A position adjustment device and a line scan module

Abstract

The present invention discloses a position adjustment device and a line scan device, belonging to the technical field of position adjustment. The position adjustment device includes a carrying mechanism, and the carrying mechanism includes: a first bracket for carrying a piece to be adjusted; a second bracket, the first bracket can rotate relative to the second bracket around a first axis until being relatively fixed by a first fastener; a third bracket, the second bracket can rotate relative to the third bracket around a second axis until being relatively fixed by a second fastener; a fourth bracket, the third bracket can rotate relative to the fourth bracket around a third axis until being relatively fixed by a third fastener; a first adjusting member for driving the first bracket to rotate; a second adjusting member for driving the second bracket to rotate; and a third adjusting member for driving the third bracket to rotate. The present invention can solve the problem that the installation position of the existing line scan camera cannot be adjusted.

Description

Technical Field

[0001] The present invention relates to the technical field of camera position adjustment, and particularly to a position adjustment device and a line scan module. Background Art

[0002] During industrial production, it is often necessary to use multiple line scan cameras to perform line scans on products, and then splice the images collected by the multiple line scan cameras using algorithms to form a complete image of the product. Most of the existing line scan cameras have fixed installation positions and cannot be adjusted. Moreover, due to installation errors, the imaging angles of the line scan cameras deviate from the preset positions, or the imaging angles between the individual line scan cameras are inconsistent, which will increase the difficulty of image splicing, and the integrity and accuracy of the product image after splicing are relatively poor. Summary of the Invention

[0003] The purpose of the present invention is to provide a position adjustment device and a line scan module to solve the problem that the installation position of the existing line scan camera cannot be adjusted.

[0004] To achieve the above purpose, the following technical solutions are provided:

[0005] A position adjustment device includes a carrying mechanism, and the carrying mechanism includes:

[0006] A first bracket for carrying a component to be adjusted;

[0007] A second bracket, the first bracket can rotate relative to the second bracket around a first axis until they are relatively fixed by a first fastener;

[0008] A third bracket, the second bracket can rotate relative to the third bracket around a second axis until they are relatively fixed by a second fastener;

[0009] A fourth bracket, the third bracket can rotate relative to the fourth bracket around a third axis until they are relatively fixed by a third fastener; the first axis extends along a first direction, the second axis extends along a second direction, the third axis extends along a third direction, and the first direction, the second direction, and the third direction are perpendicular to each other in pairs;

[0010] A first adjusting member for driving the first bracket to rotate;

[0011] A second adjusting member for driving the second bracket to rotate;

[0012] A third adjusting member for driving the third bracket to rotate.

[0013] Further, the first bracket and the second bracket are arranged in sequence along the first direction, the third bracket is a hollow frame structure, and the second bracket is rotatably arranged inside the third bracket;

[0014] The first adjusting member and the second adjusting member are both disposed on the third bracket and are respectively located on both sides of the second axis along the third direction.

[0015] Furthermore, at least one group of first arc-shaped through holes is arranged on the second bracket, and each group of first arc-shaped through holes includes two first arc-shaped through holes located in the same radial direction of the same virtual circle, and the centers of the first arc-shaped through holes coincide with the virtual circle and are both located on the first axis; the first fastener is a first fastening bolt, and one first fastening bolt is arranged in each of the first arc-shaped through holes, and the first fastening bolt connects the first bracket and the second bracket.

[0016] Furthermore, the first adjusting member comprises:

[0017] a shifting rod, engaged with the first bracket, and used for shifting the first bracket to make the first bracket rotate around the first axis;

[0018] The first elastic member is disposed between the third bracket and the shifting rod and is configured to allow the shifting rod to have a pre-tightening force along the second direction.

[0019] Furthermore, the third bracket is provided with a slide groove and a slide frame slidably arranged in the slide groove, the shift rod is located in the slide frame, and the first elastic member is arranged between a groove wall of the slide groove and the slide frame.

[0020] Furthermore, the second adjusting member comprises:

[0021] a first adjusting bolt, wherein the first adjusting bolt is threadedly connected to the third bracket and abuts against the second bracket along the first direction;

[0022] The second elastic member is disposed between the second bracket and the third bracket and is configured to allow the first adjusting bolt to have a pre-tightening force along the first direction.

[0023] Further, the third adjustment member is provided on one of the two sides of the third bracket along the second direction, and includes:

[0024] a second adjusting bolt, the second adjusting bolt being threadedly connected to the fourth bracket and abutting against the third bracket along the first direction;

[0025] The third elastic member is disposed between the fourth bracket and the third bracket and is configured to allow the second adjusting bolt to have a pre-tightening force along the first direction.

