A multi-position adjustable camera lifting and clamping device

Abstract

The present invention discloses a multi-station adjustable camera lifting and clamping device, which relates to the field of robot technology, and includes a lifting mechanism, a posture adjustment mechanism and a clamping mechanism. The lifting mechanism is fixedly connected to the posture adjustment mechanism, and the lifting mechanism is used to realize the rise and fall of the posture adjustment mechanism. The posture adjustment mechanism includes a main shaft and a posture driving structure, and the posture driving structure drives the main shaft to rotate. A guide plate is arranged on the main shaft, and the guide plate is used to place the camera. The clamping mechanism is arranged on the posture adjustment mechanism, and the clamping mechanism includes a clamping driving structure and a clamping structure, and the clamping driving structure drives the clamping mechanism to clamp the camera. The posture adjustment mechanism of the present invention can rotate to realize the posture angle adjustment of the camera, and the lifting mechanism can drive the camera to realize the micro-focusing of the rise and fall. The present invention has a reasonable structure, integrates the up and down lifting, posture rotation adjustment and clamping functions, and has strong practicality.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a multi-station adjustable camera lifting and clamping device. Background Art

[0002] The camera lifting and clamping device is installed on the visual recognition four-degree-of-freedom robot, which is the mechanism for the focal length, position and installation of the camera. Through machine vision technology, the robot can recognize and sort colors, shapes, and text. Machine vision obtains image information through a camera and processes it by a computer, learns the processing function of the human eye, and sends the processing results to the processor of the control system to guide the robot to complete the task smoothly. In the space where the robot can grasp the object, the camera clamping method and installation position should be light, convenient, reasonable and reliable. The camera can adjust the up and down position and posture angle to facilitate focusing and identifying the characteristics of the object. Therefore, there is an urgent need for a device that meets the above requirements. Summary of the invention

[0003] The purpose of the present invention is to provide a multi-station adjustable camera lifting and clamping device, so that the camera can be adjusted in up and down position and posture angle.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides a multi-station adjustable camera lifting and clamping device, comprising a lifting mechanism, a posture adjustment mechanism and a clamping mechanism, wherein the lifting mechanism is fixedly connected to the posture adjustment mechanism, and the lifting mechanism is used to realize the rising and falling of the posture adjustment mechanism, and the posture adjustment mechanism comprises a main shaft and a posture driving structure, and the posture driving structure drives the main shaft to rotate, and a guide plate is arranged on the main shaft, and the guide plate is used to place a camera, and the clamping mechanism is arranged on the posture adjustment mechanism, and the clamping mechanism comprises a clamping driving structure and a clamping structure, and the clamping driving structure drives the clamping mechanism to clamp the camera.

[0006] Preferably, the lifting mechanism includes a main frame and a lifting screw nut pair, the nut of the lifting screw nut pair is fixed on the main frame, one end of the lifting screw of the lifting screw nut pair is connected to the lifting handwheel key, and the lower end of the lifting screw is fixedly connected to the posture adjustment mechanism.

[0007] Preferably, the main frame comprises an upper bracket and a lower bracket which are opposite to each other in upper and lower directions, a plurality of guide columns are arranged between the upper bracket and the lower bracket, and the posture adjustment mechanism is slidably connected to the guide columns via a guide block.

[0008] Preferably, the posture driving structure is provided at one end of the main shaft, and a flange is fixed to the other end of the main shaft. The flange is connected to the guide plate through a first connecting bolt, a clamping slide is provided on the guide plate, and the clamping structure is arranged in the clamping slide.

[0009] Preferably, a spindle support is provided on the outer side of the spindle, the spindle and the spindle support are rotatably connected via a first bearing, the spindle is a hollow shaft, and the clamping drive structure is passed through the spindle and is rotatably connected to the spindle.

[0010] Preferably, the clamping drive structure includes a core shaft, which is inserted into the main shaft, and the core shaft is rotatably connected to the main shaft via a third bearing. One end of the core shaft is provided with a clamping adjustment handwheel, and the clamping adjustment handwheel is on the same side as the front end of the main shaft, and the clamping adjustment handwheel is key-connected to the core shaft, and the other end of the core shaft is provided with a core shaft bevel gear, and the core shaft bevel gear is fixedly connected to the core shaft via a third key, and the core shaft bevel gear is transmission-connected to the clamping structure.

[0011] Preferably, the clamping structure includes a clamping screw, which is provided with two nut sliders, one of which is provided on the left-handed thread segment of the clamping screw, and the other of which is provided on the right-handed thread segment of the clamping screw. A clamping bevel gear is passed through the clamping screw, and the clamping bevel gear is meshed with the core shaft bevel gear.

[0012] Preferably, a positioning nut is provided between the third bearing and the spindle bevel gear, and the positioning nut is sleeved on the spindle.

