CN212170410U

CN212170410U - Novel vision guide robot removes grasping system

Info

Publication number: CN212170410U
Application number: CN202020246045.8U
Authority: CN
Inventors: 关键; 李冬; 周海洋; 关书扬; 陈闯
Original assignee: Shenyang Ruike Automation Equipment Co ltd
Current assignee: Shenyang Ruike Automation Equipment Co ltd
Priority date: 2020-03-03
Filing date: 2020-03-03
Publication date: 2020-12-18
Anticipated expiration: 2030-03-03

Abstract

The utility model provides a novel vision guide robot removes grasping system, novel vision guide robot removes grasping system includes the manipulator, and novel vision guide robot removes grasping system includes: the device comprises a portal frame, a support frame, a first rotating shaft, a motor, a first chain wheel, a second rotating shaft, a second chain wheel, a chain, a belt, a camera support and a vision camera; through being connected vision camera and manipulator electricity, and the vision camera is fixed on the camera support, and the vision camera is directly taken a picture and is calculated the back, feeds back the signal of conveying article on the linear conveyor to the manipulator, and the guide manipulator snatchs, and then improves production efficiency.

Description

Novel vision guide robot removes grasping system

Technical Field

The utility model relates to a vision grasping system technical field particularly, relates to a novel vision guide robot removes grasping system.

Background

Currently, in the related art, when a linear conveying device conveys articles, most of the articles need to be collected and grabbed manually; however, with continuous innovation of the technology, a full-automatic production line begins to appear, the labor intensity of manual grabbing is high, the production requirement cannot be met, and the method has limitations; therefore, the invention discloses a novel vision-guided robot moving and grabbing system, which is used for guiding a robot to grab so as to ensure production and improve production efficiency.

SUMMERY OF THE UTILITY MODEL

The present invention aims at least solving one of the technical problems existing in the prior art or the related art.

Therefore, the utility model provides a vision grasping system technical field.

In view of this, the utility model provides a novel vision guide robot removes grasping system, novel vision guide robot removes grasping system includes the manipulator, and novel vision guide robot removes grasping system includes: the device comprises a portal frame, a support frame, a first rotating shaft, a motor, a first chain wheel, a second rotating shaft, a second chain wheel, a chain, a belt, a camera support and a vision camera; the portal frame comprises two upright columns and a cross beam, the two upright columns are fixed on the ground, two ends of the cross beam are respectively connected with the two upright columns, and the manipulator is fixed on the cross beam; the support frame is positioned between the two upright posts and is fixed on the ground; the first rotating shaft is rotatably connected with one end of the supporting frame, and one end of the first rotating shaft penetrates out of the supporting frame; the motor is connected with the first rotating shaft and is fixed on one side of the supporting frame; the two first chain wheels are respectively sleeved at two ends of the first rotating shaft; the second rotating shaft is rotatably connected with the other end of the supporting frame; the two second chain wheels are respectively sleeved at two ends of the second rotating shaft; the two chains are respectively wound on the outer sides of the two first chain wheels and the two second chain wheels; the belt is wound on the outer sides of the first rotating shaft and the second rotating shaft simultaneously; the camera bracket is fixed on the ground; the vision camera is electrically connected with the manipulator, and the vision camera is fixed on the camera support.

