Eye structure of an industrial robot

Abstract

The present invention discloses an eye structure of an industrial robot, comprising a first mounting cup, a second mounting cup and a mounting frame, wherein cameras are mounted in the first mounting cup and the second mounting cup, wherein a first steering seat and a second steering seat are respectively arranged on the first mounting cup and the second mounting cup, wherein the first mounting cup and the second mounting cup are respectively fixedly connected to the first steering seat and the second steering seat, wherein a connecting rod assembly is arranged between the first steering seat and the second steering seat, wherein two ends of the connecting rod assembly are respectively rotatably connected to the first steering seat and the second steering seat, wherein a carrier plate is arranged on the mounting frame, wherein a first steering gear is arranged on the carrier plate, wherein a first driving gear is arranged on the output shaft of the first steering gear, wherein a first rack matched with the first driving gear is arranged on the connecting rod assembly, and wherein the first steering gear drives the connecting rod assembly to move left and right through the first driving gear and the first rack; and the eye structure of the industrial robot has good stability.

Description

Technical Field

[0001] The invention relates to an eye structure of an industrial robot. Background Art

[0002] Bionic robots are robots that can imitate living things and perform work with biological characteristics. For example, bionic robots can be used for environmental monitoring. Industrial robots are gaining more and more attention and have a good development prospect. In order to make robots simulate the characteristics of living things more realistically, the existing robot's eye transmission structure is very complex. The complex eye structure is prone to failure, resulting in poor operation stability of the robot. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an eye structure of an industrial robot with good stability.

[0004] To solve the above problems, the present invention adopts the following technical solutions:

[0005] An eye structure of an industrial robot comprises a first mounting cup, a second mounting cup and a mounting frame, wherein cameras are mounted in the first mounting cup and the second mounting cup, the first mounting cup and the second mounting cup are rotatably connected to the mounting frame, a first steering seat and a second steering seat are respectively arranged on the first mounting cup and the second mounting cup, the first mounting cup and the second mounting cup are respectively fixedly connected to the first steering seat and the second steering seat, a connecting rod assembly is arranged between the first steering seat and the second steering seat, two ends of the connecting rod assembly are respectively rotatably connected to the first steering seat and the second steering seat, a carrier plate is arranged on the mounting frame, a first steering gear is arranged on the carrier plate, a first driving gear is arranged on the output shaft of the first steering gear, a first rack matched with the first driving gear is arranged on the connecting rod assembly, and the first steering gear drives the connecting rod assembly to move left and right through the first driving gear and the first rack.

[0006] Preferably, the connecting rod assembly includes a middle tube, a left connecting rod and a right connecting rod, the middle tube is provided with a first joint bearing, a second joint bearing, a first electric telescopic rod and a second electric telescopic rod, the end of the left connecting rod passes through the first joint bearing and is rotatably connected to the first electric telescopic rod, the end of the right connecting rod passes through the second joint bearing and is rotatably connected to the second electric telescopic rod, the first joint bearing and the second joint bearing are both fixedly connected to the middle tube, a baffle is provided in the middle tube, a first compression spring and a second compression spring are respectively provided on both sides of the baffle, two ends of the first compression spring are respectively fixedly connected to the first electric telescopic rod and the baffle, and two ends of the second compression spring are respectively fixedly connected to the second electric telescopic rod and the baffle, by configuring the first electric telescopic rod and the second electric telescopic rod, the left connecting rod and the right connecting rod can be driven to extend, so that the first mounting cup and the second mounting cup can be rotated left and right individually or together, making the entire structure more flexible, able to realize more rotation methods, and further improving the bionics.

[0007] Preferably, the mounting frame includes an intermediate frame, a first connecting arm and a second connecting arm, the first connecting arm and the second connecting arm are both rotatably connected to the intermediate frame, the first connecting arm and the second connecting arm are respectively rotatably connected to the first mounting cup and the second mounting cup, a first fixed arm and a second fixed arm are provided on the carrier plate, a first shock absorber is provided between the first fixed arm and the first connecting arm, two ends of the first shock absorber are respectively rotatably connected to the first connecting arm and the first fixed arm, a second shock absorber is provided between the second connecting arm and the second fixed arm, two ends of the second shock absorber are respectively rotatably connected to the second connecting arm and the second fixed arm, and by configuring the first compression spring, the second compression spring, the first shock absorber and the second shock absorber, when the first mounting cup and the second mounting cup are hit by foreign objects, a good buffering effect can be achieved, which can effectively reduce the chance of damage.

