Collaborative robot and visual end system thereof

Abstract

The invention relates to a collaborative robot and a visual end system thereof. The visual tail end system comprises a mounting device, an adapter and a visual device; the mounting device comprises a mounting shell, a first protruding shell is arranged on the outer surface of the mounting shell, and a first mounting hole and a first penetrating groove are formed in the first protruding shell; the adapter is provided with a second mounting hole extending in the first direction, and the second mounting hole is aligned with the first mounting hole; the two ends, in the second direction, of the adapter are each provided with an installation protrusion, and each installation protrusion is provided with a third installation hole. The visual device comprises a visual shell, a second protruding shell is arranged on the outer surface of the visual shell, and a second penetrating groove is formed in the second protruding shell; a fourth mounting hole is formed in the second convex shell; the adapter is arranged in the second through groove, and the third mounting hole is aligned with the fourth mounting hole; the adapter is provided with a third through groove. The visual device is convenient to mount on the mounting device and dismount from the mounting device, so that the visual device is convenient to mount, maintain and replace.

Description

Technical Field

[0001] The present application relates to the technical field of robot equipment, and in particular to a collaborative robot and a visual terminal system thereof. Background Art

[0002] The collaborative robot needs to be guided by the visual terminal system when working. The visual terminal system of the collaborative robot generally includes a visual device and a mounting device. The mounting device is used to be fixed at the end of the robot arm, and the visual device is mounted on the mounting device, so that the visual terminal system is installed as a whole at the end of the robot arm.

[0003] In the related art, the visual device includes a housing, a main control board located in the housing, a visual module, a light source, etc. The visual device and the mounting device are fixed by opening a connection hole on the housing, opening a threaded hole on the mounting device, passing the screw of the bolt from the inside of the housing to the outside through the connection hole, and then locking it with the threaded hole of the mounting device, and the head of the bolt abuts against the inner surface of the housing. The main control board is located on the side of the bolt facing away from the mounting device, thereby shielding the bolt.

[0004] When maintaining and replacing the visual device, the entire visual device needs to be removed from the mounting device. Since the main control board blocks the bolts, the housing of the visual device needs to be opened. Only after the main control board is removed can the visual device be removed from the mounting device, which makes maintenance and replacement inconvenient. Similarly, when fixing the visual device to the mounting device, the housing of the visual device also needs to be opened first. After removing the main control board, the housing and the mounting device are fixed with bolts, and then the main control board is reinstalled into the housing and the housing is closed, which makes the installation process very troublesome. Summary of the invention

[0005] Based on this, it is necessary to provide a collaborative robot and its visual terminal system to address the technical problem that the visual device of the collaborative robot in the related technology is difficult to install on the mounting device or to remove the visual device from the mounting device, resulting in inconvenient installation, maintenance and replacement of the visual device.

[0006] A visual terminal system includes a mounting device, an adapter and a visual device; the mounting device includes a mounting shell, the outer surface of the mounting shell is provided with a first protruding shell, the first protruding shell is provided with a first mounting hole extending along a first direction and a first through groove penetrating along the first direction;

[0007] The adapter is provided with a second mounting hole extending along the first direction, and the second mounting hole is aligned with the first mounting hole so that the two can be connected by bolts; the adapter is provided with mounting protrusions at both ends along the second direction, and the mounting protrusions are provided with a third mounting hole extending along the third direction;

[0008] The visual device comprises a visual housing, the outer surface of the visual housing is provided with a second protruding housing, the second protruding housing is provided with a second through groove penetrating along a first direction; the second protruding housing is provided with a fourth mounting hole extending along a third direction;

[0009] The adapter is inserted into the second through slot along the first direction, and the third mounting hole is aligned with the fourth mounting hole so that the two can be connected by bolts; the adapter is provided with a third through slot penetrating along the first direction; the third through slot, the second through slot and the first through slot are used for the wires connecting the visual device and the mounting device to pass through;

[0010] The first direction, the second direction, and the third direction are perpendicular to each other.

[0011] In one embodiment, positioning grooves are respectively provided on the groove walls at both ends of the first through groove along the second direction;

[0012] A positioning boss corresponding to the positioning groove one by one is arranged on one side of the adapter close to the first protruding shell, and the positioning boss is positioned and matched with the positioning groove.

[0013] In one embodiment, the adapter is provided with two binding grooves, the two binding grooves are respectively located on both sides of the third through groove along the second direction, and the two binding grooves are spaced apart from the third through groove;

[0014] The binding groove is used for allowing a binding tie to pass through, so that the binding tie can bind the wire on the groove wall shared by the binding groove and the third through groove.

[0015] In one embodiment, the visual housing comprises: a bottom shell, a front cover, a rear cover, a side cover and a bottom cover; the bottom shell is provided with an installation cavity penetrating along a third direction, and the installation cavity is used to install a visual module and a light source; the bottom cover is connected to one side of the bottom shell along the third direction, and the rear cover is connected to the other side of the bottom shell along the third direction;

[0016] The front cover and the rear cover are spaced apart along the first direction to form a spacer cavity, the second protruding shell is arranged on a side of the rear cover facing away from the front cover, and the spacer cavity is used to install a main control board;

[0017] The inner surface of the front cover is provided with a heat dissipation boss, and heat dissipation silicone grease is sandwiched between the heat dissipation boss and the control chip on the main control board; the side cover surrounds the periphery of the partition cavity, and the side cover is detachably connected to the rear cover.