[0026] Furthermore, the position adjustment device further comprises:

[0027] A first base and a second base arranged in sequence along the third direction;

[0028] A first driving module, arranged on the first base, for driving the second base to move relative to the first base;

[0029] A second driving module, arranged on the second base, with at least one of the second driving module and the carrying mechanism provided, and they are in one-to-one correspondence; the output end of the second driving module is connected to the fourth bracket of the corresponding carrying mechanism to drive the carrying mechanism to move relative to the second base.

[0030] Further, the driving direction of the first driving module is the first direction; the second driving module includes:

[0031] A third base, with the number of the third bases corresponding to the number of the carrying mechanisms one by one;

[0032] A first sub-driving module, arranged on the second base, for driving the third base to move relative to the second base along the second direction;

[0033] A second sub-driving module, arranged on the third base, for driving the corresponding carrying mechanism to move along the first direction.

[0034] A line scanning module, including the position adjusting device described in any one of the above, and further including at least one line scanning camera, with at least one carrying mechanism provided, and each carrying mechanism carries one of the line scanning cameras.

[0035] Compared with the prior art, the beneficial effects of the present invention:

[0036] Relying on the mutual cooperation between different brackets and different adjusting parts, the part to be adjusted has rotational degrees of freedom in three mutually perpendicular directions, and thus corresponding position adjustment can be performed. At the same time, relying on the fastening of three fasteners, the part to be adjusted can be stably maintained at the adjusted position; when the above position adjusting device is used for the position adjustment of the line scanning camera, the line scanning camera is used as the part to be adjusted and arranged on the carrying mechanism, and the carrying mechanism is used to complete the rotational adjustment around different axes, and finally an ideal imaging angle is obtained to eliminate the influence of installation errors; when multiple line scanning cameras work together, each line scanning camera can be carried by the above-mentioned carrying mechanism, so the installation position of each line scanning camera can be adjusted until the imaging angles of all line scanning cameras are finally consistent, reducing the difficulty of image stitching and ensuring the integrity and accuracy of the stitched product image. Description of the Drawings

[0037] Figure 1 It is a schematic structural diagram of a position adjusting device in an embodiment of the present invention;

[0038] Figure 2 This is the assembly drawing of the position adjustment device and the line scan camera in the embodiment of the present invention;

[0039] Figure 3 This is a partial structural schematic diagram of a position adjustment device in the embodiment of the present invention Figure 1 ;

[0040] Figure 4 This is a partial structural schematic diagram of a position adjustment device in the embodiment of the present invention Figure 2 ;

[0041] Figure 5 This is a partial structural schematic diagram of a position adjustment device in the embodiment of the present invention Figure 3 ;

[0042] Figure 6 This is a partial structural schematic diagram of another position adjustment device in the embodiment of the present invention;

[0043] Figure 7 This is a structural schematic diagram of a line scan module in the embodiment of the present invention.

[0044] Reference numerals:

[0045] 100, bearing mechanism; 101, first axis; 102, second axis; 103, third axis; 200, first base; 300, second base; 400, third base; 500, first drive module; 600, second drive module; 601, first sub-drive module; 602, second sub-drive module; 700, cooling fan; 800, part to be adjusted;

[0046] 10, first bracket; 20, second bracket; 30, third bracket; 40, fourth bracket; 50, first adjustment part; 60, second adjustment part; 70, third adjustment part; 80, second fastener; 90, first rotating part; 91, second rotating part;

[0047] 11, limiting boss; 21, first arc-shaped through hole; 22, first limiting groove; 23, second limiting groove; 31, sliding groove; 32, sliding frame; 33, first guide rod; 34, second arc-shaped through hole; 35, third arc-shaped through hole; 36, second guide rod; 41, third guide rod; 51, lever; 52, first elastic part; 61, first adjusting bolt; 62, second elastic part; 71, second adjusting bolt; 72, third elastic part. Detailed implementation manners

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. The components of the embodiments of the present invention usually described and illustrated in the drawings here can be arranged and designed in various different configurations.

[0049] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0050] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0051] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the inventive product is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, 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 thus should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and should not be construed as indicating or implying relative importance. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0052] In the description of the present invention, it should also be noted that unless otherwise clearly specified and defined, the terms "set" and "connect" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] In the present invention, unless otherwise clearly specified or limited, the first feature being "above" or "below" the second feature may include direct contact between the first and second features, or may include the first and second features not being in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath" and "underneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the horizontal height of the first feature is less than that of the second feature.