[0008] Preferably, a breathing mechanism is installed on the first mounting cup and the second mounting cup, a supporting frame is provided on the first connecting arm and the second connecting arm, and air holes are provided on the first mounting cup and the second mounting cup. The breathing mechanism comprises a left flexible corrugated bottle, a right flexible corrugated bottle and a retaining frame, the left flexible corrugated bottle and the right flexible corrugated bottle are fixedly connected to the retaining frame, the supporting frame and the retaining frame are fixedly connected, the left flexible corrugated bottle and the right flexible corrugated bottle are symmetrically distributed on the left and right, and the bottle mouths of the left flexible corrugated bottle and the right flexible corrugated bottle are respectively connected to the first mounting cup and the second mounting cup. By configuring the breathing mechanism, the left flexible corrugated bottle and the right flexible corrugated bottle can be squeezed or stretched when the first mounting cup and the second mounting cup rotate left and right, thereby realizing suction and air ejection in the mounting cups. During operation, the air in the mounting cups can flow continuously, which can be conducive to better discharge of heat.

[0009] Preferably, a supporting platform is provided on the carrier plate, and a linear needle roller row matched with the middle tube is provided on the supporting platform. By configuring the supporting platform to hold the middle tube, the burden on the left connecting rod and the right connecting rod can be effectively reduced.

[0010] Preferably, a second servo and a third joint bearing are provided in the first mounting cup and the second mounting cup, the camera is fixedly connected to the third joint bearing, a second rack is provided on the back of the camera, and a second driving gear matched with the second rack is provided on the second servo. The camera can be rotated up and down, making the whole structure more flexible and further improving the bionics.

[0011] Preferably, the left connecting rod and the right connecting rod are both hollow, and rubber sleeves are provided on the left connecting rod and the right connecting rod, and the rubber sleeves are located at the pipe opening of the middle tube. The left connecting rod and the right connecting rod adopt a hollow structure, which can reduce the weight of the entire structure. At the same time, since the left connecting rod and the right connecting rod are both provided with rubber sleeves, when the first mounting cup and the second mounting cup are hit, it can effectively avoid the left connecting rod and the right connecting rod from swinging and directly hitting the pipe opening of the middle tube.

[0012] The beneficial effects of the present invention are as follows: a structure of gear transmission and connecting rod transmission is adopted to realize the rotation of the first mounting cup and the second mounting cup. The entire structure is simple and has good stability, while having high flexibility and good mobility. In addition, by configuring a first compression spring, a second compression spring, a first shock absorber and a second shock absorber, when the first mounting cup and the second mounting cup are hit by foreign objects, a good buffering effect can be achieved, which can effectively reduce the chance of damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0014] Figure 1 The figure is a schematic diagram of the overall structure of the eye structure of an industrial robot according to the present invention.

[0015] Figure 2 The present invention is a partial cross-sectional view of a connecting rod assembly of an eye structure of an industrial robot.

[0016] Figure 3 The present invention is a schematic structural diagram of a mounting frame for an eye structure of an industrial robot.

[0017] Figure 4 The figure is a partial structural diagram of an eye structure of an industrial robot according to the present invention.

[0018] Figure 5 This is a schematic diagram of the internal structure of a first mounting cup of an eye structure of an industrial robot according to the present invention.

[0019] In the figure:

[0020] 1. First mounting cup; 2. Second mounting cup; 3. Mounting frame; 4. Camera; 5. First steering seat; 6. Second steering seat; 7. Connecting rod assembly; 8. Carrier plate; 9. First servo; 10. First driving gear; 11. First rack; 12. Middle tube; 13. Left connecting rod; 14. Right connecting rod; 15. First joint bearing; 16. Second joint bearing; 17. First electric telescopic rod; 18. Second electric telescopic rod; 19. Baffle; 20. First compression spring; 2 1. Second compression spring; 22. Intermediate frame; 23. First connecting arm; 24. Second connecting arm; 25. First fixed arm; 26. Second fixed arm; 27. First shock absorber; 28. Second shock absorber; 29. ​​Support frame; 30. Air hole; 31. Left flexible corrugated bottle; 32. Right flexible corrugated bottle; 33. Retaining frame; 34. Support table; 35. Second servo; 36. Third joint bearing; 37. Second rack; 38. Second driving gear; 39. Rubber sleeve. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0022] In the embodiments, it should be understood that the terms "middle", "upper", "lower", "top", "right", "left end", "above", "back", "middle", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0023] In addition, in this specific embodiment, if the connection or fixing method between the components is not particularly described, the connection or fixing method can be conventional methods such as bolt fixing, nail pin fixing, pin shaft connection, adhesive fixing, or riveting fixing commonly used in the prior art, and therefore, it will not be described in detail in the embodiments.

[0024] Example 1

[0025] like Figure 1-5As shown, an eye structure of an industrial robot includes a first mounting cup 1, a second mounting cup 2 and a mounting frame 3, wherein cameras 4 are installed in the first mounting cup 1 and the second mounting cup 2, and the first mounting cup 1 and the second mounting cup 2 are rotatably connected to the mounting frame 3, and a first steering seat 5 and a second steering seat 6 are respectively arranged on the first mounting cup 1 and the second mounting cup 2, and the first mounting cup 1 and the second mounting cup 2 are respectively fixedly connected to the first steering seat 5 and the second steering seat 6, and a connecting rod assembly 7 is arranged between the first steering seat 5 and the second steering seat 6, and both ends of the connecting rod assembly 7 are rotatably connected to the first steering seat 5 and the second steering seat 6, respectively, and a carrier plate 8 is arranged on the mounting frame 3, and a first steering gear 9 is arranged on the carrier plate 8, and a first driving gear 10 is arranged on the output shaft of the first steering gear 9, and a first rack 11 matched with the first driving gear 10 is arranged on the connecting rod assembly 7, and the first steering gear 9 drives the connecting rod assembly 7 to move left and right through the first driving gear 10 and the first rack 11.

[0026] Example 2

[0027] like Figure 1-5 As shown, an eye structure of an industrial robot includes a first mounting cup 1, a second mounting cup 2 and a mounting frame 3, wherein cameras 4 are installed in the first mounting cup 1 and the second mounting cup 2, and the first mounting cup 1 and the second mounting cup 2 are rotatably connected to the mounting frame 3, and a first steering seat 5 and a second steering seat 6 are respectively arranged on the first mounting cup 1 and the second mounting cup 2, and the first mounting cup 1 and the second mounting cup 2 are respectively fixedly connected to the first steering seat 5 and the second steering seat 6, and a connecting rod assembly 7 is arranged between the first steering seat 5 and the second steering seat 6, and both ends of the connecting rod assembly 7 are rotatably connected to the first steering seat 5 and the second steering seat 6, respectively, and a carrier plate 8 is arranged on the mounting frame 3, and a first steering gear 9 is arranged on the carrier plate 8, and a first driving gear 10 is arranged on the output shaft of the first steering gear 9, and a first rack 11 matched with the first driving gear 10 is arranged on the connecting rod assembly 7, and the first steering gear 9 drives the connecting rod assembly 7 to move left and right through the first driving gear 10 and the first rack 11.

[0028] In this embodiment, the connecting rod assembly 7 includes a middle tube 12, a left connecting rod 13 and a right connecting rod 14. The middle tube 12 is provided with a first joint bearing 15, a second joint bearing 16, a first electric telescopic rod 17 and a second electric telescopic rod 18. The end of the left connecting rod 13 passes through the first joint bearing 15 and is rotatably connected to the first electric telescopic rod 17. The end of the right connecting rod 14 passes through the second joint bearing 16 and is rotatably connected to the second electric telescopic rod 18. The first joint bearing 15 and the second joint bearing 16 are both fixedly connected to the middle tube 12. A baffle 19 is provided in the middle tube 12. A first compression spring 20 and a second compression spring 21 are respectively arranged on both sides of 19, and the two ends of the first compression spring 20 are respectively fixedly connected to the first electric telescopic rod 17 and the baffle 19, and the two ends of the second compression spring 21 are respectively fixedly connected to the second electric telescopic rod 18 and the baffle 19. By configuring the first electric telescopic rod 17 and the second electric telescopic rod 18, the left connecting rod 13 and the right connecting rod 14 can be driven to extend, so that the first mounting cup 1 and the second mounting cup 2 can be rotated left and right individually or together, making the whole structure more flexible, able to realize more rotation methods, and further improving the bionics.

