CN111633936A

CN111633936A - Mold closing robot positioning system based on robot vision

Info

Publication number: CN111633936A
Application number: CN202010343581.4A
Authority: CN
Inventors: 苏亚东; 王春; 刘菲; 黄勇
Original assignee: Haian Discory Detection Instrument Co ltd
Current assignee: Haian Discory Detection Instrument Co ltd
Priority date: 2020-04-27
Filing date: 2020-04-27
Publication date: 2020-09-08
Anticipated expiration: 2040-04-27
Also published as: CN111633936B

Abstract

The invention discloses a mold closing robot positioning system based on robot vision, which belongs to the technical field of robots, and the scheme is characterized in that a 3D camera is used for collecting images of a mold, the obtained data are uploaded into a data storage module and compared with source data, so that the position of the mold is calibrated, error correction parameters are uploaded to a calibration module, so that the position of a control module is compensated and repaired again, the generated oxygen enters a storage annular cavity through a return pipe through illumination decomposition of a liquid storage annular cavity, the rotation of a movable ball is promoted, a contact piece and a fixed arc piece are repeatedly rubbed, heat is generated to promote the decomposition of calcium bicarbonate, so that the generated carbon dioxide enters an air blowing pipe and is diffused through a shunting hole, the carbon dioxide is blown to the surface of the 3D camera, dust on the surface of the 3D camera is blown off, and the precision of the 3D camera in image collection is improved, therefore, the precision of the mold during mold clamping can be improved.

Description

Mold closing robot positioning system based on robot vision

Technical Field

The invention relates to the technical field of robots, in particular to a mold closing robot positioning system based on robot vision.

Background

The mould closing machine is a professional mould research and match check out test set, mainly used in to the upper and lower mould during the later stage of mould preparation, pressurize the matched molds with the necessary pressure, it adopts many kinds of reliable apparatuses, equipped with moving the work station matched molds the locating device, move the locking device, mechanical turning device, hydraulic ejector pin, control of the slide block of mould, safe anti-drop device, etc., the matched molds means in the injection molding machine composed of injection unit, matched molds device, hydraulic control system, etc., the injection unit injects quantitative melt into the mould cavity with certain pressure and speed; the mold closing device realizes the opening and closing of the mold, and ensures the reliable mold closing and the product release; the hydraulic control system ensures predetermined pressure, speed, temperature, time and motion programs.

A Robot (Robot) is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace parts of human work, such as production, construction and, in particular, hazardous work.

At present, the positioning system of most robots is usually simpler, and it uses the sensor to realize the location compound die mostly in the use, consequently makes its positioning accuracy lower at the in-process of compound die to can make the product of production substandard.

Disclosure of Invention

1. Technical problem to be solved

Aiming at the problems in the prior art, the invention aims to provide a robot vision-based mold closing robot positioning system which can realize the collection of an image of a mold through a 3D camera, upload the obtained data to a data storage module, compare the data with source data, calibrate the position of the mold, upload error correction parameters to a calibration module, compensate and repair the position of a control module again, enable the generated oxygen to enter a storage annular cavity through a backflow pipe through the illumination decomposition of a liquid storage annular cavity, promote the rotation of a movable ball, enable the contact piece to repeatedly rub with a fixed arc piece, generate heat to promote the decomposition of calcium bicarbonate, enable the generated carbon dioxide to enter an air blowing pipe and be diffused through a shunting hole, so as to be blown to the surface of the 3D camera and blow off dust on the surface of the 3D camera, the precision of the 3D camera in image acquisition is improved, and therefore the precision of the mold in mold closing can be improved.

2. Technical scheme

In order to solve the above problems, the present invention adopts the following technical solutions.