[0054] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0055] This embodiment aims to provide a position adjustment device capable of adjusting the position of a piece to be adjusted; this position adjustment device can be used in a line scan module to adjust the position of a line scan camera. Of course, this position adjustment device can also be used in other fields to adjust the positions of other pieces to be adjusted, and no specific limitations are made here. This embodiment mainly focuses on its application in the line scan module for illustration.

[0056] Reference Figure 1 and Figure 2, the position adjustment device includes a carrying mechanism 100 for carrying the piece to be adjusted 800, and the position of the piece to be adjusted 800 on the carrying mechanism 100 is adjustable; in this embodiment, the piece to be adjusted 800 is a line-scan camera. Specifically, the carrying mechanism 100 includes a first bracket 10, a second bracket 20, a third bracket 30 and a fourth bracket 40. The first bracket 10 is used to carry the piece to be adjusted 800, and the first bracket 10 can rotate relative to the second bracket 20 about a first axis 101 until it is relatively fixed by a first fastener (not shown in the drawings); the second bracket 20 can rotate relative to the third bracket 30 about a second axis 102 until it is relatively fixed by a second fastener 80; the third bracket 30 can rotate relative to the fourth bracket 40 about a third axis 103 until it is relatively fixed by a third fastener (not shown in the drawings); the first axis 101 extends in a first direction (i.e., the Z direction in the drawings), the second axis 102 extends in a second direction (i.e., the X direction in the drawings), the third axis 103 extends in a third direction (i.e., the Y direction in the drawings), and the first direction, the second direction and the third direction are perpendicular to each other in pairs. Further, the carrying mechanism 100 further includes a first adjusting member 50, a second adjusting member 60 and a third adjusting member 70. The first adjusting member 50 is used to drive the first bracket 10, the second adjusting member 60 is used to drive the second bracket 20 to rotate, and the third adjusting member 70 is used to drive the third bracket 30 to rotate.

[0057] In specific implementation, through the rotational cooperation between the first bracket 10 and the second bracket 20, the component to be adjusted 800 can rotate a certain angle around the first axis 101 following the first bracket 10 under the drive of the first adjuster 50. After the adjustment is completed, the first bracket 10 and the second bracket 20 are fixed by the first fastener; through the rotational cooperation between the second bracket 20 and the third bracket 30, the component to be adjusted 800 can rotate a certain angle around the second axis 102 following the second bracket 20 under the drive of the second adjuster 60. After the adjustment is completed, the second bracket 20 and the third bracket 30 can be fixed by the second fastener 80; through the rotational cooperation between the third bracket 30 and the fourth bracket 40, the component to be adjusted 800 can rotate a certain angle around the third axis 103 following the third bracket 30 under the drive of the third adjuster 70. After the adjustment is completed, the third bracket 30 and the fourth bracket 40 can be fixed by the third fastener. That is, relying on the mutual cooperation between the above different brackets and different adjusters, the component to be adjusted 800 has rotational degrees of freedom in three mutually perpendicular directions, and thus corresponding position adjustment can be performed. At the same time, relying on the fastening of the three fasteners, the component to be adjusted 800 can be stably maintained at the adjusted position. When the above position adjustment device is used for the position adjustment of a line scan camera, the line scan camera is arranged on the carrying mechanism 100 as the component to be adjusted 800, and the rotational adjustment around different axes is completed by using the carrying mechanism 100, and finally an ideal imaging angle is obtained to eliminate the influence of installation errors; when multiple line scan cameras work together, each line scan camera can be carried by the above carrying mechanism 100, so the installation position of each line scan camera is adjustable until the imaging angles of all line scan cameras are finally the same, reducing the difficulty of image stitching and ensuring the integrity and accuracy of the stitched product image. It should be understood that when the carrying mechanism 100 is installed, it should be roughly installed at the preset position, and the imaging angle of the line scan camera also roughly conforms to the preset. The different adjusters of the carrying mechanism 100 perform fine adjustments on the line scan camera within a small range.

[0058] Exemplarily, in this embodiment, the line scan camera is often installed directly above the product conveying line body, and the lens is vertically downward. The conveying line body conveys the product linearly, and the line scan camera remains stationary to take images of the product from top to bottom, thereby completing the line scan process; at this time, the first direction can be set as the vertical direction, and the second direction and the third direction are two mutually perpendicular directions in the horizontal plane. Of course, in some other embodiments, the line scan camera may not take images from top to bottom, or the line scan may be performed in a manner where the product is stationary and the camera moves. However, in any case, the position adjustment device of this embodiment can be used for the position adjustment of the line scan camera.