In the technical scheme, firstly, a portal frame comprises two upright columns and a cross beam, the two upright columns are fixed on the ground through foundation bolts, two ends of the cross beam are respectively connected with the two upright columns through threaded connection, and a manipulator is fixed on the cross beam through bolts so as to improve the overall stability; secondly, the support frame is positioned between the two upright posts and is fixed on the ground, so that the linear conveying device is positioned under the manipulator, and the manipulator can conveniently grab the articles conveyed by the linear conveying device; thirdly, the first rotating shaft is rotatably connected with one end of the support frame, one end of the first rotating shaft penetrates through the support frame, the motor is connected with the first rotating shaft, and the motor is fixed on one side of the support frame so as to drive the first rotating shaft to rotate through the motor; thirdly, the two first chain wheels are sleeved at the two ends of the first rotating shaft respectively, so that the chain wheels rotate along with the first rotating shaft; thirdly, the second rotating shaft is rotatably connected with the other end of the supporting frame, the two second chain wheels are respectively sleeved at the two ends of the second rotating shaft, and the two chains are respectively wound on the outer sides of the two first chain wheels and the two second chain wheels, so that when the motor drives the first rotating shaft to drive the electric first chain wheels to rotate, the first chain wheels drive the chains wound on the outer sides of the first chain wheels to move, and the chains drive the second chain wheels to rotate; thirdly, the belt is wound on the outer sides of the first rotating shaft and the second rotating shaft simultaneously, so that the second rotating shaft is driven to rotate after the second chain wheel rotates, the belt moves due to friction, and the conveying function of the linear conveying device is realized; thirdly, the camera support is fixed on the ground to improve the stability of the camera support, so that the stability of the visual camera is improved; and thirdly, the vision camera is electrically connected with the manipulator and is fixed on the camera support, after the vision camera directly takes a picture and calculates, a signal for conveying articles on the linear conveying device is fed back to the manipulator, so that the manipulator is guided to grab, and the production efficiency is improved. Adopt this kind of connected mode, drive through motor drive belt and drive article and transmit on linear conveyor, then the vision camera shoots article and calculates the back, gives the manipulator with the signal feedback of article, snatchs article, realizes the automation of linear transport to improve the conveying efficiency of article, thereby satisfy the production needs.

Specifically, the visual camera IS IS016-15-11-19-18 camera manufactured by Shanghai Naucao robot Co., Ltd; the robot is R-1000iA-100F robot manufactured by Shanghai Fanacho robot Co.

Additionally, the utility model provides a novel vision guide robot among the above-mentioned technical scheme removes grasping system can also have following additional technical characteristics:

in the above technical solution, preferably, the novel vision-guided robot moving and grabbing system further includes: an encoder; the encoder is electrically connected with the manipulator, is fixed on the motor and is electrically connected with the motor.

In this technical scheme, through being connected encoder and manipulator electricity, the encoder is fixed on the motor, and the encoder is connected with the motor electricity, carries out the interconnection through encoder and robot, under the condition that linear conveyor does not stop, and the vision camera is direct to shoot, and feedback signal gives the manipulator, and encoder feedback article position feeds back to the manipulator, makes the manipulator remove and snatchs to improve production efficiency.

Specifically, the encoder is an A860-030I-T003-3000P encoder manufactured by Shanghai Naucao robot Co.

In the above technical solution, preferably, the camera mount further includes: a fixed rod, a connecting rod and a support rod; one end of the fixed rod is fixed on the ground; one end of the connecting rod is vertically connected to the other end of the fixing rod, and the vision camera is fixed on the connecting rod; one end of the supporting rod is fixedly connected with the fixing rod, and the other end of the supporting rod is connected with the connecting rod.

In the technical scheme, one end of the fixing rod is fixed on the ground through the foundation bolt, so that the overall stability of the camera support is improved; the other end at the dead lever is connected perpendicularly through the one end with the connecting rod, and the vision camera is fixed on the connecting rod, and with the one end and the dead lever fixed connection of branch, and the other end of branch is connected with the connecting rod, so that the connecting rod, dead lever and branch form a triangle-shaped structure, and promote the stability of camera support through this kind of structure, ensure that the vision camera is in a stable state at any time, avoid the vision camera shake, so that ensure the shooting effect of vision camera, so that signal transmission's more accurate.

In the above technical solution, preferably, the novel vision-guided robot moving and grabbing system further includes: an illuminating lamp; two lighting lamps are fixed on the connecting rod.

In this technical scheme, through fixing two light on the connecting rod to ensure through the illumination of light that vision camera still keeps original shooting effect under the not good condition of light.

In the above technical solution, preferably, the novel vision-guided robot moving and grabbing system further includes: a friction roller and a bracket; the two friction rollers are respectively sleeved on the first rotating shaft and the second rotating shaft; the bracket is fixed in the supporting frame; wherein the diameter of the friction roller is equal to the height of the bracket.

In the technical scheme, the two friction rollers are respectively sleeved on the first rotating shaft and the second rotating shaft to increase the friction force between the belt and the first rotating shaft and between the belt and the second rotating shaft, so that the belt is prevented from slipping, the position of an article on the linear conveying device is ensured to be accurate, and the manipulator is ensured to grasp accurately; through fixing the support in the support frame, and the diameter of friction roller equals the height of support to realize the support to the supporting role of belt, avoid article quantity many, weight to make the belt sink greatly, can accurately snatch in order to further ensure the manipulator, promote the holistic accuracy of system, thereby guarantee work efficiency.