A die assembly robot positioning system based on robot vision comprises a robot body, wherein an image acquisition module is electrically connected in the robot body, a data storage module is in signal connection with the outer end of the image acquisition module, a source database is in signal connection with the outer end of the data storage module, a calibration module is in signal connection with the outer end of the source database, a control module is in signal connection with the outer end of the calibration module, an error correction module is electrically connected in the robot body, a temporary storage module is in signal connection with the outer end of the error correction module, the temporary storage module is in signal connection with the calibration module, a 3D camera is arranged at the bottom end of the robot body, the 3D camera is in signal connection with the image acquisition module, a connecting disc is fixedly connected at the bottom end of the robot body, the connecting disc is fixedly connected with the 3D camera, and a particle cleaning ring is arranged at the outer, a liquid storage annular cavity and a storage annular cavity are formed in the particle cleaning ring, hypochlorous acid solution is filled in the liquid storage annular cavity, calcium bicarbonate powder is filled in the storage annular cavity, a blowing pipe and a return pipe are fixedly connected to the inner wall of the particle cleaning ring, the blowing pipe and the return pipe are symmetrical about the circle center of the particle cleaning ring, the blowing pipe and the return pipe are located on the outer side of the 3D camera, the liquid storage annular cavity, the blowing pipe and the return pipe are communicated with each other, a plurality of evenly distributed shunting holes are formed in one end, close to the return pipe, of the blowing pipe, a pair of communication holes are formed in the inner wall of the liquid storage annular cavity, the liquid storage annular cavity and the storage annular cavity are communicated with each other through the communication holes, a movable injection bottle nozzle is fixedly connected to the inner wall of the communication holes, an image of the, simultaneously, the position of the die is calibrated through the control module, and meanwhile, the error correction parameter of the 3D camera shake is uploaded to the calibration module, so that the position of the control module is compensated and repaired again, and the die assembly precision can be improved.

Furthermore, a plurality of movable balls which are uniformly distributed are rotatably connected between the upper inner wall and the lower inner wall of the liquid storage annular cavity, a plurality of friction side fins which are uniformly distributed are fixedly connected at the outer end of each movable ball, a pair of fixed arc sheets are arranged at the outer end of each movable ball, the fixed arc sheets are fixedly connected with the upper inner wall and the lower inner wall of the particle cleaning ring, arc rubber sheets are fixedly connected between the two fixed arc sheets, a plurality of ventilation holes which are uniformly distributed are chiseled at the outer ends of the fixed arc sheets, a first filter screen is clamped on the inner wall of each arc rubber sheet, each friction side fin comprises a connecting sleeve, the connecting sleeve is fixedly connected with the movable balls, an inserting rod is inserted in the connecting sleeve, a contact piece is fixedly connected at the outer end of the inserting rod, a compression spring is fixedly connected between the inserting rod and the inner bottom end of the connecting sleeve, and generated oxygen, promote the rotation of activity ball to make contact piece and fixed arc piece rub repeatedly, thereby the heat that can produce promotes calcium bicarbonate and decomposes, thereby makes the carbon dioxide of production enter into in the blast pipe and spill through the diffluent hole, thereby blows on the surface of 3D camera, blows off the dust on its surface, thereby can improve the precision of 3D camera when gathering the image, thereby can improve the precision when the mould compound die.

Further, the error correction module includes fixed disc, fixed disc and robot fixed connection, fixed disc is located the connection disc upside, a plurality of evenly distributed's of fixed disc bottom fixedly connected with photoelectric sensor, connection disc upper end fixedly connected with circle air level, in the circle air level bottom fixedly connected with a plurality of evenly distributed and with photoelectric sensor assorted beam transmitter, through the shake that 3D camera produced at the during operation, can make the position change of the air level bubble in the circle air level, correspond the photoelectric information who receives the circle air level through fixed disc, can calculate the offset of air level bubble to upload its offset as correcting the parameter, the precision of improvement compound die that can be further.

Further, granule washs ring upper end fixedly connected with vertical connecting rod, two fixedly connected with has the trapezoidal slider of ring between the vertical connecting rod, it has the annular spout to connect disc outer end excavation, ring trapezoidal slider be located the annular spout and with annular spout sliding connection, through setting up ring trapezoidal slider and annular spout, can make the granule wash the ring and can rotate round the 3D camera to when blowing off carbon dioxide in the diffluent hole, can make the granule wash the ring and receive a reaction force, and at robot body during operation, can give the granule and wash a tangential initial velocity of ring, thereby can make the granule wash the ring and continuously rotate around the 3D camera, thereby blow more comprehensively to the camera lens of 3D camera.

Further, the spherical groove that has a plurality of evenly distributed is dug to the trapezoidal slider outer end of ring, the rotation in spherical groove is connected with the ball, the ball is located annular spout and with the interior bottom of annular spout contact each other, through setting up spherical groove and ball, can be so that the difficult jam between trapezoidal slider of ring and the annular spout, can reduce the frictional force that the granule washs the ring and received when rotating.