[0013] Preferably, the posture driving structure includes a posture adjustment handwheel and a posture adjustment shaft, the posture adjustment handwheel is on the same side as the front end of the main shaft, the posture adjustment handwheel is sleeved on one end of the posture adjustment shaft and is key-connected to the posture adjustment shaft, the other end of the posture adjustment shaft is sleeved with a main shaft pinion, the main shaft pinion is fixedly connected to the posture adjustment shaft by a first key, the main shaft pinion is meshed with a main shaft gear sleeved on the main shaft, and the main shaft gear is fixedly connected to the main shaft by a second key.

[0014] Compared with the prior art, the present invention has achieved the following technical effects:

[0015] The present invention clamps the camera on the posture adjustment mechanism through a clamping mechanism, the posture adjustment mechanism can rotate to adjust the posture angle of the camera, and the lifting mechanism can drive the camera to achieve micro-focusing of rising and falling. The present invention has a reasonable structure, integrates the up and down lifting, posture angle adjustment and clamping functions, and has strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. 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 paying creative work.

[0017] Figure 1 It is a schematic diagram of the external structure of the multi-station adjustable camera lifting and clamping device of the present invention;

[0018] Figure 2 It is a schematic diagram of the internal structure of the posture adjustment mechanism and the clamping mechanism of the present invention;

[0019] Among them: 1-lifting handwheel, 2-guide column, 3-nut slider, 4-clamping bevel gear, 5-clamping screw, 6-main frame, 7-guide plate, 8-first connecting bolt, 9-second shaft retaining ring, 10-core shaft bevel gear, 11-core shaft, 12-first bearing, 13-spindle, 14-spindle bracket, 15-second key, 16-spindle gear, 17-first shaft retaining ring, 18-shaft head pressure plate, 19-spindle pinion, 20-first key, 21-sleeve, 22-second bearing, 23-posture adjustment shaft, 24-posture adjustment handwheel, 25-clamping adjustment handwheel, 26-second connecting bolt, 27-third bearing, 28-round nut, 29-third key, 30-lifting screw nut pair. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] The purpose of the present invention is to provide a multi-station adjustable camera lifting and clamping device, so that the camera can be adjusted in up and down position and posture angle.

[0022] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] like Figure 1-Figure 2As shown: This embodiment provides a multi-station adjustable camera lifting and clamping device, including a lifting mechanism, a posture adjustment mechanism and a clamping mechanism. The lifting mechanism is fixedly connected to the posture adjustment mechanism. The lifting mechanism is used to realize the rise and fall of the posture adjustment mechanism. The posture adjustment mechanism includes a main shaft 13 and a posture driving structure. The posture driving structure drives the main shaft 13 to rotate. The main shaft 13 is provided with a guide plate 7. The guide plate 7 is used to place the camera. The clamping mechanism is arranged on the posture adjustment mechanism. The clamping mechanism includes a clamping driving structure and a clamping structure. The clamping driving structure drives the clamping mechanism to clamp the camera. In this embodiment, the camera is clamped on the posture adjustment mechanism by the clamping mechanism. The posture adjustment mechanism can rotate to adjust the posture angle of the camera. The lifting mechanism can drive the camera to realize micro-focusing of the rise and fall. This embodiment has a reasonable structure, integrates the up and down lifting, posture angle adjustment and clamping functions, and is highly practical.

[0024] Specifically, in this embodiment, the lifting mechanism includes a main frame 6 and a lifting screw nut pair 30. The nut of the lifting screw nut pair 30 is fixed on the main frame 6. One end of the lifting screw of the lifting screw nut pair 30 is key-connected with the lifting handwheel 1, and the lower end of the lifting screw is fixedly connected with the posture adjustment mechanism. The main frame 6 includes an upper bracket and a lower bracket opposite to each other. A plurality of guide columns 2 are arranged between the upper bracket and the lower bracket. In this embodiment, there are four guide columns 2. The four guide columns 2 are arranged on the outside of the posture adjustment mechanism, and the posture adjustment mechanism is slidably connected with the guide columns 2 through guide blocks. By turning the lifting handwheel 1, the nut of the lifting screw nut pair 30 is fixed, and the lifting screw drives the posture adjustment mechanism to perform lifting and lowering movements to realize the lifting and lowering function. During the lifting and lowering process of the posture adjustment mechanism, the guide blocks cooperate with the guide columns 2 to realize the guiding effect.

[0025] In this embodiment, a posture driving structure is provided at one end of the main shaft 13, and a flange is fixed to the other end of the main shaft 13. The flange is connected to the guide plate 7 through a first connecting bolt 8. A clamping slide is provided on the guide plate 7. The clamping slide passes through the center of the guide plate 7, and the clamping structure is arranged in the clamping slide.