In the above technical solution, preferably, the novel vision-guided robot moving and grabbing system further includes: the sliding block, the connecting part, the adjusting part and the adjusting rod; the sliding blocks are provided with sliding grooves, and the two sliding blocks are respectively sleeved on the outer sides of two ends of the second rotating shaft; the connecting parts are provided with positioning parts, the four connecting parts are respectively fixed on two sides of the supporting frame, and the positioning parts are embedded into the sliding grooves; internal threads are arranged in the adjusting parts, and the two adjusting parts are respectively fixed on two sides of the supporting frame; the adjusting rod outer wall is provided with the external screw thread, and after the adjusting rod passed the adjustment portion, the one end and the slider fixed connection of adjusting rod.

In the technical scheme, the sliding grooves are formed in the sliding blocks, and the two sliding blocks are respectively sleeved on the outer sides of the two ends of the second rotating shaft, so that the sliding blocks and the second rotating shaft can synchronously move; the positioning parts are arranged on the connecting parts, the four connecting parts are respectively fixed on two sides of the support frame, and the positioning parts are embedded into the sliding grooves, so that the sliding blocks can slide on the connecting parts, and the second rotating shaft is driven to move; internal threads are arranged in the adjusting parts, the two adjusting parts are respectively fixed on two sides of the support frame, external threads are arranged on the outer wall of the adjusting rod, after the adjusting rod penetrates through the adjusting parts, one end of the adjusting rod is fixedly connected with the sliding block, so that the position of the sliding block is adjusted by screwing the adjusting rod, the position of the second rotating shaft is adjusted, and the material strip is tightened; because the chain can sink after being used for a long time, the structure is adopted to adjust the distance between the second rotating shaft and the first rotating shaft in a small range, so that the chain is tensioned; the self-locking function of the sliding block is realized through the threaded connection between the adjusting rod and the adjusting part, so that the position of the second rotating shaft is locked, and the second chain wheel is prevented from moving due to tension; the chain is tensioned by this adjustment, thereby ensuring the accuracy of the linear conveyor transport.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 shows a schematic structural diagram of a novel vision-guided robot mobile gripping system according to an embodiment of the present invention;

fig. 2 shows a schematic structural diagram of a novel vision-guided robot mobile gripping system according to another embodiment of the present invention;

fig. 3 shows an enlarged view at a of fig. 1 according to an embodiment of the invention;

fig. 4 shows an enlarged view at B of fig. 1 according to an embodiment of the invention;

wherein, the correspondence between the reference numbers and the part names in fig. 1 to 4 is:

12 portal frames, 122 columns, 124 crossbeams, 14 support frames, 16 first rotating shafts, 18 motors, 20 first chain wheels, 22 second rotating shafts, 24 second chain wheels, 26 chains, 28 camera supports, 282 fixing rods, 284 connecting rods, 286 supporting rods, 30 vision cameras, 32 mechanical arms, 34 encoders, 36 illuminating lamps, 38 friction rollers, 40 supports, 42 sliding blocks, 44 connecting parts, 46 adjusting parts, 48 adjusting rods and 50 articles.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

The novel vision-guided robot mobile gripping system according to some embodiments of the present invention is described below with reference to fig. 1 to 4.