Further, the inner wall of the blowing pipe is fixedly connected with a second filter screen, the outer end of the blowing pipe is provided with a first air path one-way valve, the inner wall of the returning pipe is fixedly connected with a carbon dioxide molecular sieve, the outer end of the returning pipe is provided with a second air path one-way valve, calcium bicarbonate powder is not easy to block the blowing pipe by arranging the second filter screen, decomposed carbon dioxide can only enter the liquid storage annular cavity from the blowing pipe by arranging the first air path one-way valve, and the carbon dioxide is not easy to flow back into the liquid storage annular cavity through the returning pipe by arranging the carbon dioxide molecular sieve.

Further, the outer ring that keeps off of connecting sleeve inner wall fixedly connected with, the ring that keeps off in the inserted bar outer end fixedly connected with, keep off the ring outside in outer fender ring lies in, keeps off the ring and keeps off the ring in with through setting up outward, can be so that inserted bar and adapter sleeve be difficult for the readily releasable.

Further, contact piece and fixed arc piece are made by the copper product, the contact piece surface is provided with the frictional layer, through using fixed arc piece of copper product preparation and contact piece, can be so that can produce the heat when fixed arc piece and contact piece looks mutual friction, through set up the frictional layer on the contact piece surface, can improve the frictional force between fixed arc piece and the contact piece.

Furthermore, compression spring is by the layer of stainless steel material, compression spring surface is scribbled and is equipped with the anti-rust paint, through using stainless steel material preparation compression spring and scribbling on its surface and be equipped with the anti-rust paint, can be so that compression spring is difficult for being rusted in long-term use to can improve compression spring's life.

A use method of a matched mold robot positioning system based on robot vision comprises the following steps:

s1, when the robot is used, the 3D camera is started, the size of the mold is calculated by collecting the image of the mold and by means of a coordinate system and an algorithm in the robot body, the depth of the image of the mold is identified at the same time, and whether a screw exists in the hole site of the mold is judged;

s2, calibrating the position of the mold through the data calculated by the 3D camera, associating the robot with a phase coordinate system, and adjusting the photographing precision of the camera by setting parameters such as resolution, frame rate and exposure;

and S3, calculating the coordinate system of the actual carrying position and the deviation information of the coordinate system of the mold in the system by the algorithm built in the system through identifying the carrying position of the mold, and adjusting the coordinate system of the system to be consistent with the coordinate system of the actual position in time so as to ensure the accuracy of the grabbing position.

3. Advantageous effects

Compared with the prior art, the invention has the advantages that:

the image of this scheme through the 3D camera with the mould is gathered, and in data storage module is uploaded to the data that will obtain, and compare with the source data, thereby position to the mould is calibrated, and give calibration module on correcting the parameter with the error, thereby compensate the restoration once more to control module's position, illumination through the stock solution annular chamber decomposes, make the oxygen of production enter into the storing annular intracavity through the back flow, promote the rotation of activity ball, thereby make contact piece and fixed arc piece rub repeatedly, produce the heat and promote calcium bicarbonate and decompose, thereby make the carbon dioxide of production enter into the blast pipe and through the diffluent hole effluvium, thereby blow the surface at the 3D camera, blow off the dust on its surface, improve the precision of 3D camera when gathering the image, thereby can improve the precision of mould compound die.

Drawings

FIG. 1 is a block diagram of the present invention in its entirety;

FIG. 2 is a perspective view of the robot portion of the present invention;

FIG. 3 is a cross-sectional view of a 3D camera portion of the present invention;

FIG. 4 is a cross-sectional view of a portion of the particle wash ring of the present invention;

FIG. 5 is a schematic view of the structure at A in FIG. 4;

FIG. 6 is a schematic view of the structure at B in FIG. 4;

FIG. 7 is a cross-sectional view of the friction side fin portion of the present invention;

FIG. 8 is a cut-away, longitudinal cross-sectional view of a portion of the particle wash ring of the present invention;

FIG. 9 is a top cross-sectional view of a round vial of the present invention;

fig. 10 is a front cross-sectional view of a circular vial of the present invention.