[0059] Further, referring to Figure 3 and Figure 4, the first bracket 10 and the second bracket 20 are arranged in sequence along the first direction. The third bracket 30 is a hollow frame structure, and the second bracket 20 is rotatably arranged inside the third bracket 30; that is, first stack the first bracket 10 and the second bracket 20 along the first direction, and then place the second bracket 20 inside the third bracket 30. By reasonably setting the size of the first bracket 10, the first bracket 10 and the line scan camera on the first bracket 10 can also be within the frame range of the third bracket 30, which helps to improve the compactness of the entire bearing mechanism 100. In this embodiment, the first bracket 10 and the second bracket 20 are arranged in sequence in the vertical direction, and the first bracket 10 is located above the second bracket 20.

[0060] Furthermore, the first bracket 10 and the second bracket 20 are also hollow frame structures. The purpose of such a setting is that when the component to be adjusted 800 is a line scan camera, the main body of the line scan camera can be installed on the upper part of the first bracket 10, and the lens of the line scan camera extends downward through the hollow structures of the first bracket 10 and the second bracket 20 in sequence until it extends out of the third bracket 30 (refer to Figure 2 ), which not only facilitates the installation of the line scan camera but also further compresses the size of the bearing mechanism 100 in the vertical direction.

[0061] Further, the first adjusting member 50 and the second adjusting member 60 are both arranged on the third bracket 30 and are respectively located on both sides of the second axis 102 along the third direction. Arranging the first adjusting member 50 and the second adjusting member 60 on both sides of the second axis 102 along the third direction, on the one hand, facilitates the second adjusting member 60 to drive the second bracket 20 to rotate around the second axis 102, and on the other hand, enables the adjustment actions of the first adjusting member 50 and the second adjusting member 60 not to interfere with each other. Specifically in implementation, the first adjusting member 50 can also be arranged on the second bracket 20. However, since the second bracket 20 is already a hollow frame structure, placing the first adjusting member 50 will undoubtedly occupy too much space of the second bracket 20. If the first adjusting member 50 is arranged on the third bracket 30, while still realizing the rotation drive of the first bracket 10, the third bracket 30 is fully utilized to place the first adjusting member 50, saving the space of the second bracket 20 and further improving the compactness of the bearing mechanism 100.

[0062] Specifically, refer to Figure 4, at least one group of first arc-shaped through holes 21 is provided on the second bracket 20, each group of first arc-shaped through holes 21 includes two first arc-shaped through holes 21 located in the same radial direction of the same virtual circle, the center of the first arc-shaped through holes 21 coincides with the center of the virtual circle, and both are located on the first axis 101; the first fastener is a first fastening bolt, and a first fastening bolt is provided in each first arc-shaped through hole 21, and the first fastening bolt connects the first bracket 10 and the second bracket 20. In specific implementation, since the first fastening bolt is located in the first arc-shaped through hole 21, the contact between the outer wall of the screw of the first fastening bolt and the hole wall of the first arc-shaped through hole 21 limits the relative rotation between the first bracket 10 and the second bracket 20 around the first axis 101. After the first bracket 10 is adjusted into place around the first axis 101, the first fastening bolt is locked to achieve relative fixation of the first bracket 10 and the second bracket 20. In this embodiment, two groups of first arc-shaped through holes 21 are provided, and the two groups of first arc-shaped through holes 21 are respectively located on two mutually perpendicular radial directions of the same virtual circle.

[0063] Specifically, the first adjustment member 50 includes a lever 51 and a first elastic member 52. The lever 51 is engaged with the first bracket 10 and is used to move the first bracket 10 so that the first bracket 10 rotates around the first axis 101. The first elastic member 52 is disposed between the third bracket 30 and the lever 51 and is configured to provide the lever 51 with a preload force in the second direction. In specific implementation, the lever 51 is horizontally inserted into the first bracket 10 to engage with the first bracket 10. When the first bracket 10 is driven to rotate, the first fastener is first released to fasten the first bracket 10 and the second bracket 20, and then the free end of the lever 51 is manually moved in the second direction. Under the cooperation of the first arc-shaped through hole 21 and the first fastening bolt, the lever 51 drives the first bracket 10 to rotate around the first axis 101. After the first bracket 10 rotates to the target position, the lever 51 stops moving and the first bracket 10 and the second bracket 20 are locked by the first fastener. At this point, the rotation adjustment action of the first bracket 10 in the direction of the first axis 101 is completed. Optionally, the lever 51 is horizontally inserted on the side wall of the first bracket 10 along the third direction.