[0026] In this embodiment, a spindle support 14 is provided on the outside of the spindle 13, the lower end of the lifting screw is fixedly connected to the spindle support 14, the spindle 13 and the spindle support 14 are rotatably connected through the first bearing 12, the spindle 13 is a hollow shaft, and the clamping drive structure is passed through the spindle 13 and rotatably connected to the spindle 13.

[0027] In this embodiment, the posture driving structure includes a posture adjustment hand wheel 24 and a posture adjustment shaft 23. The posture adjustment hand wheel 24 is on the same side as the front end of the main shaft 13 ( Figure 2The right end in the figure is the front end of the main shaft 13), the posture adjustment hand wheel 24 is sleeved on one end of the posture adjustment shaft 23 and is keyed to the posture adjustment shaft 23, the posture adjustment hand wheel 24 is coaxially arranged with the posture adjustment shaft 23, the other end of the posture adjustment shaft 23 is sleeved with a main shaft pinion 19, the main shaft pinion 19 and the posture adjustment shaft 23 are fixedly connected by a first key 20, the end of the other end of the posture adjustment shaft 23 is provided with a first shaft retaining ring 17, the main shaft pinion 19 is meshed with the main shaft large gear 16 sleeved on the main shaft 13, and the main shaft large gear 16 and the main shaft 13 are fixedly connected by a second key 15. A shaft shoulder is arranged on the posture adjustment shaft 23, the shaft shoulder is located between the main shaft pinion 19 and the posture adjustment hand wheel 24, the shaft shoulder is rotationally connected to the main shaft bracket 14 through the second bearing 22, a sleeve 21 is arranged between the second bearing 22 and the main shaft pinion 19, and axial positioning is performed through the sleeve 21. When the posture adjustment hand wheel 24 is rotated, the guide plate 7 rotates around the axis of the main shaft 13 to achieve the posture adjustment function.

[0028] In this embodiment, the clamping drive structure includes a core shaft 11, the core shaft 11 is inserted into the main shaft 13, the core shaft 11 is coaxially arranged with the main shaft 13, a shaft head pressure plate 18 is arranged at the front end of the main shaft 13, the shaft head pressure plate 18 is fixedly connected to the main shaft 13 by a second connecting bolt 26, the core shaft 11 passes through the shaft head pressure plate 18 and is rotatably connected to the shaft head pressure plate 18, the core shaft 11 is rotatably connected to the main shaft 13 by a third bearing 27, and a clamping adjustment hand wheel 25 is sleeved on one end of the core shaft 11, and the clamping adjustment hand wheel 25 is coaxially arranged with the front end of the main shaft 13. The side, that is, the posture adjustment hand wheel 24 and the clamping adjustment hand wheel 25 are arranged on the same side, which is convenient for installation on the robot arm and can ensure that the gripping action of the robot arm is not interfered with to the greatest extent. The clamping adjustment hand wheel 25 is key-connected with the mandrel 11, and the clamping adjustment hand wheel 25 is coaxially arranged with the mandrel 11. The other end of the mandrel 11 is sleeved with a mandrel bevel gear 10, and the end of the other end of the mandrel 11 is provided with a second shaft retaining ring 9. The mandrel bevel gear 10 is fixedly connected with the mandrel 11 through a third key 29, and the mandrel bevel gear 10 is transmission-connected with the clamping structure. A positioning nut 28 is arranged between the third bearing 27 and the mandrel bevel gear 10, and the positioning nut 28 is sleeved on the mandrel 11, and the positioning nut 28 is axially positioned.

[0029] In this embodiment, the first bearing 12 and the third bearing 27 are tapered roller bearings, and the second bearing 22 is an angular contact bearing.

[0030] In this embodiment, the clamping structure includes a clamping screw 5, on which two nut sliders 3 are arranged, each nut slider 3 and the clamping screw 5 form a clamping screw nut pair, one nut slider 3 is arranged on the left-handed thread section of the clamping screw 5, and the other nut slider 3 is arranged on the right-handed thread section of the clamping screw 5. A clamping bevel gear 4 is passed through the clamping screw 5, and the clamping bevel gear 4 is located in the middle position of the clamping screw 5, that is, at the center of the guide plate 7, and the clamping bevel gear 4 is meshed with the spindle bevel gear 10. When the clamping adjustment hand wheel 25 is rotated, the two nut sliders 3 make linear motions in opposite directions to realize the clamping and loosening functions of the camera.