The reference numbers in the figures illustrate:

1 robot body, 101 image acquisition module, 102 data storage module, 103 source database, 104 calibration module, 105 control module, 106 error correction module, 107 temporary storage module, 23D camera, 201 connecting disc, 2011 annular chute, 3 particle cleaning ring, 301 vertical connecting rod, 302 ring trapezoidal slide block, 4 liquid storage annular cavity, 5 storage annular cavity, 6 blowpipe, 601 second filter screen, 602 first gas circuit one-way valve, 7 return pipe, 701 carbon dioxide molecular sieve, 702 second gas circuit one-way valve, 8 shunt hole, 9 communication hole, 10 motion type spray bottle nozzle, 11 movable ball, 12 friction side fin, 13 fixed arc piece, 14 arc rubber piece, 15 ventilation hole, 16 first filter screen, 17 connecting sleeve, 1701 outer baffle ring, 18 inserted rod, 1801 inner baffle ring, 19 contact piece, 20 compression spring, 21 fixed disc, 22 photoelectric sensor, 23 round bubble level, 23 photoelectric sensor, 24 light beam emitter.

Detailed Description

The drawings in the embodiments of the invention will be combined; the technical scheme in the embodiment of the invention is clearly and completely described; obviously; the described embodiments are only some of the embodiments of the invention; but not all embodiments, are based on the embodiments of the invention; all other embodiments obtained by a person skilled in the art without making any inventive step; all fall within the scope of protection of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1:

referring to fig. 1-4, a mold closing robot positioning system based on robot vision comprises a robot body 1, an image acquisition module 101 is electrically connected in the robot body 1, a data storage module 102 is signal-connected to the outer end of the image acquisition module 101, a source database 103 is signal-connected to the outer end of the data storage module 102, a calibration module 104 is signal-connected to the outer end of the source database 103, a control module 105 is signal-connected to the outer end of the calibration module 104, an error correction module 106 is electrically connected in the robot body 1, a temporary storage module 107 is signal-connected to the outer end of the error correction module 106, the temporary storage module 107 is signal-connected to the calibration module 104, a 3D camera 2 is arranged at the bottom end of the robot body 1, the 3D camera 2 is signal-connected to the image acquisition module 101, a connecting disc 201 is fixedly connected to the bottom end of the robot body 1, the, the particle cleaning ring 3 is arranged at the outer end of the 3D camera 2, a liquid storage annular cavity 4 and a storage annular cavity 5 are drilled in the particle cleaning ring 3, hypochlorous acid solution is filled in the liquid storage annular cavity 4, the 3D camera 2 can promote hypochlorous acid to be decomposed into oxygen and hydrogen chloride when in work, shutter flashing can promote hypochlorous acid to be decomposed into oxygen and hydrogen chloride, calcium bicarbonate powder is filled in the storage annular cavity 5, a blowing pipe 6 and a return pipe 7 are fixedly connected to the inner wall of the particle cleaning ring 3, the blowing pipe 6 and the return pipe 7 are symmetrical about the center of a circle of the particle cleaning ring 3, the blowing pipe 6 and the return pipe 7 are positioned on the outer side of the 3D camera 2, the liquid storage annular cavity 4, the storage annular cavity 5, the blowing pipe 6 and the return pipe 7 are communicated with each other, a plurality of uniformly distributed shunting holes 8 are drilled at one end, close, can promote the hydrogen chloride in the stock solution annular chamber 4 to enter into storing annular chamber 5 in, thereby make calcium carbonate and the continuous generation carbon dioxide of hydrogen chloride reaction, stock solution annular chamber 4 and storing annular chamber 5 communicate each other through the intercommunicating pore 9, intercommunicating pore 9 inner wall fixedly connected with motion type sprays bottle neck 10, gather the image of mould through 3D camera 2, and upload the data that obtain in data storage module 102, compare with the source data simultaneously, and calibrate the position of mould through control module 105, and upload calibration module 104 with the error correction parameter of 2 trembles of 3D camera simultaneously, thereby compensate the restoration once more to control module 105's position, thereby can improve the precision of mould compound die.