In the embodiment of the utility model, as shown in fig. 1-4, the utility model provides a novel vision guide robot removes grasping system, novel vision guide robot removes grasping system includes manipulator 32, and novel vision guide robot removes grasping system includes: the vision-based vision camera comprises a portal frame 12, a support frame 14, a first rotating shaft 16, a motor 18, a first chain wheel 20, a second rotating shaft 22, a second chain wheel 24, a chain 26, a belt, a camera support 28 and a vision camera 30; the gantry 12 comprises two columns 122 and a beam 124, the two columns 122 are fixed on the ground, two ends of the beam 124 are respectively connected with the two columns 122, and the manipulator 32 is fixed on the beam 124; the supporting frame 14 is located between the two upright columns 122, and the supporting frame 14 is fixed on the ground; the first rotating shaft 16 is rotatably connected with one end of the support frame 14, and one end of the first rotating shaft 16 penetrates out of the support frame 14; the motor 18 is connected with the first rotating shaft 16, and the motor 18 is fixed on one side of the support frame 14; the two first chain wheels 20 are respectively sleeved at two ends of the first rotating shaft 16; the second rotating shaft 22 is rotatably connected with the other end of the supporting frame 14; the two second chain wheels 24 are respectively sleeved at two ends of the second rotating shaft 22; the two chains 26 are respectively wound on the outer sides of the two first chain wheels 20 and the two second chain wheels 24; the belt is wound on the outer sides of the first rotating shaft 16 and the second rotating shaft 22; the camera bracket 28 is fixed on the ground; the vision camera 30 is electrically connected to the robot 32, and the vision camera 30 is fixed to the camera mount 28.

In this embodiment, first, the gantry 12 includes two columns 122 and a beam 124, the two columns 122 are fixed on the ground through anchor bolts, two ends of the beam 124 are respectively connected with the two columns 122 through screw connections, and the robot 32 is fixed on the beam 124 through bolts to improve the stability of the whole; secondly, the support frame 14 is positioned between the two upright posts 122, and the support frame 14 is fixed on the ground, so that the linear conveying device is positioned right below the manipulator 32, and the manipulator 32 can conveniently grab the articles 50 conveyed by the linear conveying device; thirdly, the first rotating shaft 16 is rotatably connected with one end of the supporting frame 14, one end of the first rotating shaft 16 penetrates out of the supporting frame 14, the motor 18 is connected with the first rotating shaft 16, and the motor 18 is fixed on one side of the supporting frame 14 so as to drive the first rotating shaft 16 to rotate through the motor 18; thirdly, the two first chain wheels 20 are respectively sleeved at two ends of the first rotating shaft 16, so that the chain wheels rotate along with the first rotating shaft 16; thirdly, the second rotating shaft 22 is rotatably connected with the other end of the supporting frame 14, the two second chain wheels 24 are respectively sleeved at two ends of the second rotating shaft 22, and the two chains 26 are respectively wound on the outer sides of the two first chain wheels 20 and the two second chain wheels 24, so that when the motor 18 drives the first rotating shaft 16 to rotate the electric first chain wheels 20, the first chain wheels 20 drive the chains 26 wound on the outer sides to move, and the chains 26 drive the second chain wheels 24 to rotate; thirdly, the belt is wound on the outer sides of the first rotating shaft 16 and the second rotating shaft 22 simultaneously, so that the second rotating shaft 22 is driven to rotate after the second chain wheel 24 rotates, the belt moves due to friction, and the conveying function of the linear conveying device is realized; again, by fixing the camera stand 28 to the ground, the stability of the camera stand 28 is improved, thereby improving the stability of the vision camera 30; thirdly, the vision camera 30 is electrically connected with the manipulator 32, the vision camera 30 is fixed on the camera support 28, and after the vision camera 30 directly takes a picture and calculates the picture, the signal of the object 50 conveyed on the linear conveying device is fed back to the manipulator 32 to guide the manipulator 32 to grab, so that the production efficiency is improved. By adopting the connection mode, the belt is driven by the motor 18 to drive the object 50 to be transmitted on the linear conveying device, then the vision camera 30 takes pictures and calculates the object 50, and then the signal of the object 50 is fed back to the mechanical arm 32 to grab the object 50, so that the automation of linear conveying is realized, the conveying efficiency of the object 50 is improved, and the production requirement is met.

Specifically, the vision camera 30 IS an IS016-15-11-19-18 camera manufactured by shanghai hair and nauter limited; the robot arm 32 employs an R-1000iA-100F robot manufactured by shanghai hair robot limited.

In an embodiment of the present invention, preferably, as shown in fig. 1 to 3, the novel vision-guided robot moving and grabbing system further includes: an encoder 34; the encoder 34 is electrically connected to the robot 32, the encoder 34 is fixed to the motor 18, and the encoder 34 is electrically connected to the motor 18.

