in the movable groove 1355, an electromagnetic block 1354 is provided at the bottom of the movable groove 1355, the electromagnetic block 1354 is connected in series with the electromagnetic matrix, a plurality of electromagnetic rings 1352 in the electromagnetic matrix are connected in parallel, friction grooves 1363 matched with the friction strip 1356 are provided on the ejector rod 1357 and the adsorption ring 1362, and the contact head 1358 is electrically connected with the electromagnetic matrix and the electromagnetic block 1354. In use, the electromagnetic matrix is connected in series with the electromagnetic block 1354 and is electrified, the friction strips 1356 are adsorbed to the movable groove 1355, the plurality of electromagnetic rings 1352 in the electromagnetic matrix are electrified one by one, so that the ejector rod 1357 moves, when the contact head 1358 contacts with a target object and reaches a pressure threshold value, the power is cut off, the friction strips 1356 are ejected, the position of the ejector rod 1357 is fixed, when the object which cannot be subjected to larger pressure is clamped, the contact pressure threshold value can be changed, light clamping of the target object is realized, and the clamping position of the target object is not calibrated.

In some alternative embodiments, as shown in fig. 1 to 8, a distance meter is disposed inside the mounting sleeve 1351, the distance meter is used for detecting the positions of the ejector pins 1357, so as to determine the position coordinates of the contact heads 1358, and the controller 32 calculates the coordinates of the center of sphere of the spherical target object according to the position coordinates of the contact heads 1358 on the 6 ejector pins 1357, and generates a motion command according to the coordinates of the center of sphere, so that the driver 33 places the target object in a precise position.

In some alternative embodiments, as shown in fig. 8, a stop collar 1360 is fixedly installed at the end of the mounting sleeve 1351, a stop block 1361 is installed on the stop collar 1360, a stop groove 1359 is formed on the top rod 1357, and the stop block 1361 is matched with the stop groove 1359 to prevent the top rod 1357 from being separated from the mounting sleeve 1351.

In some alternative embodiments, as shown in fig. 8, the stationary core 1353 and the friction strip 1356 are made of a ferromagnetic shielding material.

In some alternative embodiments, as shown in fig. 1 and 2, the mechanical arm unit 12 includes a base 101, a rotary table 102 is mounted on the base 101, a mechanical arm 103 is mounted on the rotary table 102, a connecting arm 104 is connected to an end of the mechanical arm 103, and a driving motor 105 is mounted on the connecting arm 104, where the driving motor 105 is fixedly connected to the door-type frame 1301 through a driving shaft.

The invention has the working principle that when the object is grabbed, the image acquisition unit 22 acquires the image of the object on the conveying belt, the image processing unit 23 processes and analyzes the acquired image, the object is selected, the motion track of the object is predicted, the vision control unit 24 sends a motion instruction to the motion control module 31 according to the selected object and the predicted motion track, the motion control module 31 converts the motion instruction into a control signal for each joint motor on the mechanical module 11 according to the received instruction, the mechanical module 11 is controlled to quickly move the end execution unit 13 to the grabbing position, when the end execution unit 13 grabs the object, the three groups of clamping claws 1305 on the two sides simultaneously extend, under the simultaneous action of the three groups of clamping claws 1305 on the two sides, the spherical object is tightly clamped, the fixed clamping of the spherical object can be realized under the condition of certain error, the clamping position of the spherical object is automatically adjusted, the sphere center of the spherical object is positioned on the connecting line of the centers of the three groups of clamping claws on the two sides under the acting force of the three clamping claws 1305, and accordingly the spherical object can be placed accurately.

When an object which cannot be pressed by heavy pressure is clamped, the electromagnetic matrix is connected with the electromagnetic block 1354 in series and electrified, the friction strips 1356 are adsorbed into the movable groove 1355, the plurality of electromagnetic rings 1352 in the electromagnetic matrix are electrified one by one, so that the ejector rod 1357 moves, when the contact head 1358 contacts with the object and reaches the pressure threshold value, the power is cut off, the friction strips 1356 are made to pop out, the position of the ejector rod 1357 is fixed, and when the object which cannot be pressed by large pressure is clamped, the contact pressure threshold value can be changed, light clamping of the object is realized, and the clamping position of the object is not calibrated.

It will be appreciated by persons skilled in the art that the foregoing discussion of any embodiment is merely exemplary and is not intended to imply that the scope of the invention (including the claims) is limited to these examples, that combinations of technical features in the foregoing embodiments or in different embodiments may be implemented in any order and that many other variations of the different aspects of the invention as described above may exist within the spirit of the invention, and that they are not provided in detail for clarity.

The present invention is intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Therefore, any omission, modification, equivalent replacement, improvement, etc. of the present invention should be included in the scope of the present invention.

Claims (7)

1. An industrial vision robot comprising a mechanical module (11) for providing a basis for support and movement of the whole robot, comprising a robot arm unit (12) for supporting the robot to move in three dimensions, an end effector unit (13) for direct contact with a target object and for performing a work task, characterized in that the industrial vision robot further comprises:

the system comprises a vision module (21) for acquiring image information and controlling the movement of a mechanical module (11), an image acquisition unit (22) for acquiring the image information of a target object, an image processing unit (23) for processing and analyzing the acquired image, a vision control unit (24) for providing guidance for the movement control of the mechanical module (11) according to the result of image processing and sending a movement instruction, and a communication unit (25) for communicating with other modules;

The end execution unit (13) comprises a gate-shaped frame (1301) movably arranged at the tail end of the mechanical arm unit (12), connecting columns (1302) are fixedly connected to the inner walls of two sides of the gate-shaped frame (1301) respectively, the connecting columns (1302) are connected with a clamping jaw disc (1303), three groups of clamping jaws (1305) are arranged on the clamping jaw disc (1303), the three groups of clamping jaws (1305) are distributed in a circular array with the center of the clamping jaw disc (1303) as an axis, and the three groups of clamping jaws (1305) on two sides grasp and fix a target object through extension;