[0064] More specifically, refer to Figure 5, a sliding groove 31 is provided on the third bracket 30, and a sliding frame 32 is slidably arranged in the sliding groove 31. The dial rod 51 is located in the sliding frame 32, and a first elastic member 52 is arranged between the groove wall of the sliding groove 31 and the sliding frame 32. Since the dial rod 51 rotates the first bracket 10 around the first axis 101, the moving track of the dial rod 51 is not strictly horizontal movement along the second direction, but rotates together with the first bracket 10. Therefore, arranging the dial rod 51 in the sliding frame 32 can provide a moving space for the dial rod 51. During specific implementation, the dial rod 51 abuts against the side wall of the sliding frame 32, and the reaction force of the first elastic member 52 acts on the dial rod 51 indirectly through the sliding frame 32; therefore, the arrangement of the sliding frame 32 also facilitates the installation of the first elastic member 52, so that the direction of the pre-tightening force output by the first elastic member 52 remains stationary and does not deviate following the dial rod 51. Optionally, the sliding frame 32 is a rectangular frame, and the dial rod 51 has displacement spaces along the first direction, the second direction and the third direction in the rectangular frame. Further optionally, the sliding groove 31 extends along the second direction and has two groove walls arranged at intervals along the first direction. The sliding frame 32 is slidably arranged in the sliding groove 31 along the second direction and is limited in the first direction by the two groove walls to ensure that the sliding frame 32 moves stably along the second direction in the sliding groove 31.

[0065] Further, the first elastic member 52 is a spring; the two free ends of the first elastic member 52 along the second direction respectively abut against the groove wall of the sliding groove 31 and the sliding frame 32. Further optionally, a first guiding rod 33 is also provided on the third bracket 30. The first guiding rod 33 is slidably arranged on the third bracket 30 along the second direction and can extend into the sliding groove 31 to be connected with the sliding frame 32; the first elastic member 52 is sleeved outside the part of the first guiding rod 33 located in the sliding groove 31 to ensure that the elastic force of the spring is transmitted along the second direction. Exemplarily, the first guiding rod 33 is a bolt structure. The head of the bolt structure is located outside the third bracket 30 and can abut against the third bracket 30, thereby limiting the first guiding rod 33 to prevent it from detaching from the third bracket 30. The free end of the bolt structure is threadedly connected with the sliding frame 32 to ensure that the sliding frame 32 can drive the first guiding rod 33 to move.

[0066] Optionally, refer to Figure 4, a first limiting groove 22 is provided on the second bracket 20, and a limiting boss 11 is provided on the first bracket 10. The limiting boss 11 is inserted into the first limiting groove 22 along the first direction, and the groove wall of the first limiting groove 22 is used to limit the rotation range of the first bracket 10; that is, by the abutment of the limiting boss 11 and the groove wall of the first limiting groove 22, the rotation range of the first bracket 10 is restricted, so that its position can be adjusted within a limited range. In this embodiment, optionally, the limiting boss 11 protrudes downward from the first bracket 10. Further, a second limiting groove 23 is also provided on the second bracket 20. The second limiting groove 23 communicates with the outside and the first limiting groove 22 along the third direction. The dial rod 51 enters the first limiting groove 22 through the second limiting groove 23 and engages with the limiting boss 11. Specifically, the second limiting groove 23 has two side walls spaced along the first direction and also has two side walls spaced along the second direction. The dial rod 51 is limited in movement in the first direction and the second direction by abutting against the groove wall of the second limiting groove 23, so as to prevent the dial rod 51 from deviating excessively.

[0067] Specifically, referring to Figure 3 and Figure 4 , the second bracket 20 and the third bracket 30 are rotatably connected by a first rotating member 90. Optionally, the first rotating member 90 can be a rotating shaft or a shoulder screw. In specific implementation, both sides of the second bracket 20 along the second direction are connected to the third bracket 30 by one first rotating member 90 each. Further, the second fastener 80 is a second fastening bolt. A second arc-shaped through hole 34 is provided on the third bracket 30, and the center of the second arc-shaped through hole 34 is located on the second axis 102; a first mounting hole is provided on the second bracket 20. When the second bracket 20 rotates to the target position around the second axis 102, the second fastening bolt passes through the second arc-shaped through hole 34 and is screwed into the first mounting hole to realize the connection and fixation of the second bracket 20 and the third bracket 30. Optionally, a second fastening bolt is provided on both sides of each first rotating member 90 along the third direction to improve the connection stability.