Referring to fig. 4-7, a plurality of movable balls 11 are rotatably connected between the upper and lower inner walls of the liquid storage annular chamber 4, the movable balls 11 are rotated with the upper and lower inner walls of the liquid storage annular chamber 4 when being blown by oxygen, a plurality of friction side fins 12 are fixedly connected to the outer ends of the movable balls 11, a pair of fixed arc pieces 13 are provided at the outer ends of the movable balls 11, the fixed arc pieces 13 are fixedly connected with the upper and lower inner walls of the particle cleaning ring 3, an arc rubber piece 14 is fixedly connected between the two fixed arc pieces 13, a plurality of ventilation holes 15 are uniformly distributed at the outer ends of the fixed arc pieces 13, a first filter screen 16 is clamped to the inner wall of the arc rubber piece 14, the mesh of the first filter screen 16 is not easily blocked by the friction between the first filter screen 16 and the contact piece 19, the friction side fins 12 include a connecting sleeve 17, the connecting sleeve 17 is fixedly connected with the movable balls 11, inserted bar 18 is equipped with in the connecting sleeve 17 interpolation, inserted bar 18 outer end fixedly connected with contact piece 19, fixedly connected with compression spring 20 between the bottom end in inserted bar 18 and the connecting sleeve 17, illumination through stock solution annular chamber 4 decomposes, make the oxygen of production enter into storing annular chamber 5 through back flow 7, promote the rotation of activity ball 11, thereby make contact piece 19 and fixed arc piece 13 repeated friction, thereby the heat that can produce, promote calcium bicarbonate to decompose, thereby make the carbon dioxide of production enter into blowpipe 6 and through the effluence of reposition of redundant personnel hole 8, thereby blow the surface at 3D camera 2, blow off the dust on its surface, thereby can improve the precision of 3D camera 2 when gathering the image, thereby precision when can improve the mould compound die.

Referring to fig. 1-10, the error correction module 106 includes a fixed disk 21, the fixed disk 21 is fixedly connected to the robot body 1, the fixed disk 21 is located on the upper side of the connection disk 201, the bottom end of the fixed disk 21 is fixedly connected to a plurality of uniformly distributed photoelectric sensors 22, the upper end of the connection disk 201 is fixedly connected to a circular bubble 23, the inner bottom end of the circular bubble 23 is fixedly connected to a plurality of uniformly distributed light beam emitters 24 matched with the photoelectric sensors 22, the position of the bubble in the circular bubble 23 can be changed by the shake generated during operation of the 3D camera 2, the photoelectric information of the circular bubble 23 is correspondingly received by the fixed disk 21, the offset of the bubble can be calculated, and the offset is uploaded as a correction parameter, so that the accuracy of mold clamping can be further improved.

Referring to fig. 3, a vertical connecting rod 301 is fixedly connected to the upper end of the particle cleaning ring 3, a ring-shaped trapezoidal slider 302 is fixedly connected between the two vertical connecting rods 301, an annular chute 2011 is formed in the outer end of the connecting disc 201, the ring-shaped trapezoidal slider 302 is located in the annular chute 2011 and is slidably connected with the annular chute 2011, by arranging the ring-shaped trapezoidal slider 302 and the annular chute 2011, the particle cleaning ring 3 can rotate around the 3D camera 2, and when carbon dioxide is blown out from the diversion hole 8, a reaction force can be applied to the particle cleaning ring 3, and when the robot body 1 works, a tangential initial speed can be applied to the particle cleaning ring 3, so that the particle cleaning ring 3 can continuously rotate around the 3D camera 2, and thus the lens of the 3D camera 2 can be blown more comprehensively, a plurality of uniformly distributed spherical grooves are formed in the outer end of the ring-shaped trapezoidal slider 302, the ball is connected with in the rotation of spherical groove, and the ball is located annular spout 2011 and contacts each other with the interior bottom of annular spout 2011, through setting up spherical groove and ball, can be so that the difficult jam between trapezoidal slider 302 of ring and the annular spout 2011, can reduce the frictional force that granule cleaning ring 3 received when rotating.