[0031] The main frame 6 of this embodiment serves as an external connection mechanism. On the one hand, it is connected and installed with external equipment, and on the other hand, it completes the lifting action. The guide plate 7 can be moved up and down along the guide column 2 through the lifting screw nut pair 30; the guide plate 7, as the installation position of the camera, is provided with a clamping slideway, which can realize the posture rotation action around the axis of the main shaft 13 on the one hand, and the clamping and loosening action of the nut slider 3 on the other hand; the main shaft 13 is designed as a hollow shaft, on the one hand, it can realize the guide plate 7 rotating around the main shaft 13 while completing the clamping and loosening action, and on the other hand, the posture adjustment handwheel 24 and the clamping adjustment handwheel 25 are arranged on the same side, which is convenient for installation on the robot arm and can maximize the guarantee of not interfering with the grasping action of the robot hand; the self-locking principle of the screw nut pair is used to ensure that the lifting and lowering, clamping and loosening are stable at any position; the main shaft 13 and the core shaft 11 are uniformly integrated on the main shaft bracket 14, and the upper end of the main shaft bracket 14 is fixedly connected to the lifting screw of the lifting screw nut pair 30, and the lifting and lowering of the posture adjustment mechanism and the clamping mechanism can be realized by rotating the lifting handwheel 1. In this embodiment, the functions of the multi-station liftable clamping device are decomposed into three mechanisms: a lift mechanism, a posture adjustment mechanism, and a clamping mechanism, and then the various mechanisms are integrated together, thereby greatly reducing the difficulty of processing and assembly.

[0032] The present specification uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A multi-station adjustable camera lifting and clamping device, characterized in that: It includes a lifting mechanism, a posture adjustment mechanism and a clamping mechanism, wherein the lifting mechanism is fixedly connected to the posture adjustment mechanism, the lifting mechanism is used to realize the lifting and lowering of the posture adjustment mechanism, the posture adjustment mechanism includes a main shaft and a posture driving structure, the posture driving structure drives the main shaft to rotate, the main shaft is provided with a guide plate, the guide plate is used to place a camera, the clamping mechanism is provided on the posture adjustment mechanism, the clamping mechanism includes a clamping driving structure and a clamping structure, and the clamping driving structure drives the clamping mechanism to clamp the camera; A spindle support is arranged outside the spindle, the spindle and the spindle support are rotatably connected via a first bearing, the spindle is a hollow shaft, and the clamping drive structure is inserted into the spindle and rotatably connected to the spindle; The clamping drive structure comprises a mandrel, the mandrel is inserted into the main shaft, the mandrel is rotatably connected to the main shaft through a third bearing, one end of the mandrel is sleeved with a clamping adjustment handwheel, the clamping adjustment handwheel is on the same side as the front end of the main shaft, the clamping adjustment handwheel is key-connected to the mandrel, the other end of the mandrel is sleeved with a mandrel bevel gear, the mandrel bevel gear is fixedly connected to the mandrel through a third key, and the mandrel bevel gear is transmission-connected to the clamping structure; The clamping structure comprises a clamping screw, on which two nut sliders are arranged, one of which is arranged on the left-handed thread section of the clamping screw, and the other of which is arranged on the right-handed thread section of the clamping screw, and a clamping bevel gear is passed through the clamping screw, and the clamping bevel gear is meshed with the spindle bevel gear; The posture driving structure includes a posture adjustment handwheel and a posture adjustment shaft, the posture adjustment handwheel is on the same side as the front end of the main shaft, the posture adjustment handwheel is sleeved on one end of the posture adjustment shaft and is key-connected to the posture adjustment shaft, the other end of the posture adjustment shaft is sleeved with a main shaft pinion, the main shaft pinion is fixedly connected to the posture adjustment shaft by a first key, the main shaft pinion is meshed with a main shaft gear sleeved on the main shaft, and the main shaft gear is fixedly connected to the main shaft by a second key.

2. The multi-station adjustable camera lifting and clamping device according to claim 1 is characterized in that: The lifting mechanism includes a main frame and a lifting screw nut pair, the nut of the lifting screw nut pair is fixed on the main frame, one end of the lifting screw of the lifting screw nut pair is connected to the lifting handwheel key, and the lower end of the lifting screw is fixedly connected to the posture adjustment mechanism.

3. The multi-station adjustable camera lifting and clamping device according to claim 2 is characterized in that: The main frame comprises an upper bracket and a lower bracket which are opposite to each other, a plurality of guide columns are arranged between the upper bracket and the lower bracket, and the posture adjustment mechanism is slidably connected with the guide columns through a guide block.

4. The multi-station adjustable camera lifting and clamping device according to claim 1 is characterized in that: The posture driving structure is arranged at one end of the main shaft, and a flange is fixed at the other end of the main shaft. The flange is connected to the guide plate through a first connecting bolt. A clamping slide is arranged on the guide plate, and the clamping structure is arranged in the clamping slide.

5. The multi-station adjustable camera lifting and clamping device according to claim 1 is characterized in that: A positioning nut is arranged between the third bearing and the spindle bevel gear, and the positioning nut is sleeved on the spindle.

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