[0029] In this embodiment, the mounting frame 3 includes an intermediate frame 22, a first connecting arm 23 and a second connecting arm 24, the first connecting arm 23 and the second connecting arm 24 are both rotatably connected to the intermediate frame 22, the first connecting arm 23 and the second connecting arm 24 are respectively rotatably connected to the first mounting cup 1 and the second mounting cup 2, a first fixed arm 25 and a second fixed arm 26 are provided on the carrier plate 8, a first shock absorber 27 is provided between the first fixed arm 25 and the first connecting arm 23, two ends of the first shock absorber 27 are respectively rotatably connected to the first connecting arm 23 and the first fixed arm 25, a second shock absorber 28 is provided between the second connecting arm 24 and the second fixed arm 26, two ends of the second shock absorber 28 are respectively rotatably connected to the second connecting arm 24 and the second fixed arm 26, by configuring the first compression spring 20, the second compression spring 21, the first shock absorber 27 and the second shock absorber 28, when the first mounting cup 1 and the second mounting cup 2 are hit by foreign objects, a good buffering effect can be achieved, which can effectively reduce the probability of damage.

[0030] In this embodiment, breathing mechanisms are installed on the first mounting cup 1 and the second mounting cup 2, support frames 29 are provided on the first connecting arm 23 and the second connecting arm 24, air holes 30 are provided on the first mounting cup 1 and the second mounting cup 2, the breathing mechanism comprises a left flexible corrugated bottle 31, a right flexible corrugated bottle 32 and a retaining frame 33, the left flexible corrugated bottle 31 and the right flexible corrugated bottle 32 are fixedly connected to the retaining frame 33, the support frame 29 and the retaining frame 33 are fixedly connected, the left flexible corrugated bottle 31 and the right flexible corrugated bottle 32 are symmetrically distributed, and the bottle mouths of the left flexible corrugated bottle and the right flexible corrugated bottle are connected to the mounting cups. By configuring the breathing mechanism, when the first mounting cup 1 and the second mounting cup 2 rotate left and right, the left flexible corrugated bottle 31 and the right flexible corrugated bottle 32 can be squeezed or stretched, so that air can be sucked and ejected in the mounting cups. During operation, the air in the mounting cups can flow continuously, which can be beneficial to better discharge of heat.

[0031] In this embodiment, a support platform 34 is provided on the carrier plate 8, and a linear needle roller row (not shown) matched with the middle tube is provided on the support platform 34. By configuring the support platform 34 to support the middle tube, the burden on the left connecting rod and the right connecting rod can be effectively reduced.

[0032] In this embodiment, the first mounting cup 1 and the second mounting cup 2 are both provided with a second servo 35 and a third joint bearing 36, the camera 4 is fixedly connected to the third joint bearing 36, a second rack 37 is provided on the back of the camera 4, and a second driving gear 38 matched with the second rack 37 is provided on the second servo 35. The camera 4 can be rotated up and down, making the whole structure more flexible and further improving the bionics.

[0033] In this embodiment, the left connecting rod 13 and the right connecting rod 14 are both hollow, and rubber sleeves 39 are provided on the left connecting rod 13 and the right connecting rod 14. The rubber sleeves 39 are located at the pipe opening of the middle tube 12. The left connecting rod 13 and the right connecting rod 14 adopt a hollow structure, which can reduce the weight of the entire structure. At the same time, since the left connecting rod 13 and the right connecting rod 14 are both provided with rubber sleeves 39, when the first mounting cup and the second mounting cup are hit, it can effectively avoid the left connecting rod and the right connecting rod from swinging and directly hitting the pipe opening of the middle tube.