[0068] Referring to Figures 3 - 5 , the second adjusting member 60 includes a first adjusting bolt 61 and a second elastic member 62. The first adjusting bolt 61 is threadedly connected to the third bracket 30 and abuts against the second bracket 20 along the first direction; the second elastic member 62 is arranged between the second bracket 20 and the third bracket 30 and is configured to make the first adjusting bolt 61 have a pre-tightening force along the first direction, ensuring that the second bracket 20 rotates more smoothly around the second axis 102.

[0069] Specifically, the second elastic member 62 is also a spring. Further, a second guide rod 36 is provided on the third bracket 30. The second guide rod 36 extends along the first direction and penetrates through the second bracket 20. The second elastic member 62 is sleeved outside the second guide rod 36. In one embodiment, the second elastic member 62 is sleeved on the portion of the second guide rod 36 located between the second bracket 20 and the third bracket 30. In another embodiment, a limit convex edge is provided at the free end of the second guide rod 36, and the second elastic member 62 is arranged between the limit convex edge and the second bracket 20. Optionally, the second guide rod 36 is also a bolt structure, and the limit convex edge is the head of the bolt structure. The free end of the bolt structure is connected to the third bracket 30. Optionally, both the second elastic member 62 and the second guide rod 36 are provided in two, and they are in one-to-one correspondence. The two second guide rods 36 and the two second elastic members 62 are respectively located on both sides of the first adjusting bolt 61 along the second direction to ensure the stable rotation of the second bracket 20.

[0070] Reference Figure 1 and Figure 2 , the third bracket 30 and the fourth bracket 40 are rotatably connected through a second rotating member 91. Optionally, the second rotating member 91 can be a rotating shaft or a shoulder screw. In this embodiment, the fourth bracket 40 is arranged on one side of the two sides of the third bracket 30 along the third direction. Therefore, the second rotating member 91 is arranged at the middle position of the third bracket 30 along the second direction. Further, the third fastener is a third fastening bolt. A third arc-shaped through hole 35 is provided on the third bracket 30, and a second mounting hole is provided on the fourth bracket 40. The center of the third arc-shaped through hole 35 is located on the third axis 103. After the third bracket 30 rotates to the target position around the third axis 103, the third fastening bolt passes through the third arc-shaped through hole 35 and is screwed into the second mounting hole to realize the connection and fixation between the third bracket 30 and the fourth bracket 40. The setting of the third arc-shaped through hole 35 enables the third bracket 30 to be fixedly connected to the fourth bracket 40 at any rotating position. Optionally, a third arc-shaped through hole 35 is provided on each of the two sides of the third bracket 30 along the second direction, and two third fastening bolts are correspondingly provided to improve the connection stability.

[0071] Specifically, the third adjusting member 70 is arranged on one side of the two sides of the third bracket 30 along the second direction. The third adjusting member 70 includes a second adjusting bolt 71 and a third elastic member 72. The second adjusting bolt 71 is threadedly connected to the fourth bracket 40 and abuts against the third bracket 30 along the first direction. The third elastic member 72 is arranged between the third bracket 30 and the fourth bracket 40 and is configured to make the second adjusting bolt 71 have a pre-tightening force along the first direction. During specific implementation, the second adjusting bolt 71 drives the third bracket 30 from one side of the third bracket 30 along the second direction, enabling it to rotate around the third axis 103. Similar to the principle of the second adjusting member 60, the setting of the third elastic member 72 is also for the third bracket 30 to rotate more smoothly around the third axis 103.

[0072] Specifically and optionally, the third elastic member 72 is also a spring. Further, a third guide rod 41 is provided on the fourth bracket 40. The third guide rod 41 is slidably disposed on the fourth bracket 40 along the first direction. The third guide rod 41 is also connected to the third bracket 30. The third elastic member 72 is sleeved outside the third guide rod 41. Specifically, the second elastic member 62 is sleeved on the part of the third guide rod 41 between the third bracket 30 and the fourth bracket 40. Optionally, the third guide rod 41 is a bolt structure. The head of the bolt structure is used to limit the third guide rod 41 from detaching from the fourth bracket 40. The free end of the bolt structure is connected to the third bracket 30. Optionally, the third guide rod 41 and the third adjusting member 70 are arranged on the same side.

[0073] Further, referring to Figure 6 , the position adjusting device further includes a first base 200 and a second base 300 arranged in sequence along the third direction, and further includes a first driving module 500 and a second driving module 600; the first driving module 500 is arranged on the first base 200 and is used to drive the second base 300 to move relative to the first base 200; the second driving module 600 is arranged on the second base 300. At least one of the second driving module 600 and the carrying mechanism 100 is provided, and they are in one-to-one correspondence; the output end of the second driving module 600 is connected to the fourth bracket 40 to drive the carrying mechanism 100 to move relative to the second base 300. In this embodiment, two second driving modules 600 and two carrying mechanisms 100 are provided.