In this embodiment, the encoder 34 is electrically connected with the manipulator 32, the encoder 34 is fixed on the motor 18, the encoder 34 is electrically connected with the motor 18, the encoder 34 and the robot are interconnected, the vision camera 30 directly takes pictures under the condition that the linear conveying device is not stopped, a feedback signal is sent to the manipulator 32, the encoder 34 feeds back the position of the object 50 to the manipulator 32, the manipulator 32 is moved to grab the object, and therefore production efficiency is improved.

Specifically, the encoder 34 is an A860-030I-T003-3000P encoder manufactured by Shanghai Naucao robot Co., Ltd.

In an embodiment of the present invention, preferably, as shown in fig. 1 and 2, the camera support 28 further includes: a fixed lever 282, a connecting lever 284, and a strut 286; one end of the fixing lever 282 is fixed on the ground; one end of the connection rod 284 is vertically connected to the other end of the fixing rod 282, and the vision camera 30 is fixed on the connection rod 284; one end of the supporting rod 286 is fixedly connected with the fixing rod 282, and the other end of the supporting rod 286 is connected with the connecting rod 284.

In this embodiment, the stability of the whole camera stand 28 is improved by fixing one end of the fixing lever 282 to the ground by anchor bolts; through connecting the one end of connecting rod 284 perpendicularly at the other end of dead lever 282, and vision camera 30 fixes on connecting rod 284, and with the one end and the dead lever 282 fixed connection of branch 286, and the other end and the connecting rod 284 of branch 286 are connected, so that connecting rod 284, dead lever 282 and branch 286 form a triangle-shaped structure, and promote the stability of camera support 28 through this kind of structure, ensure that vision camera 30 is in a stable state at any time, avoid the shake of vision camera 30, thereby ensure the shooting effect of vision camera 30, so that signal transmission's more accurate.

In an embodiment of the present invention, preferably, as shown in fig. 1 and fig. 2, the novel vision-guided robot moving and grabbing system further includes: an illumination lamp 36; two illumination lamps 36 are fixed to the connection rod 284.

In this embodiment, two illumination lamps 36 are fixed on the connecting rod 284 to illuminate through the illumination lamps 36 to ensure that the vision camera 30 can still maintain the original shooting effect under poor light conditions.

In an embodiment of the present invention, preferably, as shown in fig. 1 to 4, the novel vision-guided robot moving and grabbing system further includes: a rubbing roller 38 and a bracket 40; the two friction rollers 38 are respectively sleeved on the first rotating shaft 16 and the second rotating shaft 22; the bracket 40 is fixed in the support frame 14; wherein the diameter of the rubbing roller 38 is equal to the height of the bracket 40.

In this embodiment, the two friction rollers 38 are respectively sleeved on the first rotating shaft 16 and the second rotating shaft 22 to increase the friction force between the belt and the first rotating shaft 16 and the second rotating shaft 22, so as to avoid the belt slipping, ensure the position of the object 50 on the linear conveying device to be accurate, and ensure the grabbing accuracy of the manipulator 32; through fixing support 40 in support frame 14, and the diameter of friction roller 38 equals the height of support 40 to realize the supporting role of support 40 to the belt, avoid article 50 in large quantity, weight to make the belt sink, in order to further ensure that manipulator 32 can accurately snatch, promote the holistic accuracy of system, thereby guarantee work efficiency.

In an embodiment of the present invention, preferably, as shown in fig. 1 to 4, the novel vision-guided robot moving and grabbing system further includes: a slider 42, a connecting portion 44, an adjusting portion 46, and an adjusting lever 48; the sliding blocks 42 are provided with sliding grooves, and the two sliding blocks 42 are respectively sleeved at the outer sides of the two ends of the second rotating shaft 22; the connecting parts 44 are provided with positioning parts, the four connecting parts 44 are respectively fixed on two sides of the support frame 14, and the positioning parts are embedded into the sliding grooves; internal threads are arranged in the adjusting parts 46, and the two adjusting parts 46 are respectively fixed on two sides of the supporting frame 14; the outer wall of the adjusting rod 48 is provided with an external thread, and after the adjusting rod 48 passes through the adjusting part 46, one end of the adjusting rod 48 is fixedly connected with the sliding block 42.