The clamping claw (1305) comprises a mounting sleeve (1351) fixedly mounted on a clamping claw disc (1303), a containing cavity is formed in the mounting sleeve (1351), a plurality of electromagnet rings (1352) are arranged in the containing cavity, an electromagnet matrix is formed by the electromagnet rings (1352), a push rod (1357) is movably mounted in the electromagnet rings (1352), an adsorption ring (1362) is connected to the end part of the push rod (1357) and is used for being matched with the electromagnet matrix, and a contact head (1358) is mounted at the other end of the push rod (1357) and used for detecting contact pressure;

The mounting sleeve (1351) is internally provided with a fixed core (1353), the fixed core (1353) is provided with a movable groove (1355), a friction strip (1356) is elastically arranged in the movable groove (1355), the bottom of the movable groove (1355) is provided with an electromagnetic block (1354), the electromagnetic block (1354) is connected with an electromagnetic matrix in series, a plurality of electromagnetic rings (1352) in the electromagnetic matrix are connected in parallel, the ejector rod (1357) and the adsorption ring (1362) are provided with friction grooves (1363) matched with the friction strip (1356), and the contact head (1358) is electrically connected with the electromagnetic matrix and the electromagnetic block (1354);

A distance meter is arranged in the mounting sleeve (1351), the distance meter is used for detecting the positions of the ejector rods (1357) so as to determine the position coordinates of the contact heads (1358), the controller (32) calculates the spherical center coordinates of the spherical target object according to the position coordinates of the contact heads (1358) on the 6 ejector rods (1357), and a motion instruction is generated according to the spherical center coordinates, so that the driver (33) places the target object at the instruction position;

the utility model discloses a post-tensioning device for the elevator is characterized in that a limiting ring (1360) is fixedly arranged at the end part of a mounting sleeve (1351), a limiting block (1361) is arranged on the limiting ring (1360), a limiting groove (1359) is formed in a post rod (1357), the limiting block (1361) is matched with the limiting groove (1359), and the post rod (1357) is prevented from falling out of the mounting sleeve (1351).

2. An industrial vision robot according to claim 1, wherein the inner walls of the two sides of the door-shaped frame (1301) are respectively provided with a fixed shaft (2204), the fixed shafts (2204) are rotatably sleeved with rotating sleeves (2205), an arc plate (2201) is fixedly connected between the two groups of rotating sleeves (2205), a guide rail (2208) is arranged on the inner side of the arc plate (2201), an image acquisition vehicle (2207) is adaptively arranged on the guide rail (2208), the image acquisition vehicle (2207) can move along the guide rail (2208) and is used for performing multi-angle image acquisition on a target object clamped by the end execution unit (13), one rotating sleeve (2205) is provided with a driven gear (2203), the driven gear (2203) is in meshed connection with a driving gear (2202), and the driving gear (2202) is in power connection with a motor.

3. The industrial vision robot of claim 2, wherein the connecting column (1302) is fixedly mounted at the end of the fixed shaft (2204), the arc (2201) is a major arc, the guide rail (2208) is provided with a avoiding notch (2209) for avoiding the connecting column (1302), the clamping claw disc (1303) is provided with a camera opening (1304) for image acquisition of a target object by the image acquisition vehicle (2207), the image acquisition vehicle (2207) is provided with at least an initial position, a first position, a second position, a third position and a fourth position, the image acquisition vehicle (2207) is positioned in the middle of the arc (2201) when the image acquisition vehicle (2207) is positioned at the initial position, the opening of the arc (2201) faces the incoming material direction, the arc (2201) rotates upwards by 45 degrees, the image acquisition vehicle (2207) is positioned at the fixed shaft (2204) on two sides when the image acquisition vehicle (2207) is positioned at the first position and the fourth position, the image acquisition vehicle (2207) is positioned at the position when the image acquisition vehicle (2207) is positioned at the second position, the image acquisition vehicle (2207) is positioned at the opening of the arc (2201) when the image acquisition vehicle (2207) is positioned at the middle of the image acquisition vehicle (2201) and the image acquisition vehicle (2201) is positioned at the opening of the third position.

4. The industrial vision robot according to claim 2, wherein the image capturing vehicle (2207) comprises a vehicle body (2271), at least four wheels (2272) are arranged at the bottom of the vehicle body (2271), the wheels (2272) are clamped in a gap between the arc plate (2201) and the guide rail (2208), and a camera (2273) is fixedly mounted on the vehicle body (2271).

5. An industrial vision robot according to claim 1, characterized in that the stationary core (1353) and the friction strip (1356) are made of a ferromagnetic shielding material.

6. The industrial vision robot according to claim 1, wherein the mechanical arm unit (12) comprises a base (101), a rotary table (102) is mounted on the base (101), a mechanical arm (103) is mounted on the rotary table (102), a connecting arm (104) is connected to the end of the mechanical arm (103), a driving motor (105) is mounted on the connecting arm (104), and the driving motor (105) is fixedly connected with the door-shaped frame (1301) through a driving shaft.

7. An industrial vision robot according to claim 1, characterized by a motion control module (31) for controlling the motion of the machine module (11), comprising a controller (32) for receiving motion instructions from the vision module (21) and converting them into control signals for the individual joint motors of the machine module (11), a driver (33) for powering the individual joint motors of the machine module (11), a position sensor (34) mounted at the joint site of the machine module (11) for feeding back the position and velocity information of the joint in real time, a communication unit (35) for communicating with other modules.