[0074] During specific implementation, if the overall installation position of the carrying mechanism 100 is fixed, the cooperation between different brackets and adjusting members can only meet the fine adjustment of the line scan camera in three rotation directions to ensure the accuracy of the imaging angle, but the adjustment range is very small; when focusing on a product or changing the product type, what needs to be adjusted is the spatial position of the entire carrying mechanism 100. Therefore, by providing the first base 200 and the second base 300, and respectively providing the first driving module 500 and the second driving module 600 on the corresponding bases, each carrying mechanism 100 can be independently adjusted in position through the second driving module 600 to ensure that each line scan camera focuses on the product; and since all the carrying mechanisms 100 are arranged on the second base 300 through the second driving module 600, the first driving module 500 can drive the second base 300 to drive all the carrying mechanisms 100 to adjust their positions together. This is applicable to the one-key switching when the line scan product type needs to be changed, improving the line scan efficiency.

[0075] Specifically and optionally, the driving direction of the first driving module 500 can be any one, any two, or all three of the first direction, the second direction, and the third direction. In this embodiment, the driving direction of the first driving module 500 is the first direction; that is, mainly for vertically adjusting all the carrying mechanisms 100. According to different product types, the first driving module 500 drives all the line scan cameras to adjust their positions in the vertical direction and roughly reach the required positions. Further, the second driving module 600 includes a third base 400, a first sub-driving module 601, and a second sub-driving module 602. The third base 400 corresponds to the number of the carrying mechanisms 100 one by one; the first sub-driving module 601 is arranged on the second base 300 and is used to drive the third base 400 to move relative to the second base 300 in the second direction. The second sub-driving module 602 is arranged on the third base 400, and its output end is connected to the fourth bracket and is used to drive the corresponding carrying mechanism 100 to move in the first direction. That is, each carrying mechanism 100 can be independently adjusted in position in the first direction by the second sub-driving module 602 without interfering with the position adjustment of the first driving module 500. After the first driving module 500 drives the line scan camera to roughly reach the required position, each line scan camera can then perform individual focusing according to actual needs; the first sub-driving module 601 is used to achieve the displacement adjustment of the carrying mechanism 100 in the second direction, so that the relative positions of different carrying mechanisms 100 in the second direction are adjustable; in specific implementation, when multiple carrying mechanisms 100 are arranged at intervals in the second direction, the distance between them can be adjusted by the first sub-driving module 601 to obtain a reasonable distance and meet the image stitching requirements. Since the position of the product conveying line body is generally relatively fixed, and the line scan camera has a certain imaging range in the third direction, the entire position adjustment device is arranged directly above the conveying line body, and there is no need to perform excessive position adjustment in the third direction. Therefore, in this embodiment, neither the first driving module 500 nor the second driving module 600 involves position adjustment in the third direction. In some other embodiments, the second driving module 600 and the second driving module 600 can involve position adjustment of the carrying mechanism 100 in the third direction, which will not be elaborated here.

[0076] Optionally, the first driving module 500, the first sub-driving module 601, and the second sub-driving module 602 can all adopt a combination form of a motor + a lead screw nut transmission mechanism + a slider rail guiding mechanism, or can also adopt a linear motor or other linear driving mechanisms, which are not specifically limited here.

[0077] Reference Figure 7, this embodiment also provides a line scan module, which includes the above-mentioned position adjustment device and at least one line scan camera. There is at least one carrier mechanism 100, and each carrier mechanism 100 carries a line scan camera. In specific implementation, the number of line scan cameras can be one, two, three or more, and no specific limitation is made here. In this embodiment, two line scan cameras are provided, and two carrier mechanisms 100 are also provided.

[0078] Furthermore, the line scan module further includes a cooling fan 700 for cooling the line scan camera. The line scan camera will generate serious heat after long-term operation. If it cannot be cooled in time, the camera will be burned out. Therefore, the cooling fan 700 is provided for heat dissipation. Specifically, two cooling fans 700 are provided and are respectively located on both sides of the carrier mechanism 100 along the second direction, and heat dissipation operation is carried out while not interfering with the image acquisition of the camera. In specific implementation, the cooling fan 700 can be fixed on the first base 200.