In this embodiment, the sliding grooves are formed on the sliding blocks 42, and the two sliding blocks 42 are respectively sleeved on the outer sides of the two ends of the second rotating shaft 22, so that the sliding blocks 42 and the second rotating shaft 22 can move synchronously; by arranging the positioning portions on the connecting portions 44, the four connecting portions 44 are respectively fixed on two sides of the supporting frame 14, and the positioning portions are embedded in the sliding grooves, so that the sliding block 42 can slide on the connecting portions 44, and the second rotating shaft 22 is driven to move; by arranging the internal threads in the adjusting parts 46, fixing the two adjusting parts 46 on two sides of the supporting frame 14 respectively, and arranging the external threads on the outer wall of the adjusting rod 48, after the adjusting rod 48 passes through the adjusting parts 46, one end of the adjusting rod 48 is fixedly connected with the sliding block 42, so that the position of the sliding block 42 is adjusted by screwing the adjusting rod 48, and then the position of the second rotating shaft 22 is adjusted, so that the material strip is tightened; because the chain 26 sinks after being used for a long time, the distance between the second rotating shaft 22 and the first rotating shaft 16 is adjusted in a small range by adopting the structure, so that the chain 26 is tensioned; the self-locking function of the sliding block 42 is realized through the threaded connection between the adjusting rod 48 and the adjusting part 46, so that the position of the second rotating shaft 22 is locked, and the second chain wheel 24 is prevented from moving due to tension; the chain 26 is tensioned by this adjustment, thereby ensuring the accuracy of the linear conveyor transport.

In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to 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; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the description of the present invention, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In the present disclosure, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a novel vision guide robot removes grasping system, novel vision guide robot removes grasping system includes the manipulator, its characterized in that, novel vision guide robot removes grasping system includes:

the gantry comprises two upright columns and a cross beam, the two upright columns are fixed on the ground, two ends of the cross beam are respectively connected with the two upright columns, and the manipulator is fixed on the cross beam;

the supporting frame is positioned between the two upright posts and is fixed on the ground;

the first rotating shaft is rotatably connected with one end of the supporting frame, and one end of the first rotating shaft penetrates out of the supporting frame;

the motor is connected with the first rotating shaft and is fixed on one side of the supporting frame;

the two first chain wheels are respectively sleeved at two ends of the first rotating shaft;

the second rotating shaft is rotatably connected with the other end of the supporting frame;

the two second chain wheels are respectively sleeved at two ends of the second rotating shaft;

the two chains are respectively wound on the outer sides of the two first chain wheels and the two second chain wheels;

the belt is wound on the outer sides of the first rotating shaft and the second rotating shaft simultaneously;

a camera stand fixed on the ground;

the visual camera is electrically connected with the manipulator and fixed on the camera support.

2. The novel vision-guided robotic mobile gripper system according to claim 1, further comprising:

the encoder is electrically connected with the manipulator, the encoder is fixed on the motor, and the encoder is electrically connected with the motor.

3. The novel vision-guided robotic mobile gripper system of claim 2, wherein said camera support further comprises:

the fixing rod, one end of the said fixing rod is fixed on the ground;

one end of the connecting rod is vertically connected to the other end of the fixing rod, and the vision camera is fixed on the connecting rod;

one end of the supporting rod is fixedly connected with the fixing rod, and the other end of the supporting rod is connected with the connecting rod.

4. The novel vision-guided robotic mobile gripper system according to claim 3, further comprising:

the two illuminating lamps are fixed on the connecting rod.

5. The novel vision-guided robotic mobile gripper system according to claim 4, further comprising:

the two friction rollers are sleeved on the first rotating shaft and the second rotating shaft respectively;

the bracket is fixed in the support frame;

wherein the diameter of the rubbing roller is equal to the height of the bracket.

6. The novel vision-guided robotic mobile gripper system according to any one of claims 1 to 5, further comprising:

the sliding blocks are provided with sliding grooves, and the two sliding blocks are respectively sleeved on the outer sides of two ends of the second rotating shaft;

the four connecting parts are respectively fixed on two sides of the supporting frame, and the positioning parts are embedded into the sliding grooves;

the adjusting parts are internally provided with internal threads, and the two adjusting parts are respectively fixed on two sides of the supporting frame;

the adjusting rod, the adjusting rod outer wall is provided with the external screw thread, after the adjusting rod passed the adjustment portion, the one end of adjusting rod with slider fixed connection.