[0034] The beneficial effects of the present invention are as follows: a structure of gear transmission and connecting rod transmission is adopted to realize the rotation of the first mounting cup and the second mounting cup; the whole structure is simple and has good stability; at the same time, it has high flexibility and good mobility; by configuring a first compression spring, a second compression spring, a first shock absorber and a second shock absorber, when the first mounting cup and the second mounting cup are hit by foreign objects, a good buffering effect can be achieved, which can effectively reduce the chance of damage.

[0035] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that are not conceived through creative work should be included in the protection scope of the present invention.

Claims

1. An eye structure of an industrial robot, characterized in that: It comprises a first mounting cup, a second mounting cup and a mounting frame, wherein cameras are mounted in the first mounting cup and the second mounting cup, the first mounting cup and the second mounting cup are both rotatably connected to the mounting frame, the first mounting cup and the second mounting cup are respectively provided with a first steering seat and a second steering seat, the first mounting cup and the second mounting cup are respectively fixedly connected to the first steering seat and the second steering seat, a connecting rod assembly is arranged between the first steering seat and the second steering seat, the two ends of the connecting rod assembly are respectively rotatably connected to the first steering seat and the second steering seat, a carrier plate is arranged on the mounting frame, a first steering gear is arranged on the carrier plate, a first driving gear is arranged on the output shaft of the first steering gear, a first rack matched with the first driving gear is arranged on the connecting rod assembly, and the first steering gear drives the connecting rod assembly to move left and right through the first driving gear and the first rack; The connecting rod assembly includes a middle tube, a left connecting rod and a right connecting rod, wherein a first joint bearing, a second joint bearing, a first electric telescopic rod and a second electric telescopic rod are arranged in the middle tube, an end of the left connecting rod passes through the first joint bearing and is rotatably connected to the first electric telescopic rod, and an end of the right connecting rod passes through the second joint bearing and is rotatably connected to the second electric telescopic rod, the first joint bearing and the second joint bearing are both fixedly connected to the middle tube, a baffle is arranged in the middle tube, and a first compression spring and a second compression spring are arranged on both sides of the baffle, two ends of the first compression spring are respectively fixedly connected to the first electric telescopic rod and the baffle, and two ends of the second compression spring are respectively fixedly connected to the second electric telescopic rod and the baffle; The mounting frame includes an intermediate frame, a first connecting arm and a second connecting arm, the first connecting arm and the second connecting arm are both rotatably connected to the intermediate frame, the first connecting arm and the second connecting arm are respectively rotatably connected to the first mounting cup and the second mounting cup, a first fixed arm and a second fixed arm are arranged on the carrier plate, a first shock absorber is arranged between the first fixed arm and the first connecting arm, two ends of the first shock absorber are respectively rotatably connected to the first connecting arm and the first fixed arm, a second shock absorber is arranged between the second connecting arm and the second fixed arm, and two ends of the second shock absorber are respectively rotatably connected to the second connecting arm and the second fixed arm.

2. The eye structure of an industrial robot according to claim 1, characterized in that: The first mounting cup and the second mounting cup are both equipped with a breathing mechanism, the first connecting arm and the second connecting arm are both equipped with a supporting frame, the first mounting cup and the second mounting cup are both equipped with an air hole, the breathing mechanism comprises a left flexible corrugated bottle, a right flexible corrugated bottle and a retaining frame, the left flexible corrugated bottle and the right flexible corrugated bottle are both fixedly connected to the retaining frame, the supporting frame is fixedly connected to the retaining frame, the left flexible corrugated bottle and the right flexible corrugated bottle are symmetrically distributed on the left and right sides, and the bottle mouths of the left flexible corrugated bottle and the right flexible corrugated bottle are respectively connected to the first mounting cup and the second mounting cup.

3. The eye structure of an industrial robot according to claim 2, characterized in that: The carrier plate is provided with a support platform, and the support platform is provided with a linear needle roller row matched with the middle tube.

4. The eye structure of an industrial robot according to claim 3, characterized in that: The first mounting cup and the second mounting cup are both provided with a second servo and a third joint bearing, the camera is fixedly connected to the third joint bearing, a second rack is provided on the back of the camera, and the second servo is provided with a second driving gear matched with the second rack.

5. The eye structure of an industrial robot according to claim 4, characterized in that: The left connecting rod and the right connecting rod are both hollow, and are both provided with rubber sleeves, which are located at the pipe opening of the middle pipe.

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