[0079] Note that the above is only the preferred embodiment of the present invention and the applied technical principle. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described here. Various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A position adjustment device, characterized in that, It comprises a carrying mechanism (100), wherein the carrying mechanism (100) comprises: A first bracket (10) used for carrying the part to be adjusted; a second bracket (20), wherein the first bracket (10) is capable of rotating relative to the second bracket (20) around a first axis (101) until being relatively fixed by a first fastener; a third bracket (30), wherein the second bracket (20) is capable of rotating relative to the third bracket (30) around a second axis (102) until being relatively fixed by a second fastener (80); a fourth bracket (40), wherein the third bracket (30) is capable of rotating relative to the fourth bracket (40) around a third axis (103) until being relatively fixed by a third fastener; the first axis (101) extends along a first direction, the second axis (102) extends along a second direction, and the third axis (103) extends along a third direction, and the first direction, the second direction and the third direction are perpendicular to each other; A first adjusting member (50) is used to drive the first bracket (10) to rotate; A second adjustment member (60) is used to drive the second bracket (20) to rotate; A third adjusting member (70) is used to drive the third bracket (30) to rotate; The first bracket (10) and the second bracket (20) are arranged in sequence along the first direction; the third bracket (30) is a hollow frame structure; and the second bracket (20) is rotatably arranged in the third bracket (30); The first adjustment member (50) and the second adjustment member (60) are both arranged on the third bracket (30), and are respectively located on both sides of the second axis (102) along the third direction; The first adjusting member (50) comprises: a shifting rod (51) engaged with the first bracket (10) and used for shifting the first bracket (10) so that the first bracket (10) rotates around the first axis (101); A first elastic member (52) is provided between the third bracket (30) and the shifting rod (51), and is configured to enable the shifting rod (51) to have a pre-tightening force along the second direction; The second adjusting member (60) comprises: a first adjusting bolt (61), the first adjusting bolt (61) being threadedly connected to the third bracket (30) and abutting against the second bracket (20) along the first direction; The second elastic member (62) is disposed between the second bracket (20) and the third bracket (30), and is configured to allow the first adjusting bolt (61) to have a pre-tightening force along the first direction.

2. The position adjustment device according to claim 1, characterized in that, At least one set of first arc-shaped through holes (21) is provided on the second bracket (20). Each set of first arc-shaped through holes (21) includes two first arc-shaped through holes (21) located on the same radial line of the same virtual circle. The centers of the first arc-shaped through holes (21) coincide with the virtual circle and are all located on the first axis (101). The first fastener is a first fastening bolt, and one first fastening bolt is arranged in each of the first arc-shaped through holes (21). The first fastening bolt connects the first bracket (10) and the second bracket (20).

3. The position adjustment device according to claim 1, characterized in that, A chute (31) is provided on the third bracket (30), and a sliding frame (32) is slidably arranged in the chute (31). The lever (51) is located in the sliding frame (32), and the first elastic member (52) is arranged between the groove wall of the chute (31) and the sliding frame (32).

4. The position adjustment device according to claim 1, characterized in that, The third adjusting member (70) is arranged on one side of the two sides of the third bracket (30) along the second direction and includes: A second adjusting bolt (71) which is threadedly connected to the fourth bracket (40) and abuts against the third bracket (30) along the first direction; A third elastic member (72) is arranged between the fourth bracket (40) and the third bracket (30), and is configured to enable the second adjusting bolt (71) to have a pre-tightening force along the first direction.

5. The position adjustment device according to any one of claims 1-4, characterized in that The position adjusting device further includes: A first base (200) and a second base (300) arranged in sequence along the third direction; A first driving module (500) is arranged on the first base (200) and is used for driving the second base (300) to move relative to the first base (200); A second driving module (600) is arranged on the second base (300). At least one of the second driving module (600) and the carrying mechanism (100) is provided, and they are in one-to-one correspondence. The output end of the second driving module (600) is connected to the fourth bracket (40) of the corresponding carrying mechanism (100) to drive the carrying mechanism (100) to move relative to the second base (300).

6. The position adjustment device according to claim 5, characterized in that, The driving direction of the first driving module (500) is the first direction; The second driving module (600) includes: A third base (400) which corresponds to the number of the carrying mechanisms (100) one by one; A first sub-driving module (601) is arranged on the second base (300) and is used for driving the third base (400) to move relative to the second base (300) along the second direction; A second sub-driving module (602) is arranged on the third base (400) and is used for driving the corresponding carrying mechanism (100) to move along the first direction.

7. A line scan module, characterized in that, Including the position adjusting device according to any one of claims 1-6, further including at least one line scan camera. At least one carrying mechanism (100) is provided, and each carrying mechanism (100) carries one of the line scan cameras.

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