Referring to fig. 4-7, the inner wall of the blowpipe 6 is fixedly connected with a second filter screen 601, the outer end of the blowpipe 6 is provided with a first gas path check valve 602, the inner wall of the return pipe 7 is fixedly connected with a carbon dioxide molecular sieve 701, the outer end of the return pipe 7 is provided with a second gas path check valve 702, the arrangement of the second filter screen 601 can make the calcium bicarbonate powder not easily block the blowpipe 6, the first gas path one-way valve 602 can ensure that decomposed carbon dioxide can only enter the annular liquid storage cavity 4 from the blowpipe 6, and by arranging the carbon dioxide molecular sieve 701, carbon dioxide is not easy to flow back into the annular storage cavity 5 through the return pipe 7, the inner wall of the connecting sleeve 17 is fixedly connected with an outer baffle ring 1701, the outer end of the inserted rod 18 is fixedly connected with an inner baffle ring 1801, the outer baffle ring 1701 is positioned at the outer side of the inner baffle ring 1801, by providing the outer retainer ring 1701 and the inner retainer ring 1801, the plunger 18 can be made not to be easily separated from the coupling sleeve 17.

Referring to fig. 6-7, the contact plate 19 and the fixed arc plate 13 are made of copper material, a friction layer is disposed on the surface of the contact plate 19, the fixed arc plate 13 and the contact plate 19 are made of copper material, so that heat can be generated when the fixed arc plate 13 and the contact plate 19 rub against each other, the friction force between the fixed arc plate 13 and the contact plate 19 can be improved by disposing the friction layer on the surface of the contact plate 19, the compression spring 20 is made of a layer made of stainless steel, the surface of the compression spring 20 is coated with anti-rust paint, the compression spring 20 is made of stainless steel and coated with anti-rust paint on the surface thereof, so that the compression spring 20 is not easily corroded in a long-term use process, and the service life of the compression spring 20 can be prolonged.

s1, when the robot is used, the 3D camera 2 is started, the size of the mold is calculated by collecting the image of the mold and by means of a coordinate system and an algorithm in the robot body 1, the depth of the image of the mold is identified at the same time, and whether a screw exists in the hole site of the mold is judged;

s2, calibrating the position of the mold through the data calculated by the 3D camera 2, associating the robot with a phase coordinate system, and adjusting the photographing precision of the camera through setting parameters such as resolution, frame rate and exposure;

The above; but are merely preferred embodiments of the invention; the scope of the invention is not limited thereto; any person skilled in the art is within the technical scope of the present disclosure; the technical scheme and the improved concept of the invention are equally replaced or changed; are intended to be covered by the scope of the present invention.

Claims

1. The utility model provides a compound die robot positioning system based on robot vision, includes robot body (1), its characterized in that: the robot comprises a robot body (1), an image acquisition module (101) is electrically connected in the robot body (1), a data storage module (102) is in signal connection with the outer end of the image acquisition module (101), a source database (103) is in signal connection with the outer end of the data storage module (102), a calibration module (104) is in signal connection with the outer end of the source database (103), a control module (105) is in signal connection with the outer end of the calibration module (104), an error correction module (106) is electrically connected in the robot body (1), a temporary storage module (107) is in signal connection with the outer end of the error correction module (106), the temporary storage module (107) is in signal connection with the calibration module (104), a 3D camera (2) is arranged at the bottom end of the robot body (1), the 3D camera (2) is in signal connection with the image acquisition module (101), and a connecting disc (201) is fixedly connected at the, the connecting disc (201) is fixedly connected with the 3D camera (2), the outer end of the 3D camera (2) is provided with a particle cleaning ring (3), a liquid storage annular cavity (4) and a storage annular cavity (5) are chiseled in the particle cleaning ring (3), hypochlorous acid solution is filled in the liquid storage annular cavity (4), calcium bicarbonate powder is filled in the storage annular cavity (5), the inner wall of the particle cleaning ring (3) is fixedly connected with a blowing pipe (6) and a return pipe (7), the blowing pipe (6) and the return pipe (7) are symmetrical about the circle center of the particle cleaning ring (3), the blowing pipe (6) and the return pipe (7) are positioned outside the 3D camera (2), the liquid storage annular cavity (4), the storage annular cavity (5), the blowing pipe (6) and the return pipe (7) are mutually communicated, one end, close to the return pipe (7), of the blowing pipe (6) is chiseled with a plurality of evenly distributed shunting holes (8), the inner wall of the liquid storage annular cavity (4) is provided with a pair of communicating holes (9), the liquid storage annular cavity (4) and the liquid storage annular cavity (5) are communicated with each other through the communicating holes (9), and the inner wall of the communicating holes (9) is fixedly connected with a movable spray bottle nozzle (10).

2. A clamp robot positioning system based on robot vision as claimed in claim 1, wherein: the movable ball (11) with a plurality of evenly distributed is connected between the upper inner wall and the lower inner wall of the liquid storage annular cavity (4) in a rotating mode, the friction side fins (12) with a plurality of evenly distributed are fixedly connected to the outer end of the movable ball (11), a pair of fixed arc pieces (13) are arranged at the outer end of the movable ball (11), the upper inner wall and the lower inner wall of the fixed arc pieces (13) and the particle cleaning ring (3) are fixedly connected, two arc-shaped rubber pieces (14) are fixedly connected between the fixed arc pieces (13), a plurality of evenly distributed ventilation holes (15) are formed in the outer end of each fixed arc piece (13), a first filter screen (16) is clamped on the inner wall of each arc-shaped rubber piece (14), each friction side fin (12) comprises a connecting sleeve (17), the outer end of each connecting sleeve (17) is fixedly connected with the movable ball (11), an insertion rod (18) is inserted in each connecting sleeve (17), and, a compression spring (20) is fixedly connected between the inserted bar (18) and the inner bottom end of the connecting sleeve (17).

3. A clamp robot positioning system based on robot vision as claimed in claim 1, wherein: error correction module (106) is including fixed disc (21), fixed disc (21) and robot body (1) fixed connection, fixed disc (21) are located connection disc (201) upside, a plurality of evenly distributed's of fixed disc (21) bottom fixedly connected with photoelectric sensor (22), connection disc (201) upper end fixedly connected with circle air level bubble (23), circle air level bubble (23) inner bottom fixedly connected with a plurality of evenly distributed and with photoelectric sensor (22) assorted light beam transmitter (24).

4. A clamp robot positioning system based on robot vision as claimed in claim 1, wherein: granule washs ring (3) upper end fixedly connected with vertical connecting rod (301), two fixed connection has ring trapezoidal slider (302) between vertical connecting rod (301), it has annular spout (2011) to connect disc (201) outer end to cut, ring trapezoidal slider (302) be located annular spout (2011) and with annular spout (2011) sliding connection.

5. A clamp robot positioning system based on robot vision as claimed in claim 4, wherein: the spherical groove that has a plurality of evenly distributed is dug to ring trapezoidal slider (302) outer end, the spherical inslot internal rotation is connected with the ball, the ball is located annular spout (2011) and each other contacts with the inner bottom end of annular spout (2011).

6. A clamp robot positioning system based on robot vision as claimed in claim 1, wherein: the blowing pipe (6) inner wall fixedly connected with second filter screen (601), first gas circuit check valve (602) is installed to blowing pipe (6) outer end, back flow (7) inner wall fixedly connected with carbon dioxide molecular sieve (701), second gas circuit check valve (702) is installed to back flow (7) outer end.

7. A clamp robot positioning system based on robot vision as claimed in claim 2, wherein: the inner wall of the connecting sleeve (17) is fixedly connected with an outer retaining ring (1701), the outer end of the inserted bar (18) is fixedly connected with an inner retaining ring (1801), and the outer retaining ring (1701) is located on the outer side of the inner retaining ring (1801).

8. A clamp robot positioning system based on robot vision as claimed in claim 2, wherein: the contact piece (19) and the fixed arc piece (13) are both made of copper materials, and a friction layer is arranged on the surface of the contact piece (19).

9. A clamp robot positioning system based on robot vision as claimed in claim 2, wherein: the compression spring (20) is made of a stainless steel material layer, and the surface of the compression spring (20) is coated with antirust paint.

10. Use of a clamp robot positioning system based on robot vision according to any of claims 1-9, characterized in that: the method comprises the following steps:

s1, when the robot is used, the 3D camera (2) is started, the size of the mold is calculated by collecting the image of the mold and by means of a coordinate system and an algorithm in the robot body (1), the depth of the image of the mold is identified at the same time, and whether a screw exists in the hole site of the mold is judged;

s2, calibrating the position of the mould through the data calculated by the 3D camera (2), associating the robot with a phase coordinate system, and adjusting the photographing precision of the camera by setting parameters such as resolution, frame rate and exposure;