[0018] In one embodiment, a mounting plate is provided at one end of the inner surface of the side cover away from the bottom cover, and a fifth mounting hole extending along the first direction is provided on the mounting plate; a first mounting protrusion is provided on the inner surface of the back cover, and a sixth mounting hole extending along the first direction is provided on the first mounting protrusion;

[0019] The front cover is provided with an avoidance hole penetrating along the first direction, and the avoidance hole is used for allowing bolts to pass through to enter the partition cavity; the fifth mounting hole, the sixth mounting hole and the avoidance hole are aligned so that the fifth mounting hole and the sixth mounting hole can be connected by bolts.

[0020] In one embodiment, the inner surface of the rear cover is provided with a second mounting protrusion, the second mounting protrusion is provided with a seventh mounting hole extending along the first direction; the inner surface of the front cover is provided with a third mounting protrusion, the third mounting protrusion is provided with an eighth mounting hole extending along the first direction; the seventh mounting hole is aligned with the eighth mounting hole so that the two can be connected by bolts;

[0021] The main control board is provided with an indicator light extending along the second direction;

[0022] The outer surface of the front cover is provided with a strip-shaped groove extending along the second direction; the eighth mounting hole penetrates the third mounting protrusion from the bottom of the strip-shaped groove;

[0023] The bottom of the strip-shaped groove is also provided with a strip-shaped hole penetrating along the first direction and extending along the second direction; the position of the indicator light corresponds to the position of the strip-shaped hole;

[0024] The visual housing further comprises a light-transmitting cover mounted on the strip-shaped groove, wherein the contour of the outer circumference of the light-transmitting cover matches the contour of the inner circumference of the strip-shaped groove, so that the light emitted by the indicator light can be emitted through the light-transmitting cover.

[0025] In one embodiment, the bottom shell has a top wall on one side close to the front cover and the back cover, and the top wall is used to install a visual module;

[0026] The surface of the top wall facing away from the bottom cover is provided with limiting bosses at both ends along the second direction, and the two limiting bosses are provided with limiting grooves respectively;

[0027] The two ends of the side cover along the second direction are respectively provided with matching protrusions, and the two matching protrusions are matched with the two limiting grooves in a one-to-one correspondence.

[0028] In one embodiment, the bottom shell has a top wall on one side close to the front cover and the back cover; the visual module includes a camera component and a lens, the camera component is fixedly connected to the side of the mounting plate facing away from the bottom cover; the lens is movably connected to the camera component along a third direction; the visual terminal system also includes a focusing mechanism;

[0029] The focusing mechanism comprises: a mounting plate, a first mounting sleeve, a second mounting sleeve and an operating assembly;

[0030] The first mounting sleeve is fixedly connected to a side of the mounting plate close to the bottom cover; a plurality of guide straight grooves are arranged in sequence and spaced apart along the circumferential direction on the side wall of the first mounting sleeve, and the extending direction of the guide straight grooves is along the third direction;

[0031] The second installation sleeve is arranged on the first installation sleeve, and the side wall of the second installation sleeve is provided with a plurality of guide inclined grooves, and the extension direction of the guide inclined grooves is inclined to the guide straight grooves;

[0032] A plurality of guide rods are provided on the side wall of the lens sleeve of the lens, the extension direction of the guide rods is along the radial direction of the lens sleeve, and the guide rods are inserted into the guide straight grooves and the guide oblique grooves; the guide rods, the guide straight grooves, and the guide oblique grooves correspond to each other one by one;

[0033] The operating assembly is configured to operably drive the second mounting sleeve to rotate.

[0034] In one embodiment, the mounting device further comprises a cover, the cover is provided with a cover mounting hole, the cover mounting hole is used to align with the first mounting hole along the first direction so that the bolts can connect the two; the cover is used to close the first through slot.

[0035] A collaborative robot comprises the visual terminal system described in any one of the above embodiments.

[0036] The above-mentioned collaborative robot and its visual terminal system, when the visual terminal system is assembled, the second mounting hole is aligned with the first mounting hole in the first direction, and bolts are used to cooperate with the second mounting hole and the first mounting hole, so that the adapter can be fixedly connected to the first protruding shell of the mounting device. Among them, the first mounting hole can be a threaded hole, which is threadedly matched with the bolt. The third mounting hole is aligned with the fourth mounting hole in the third direction, and bolts are used to cooperate with the third mounting hole and the fourth mounting hole, so that the mounting protrusion of the adapter can be fixedly connected to the second protruding shell of the visual device. Among them, the third mounting hole can be a threaded hole, which is threadedly matched with the bolt. In this way, the visual device is indirectly fixedly connected to the mounting device through the adapter. Since the second protruding shell protrudes from the outer surface of the visual shell, when the second protruding shell and the mounting protrusion of the adapter are fixed through the third mounting hole and the fourth mounting hole, they are not interfered with by the components inside the visual shell, so there is no need to disassemble the visual shell. Similarly, when the visual device is disassembled from the mounting device, the bolts that cooperate with the third mounting hole and the fourth mounting hole can be loosened, and the second protruding shell and the mounting protrusion of the adapter can be separated along the first direction. Since the second protruding shell protrudes from the outer surface of the visual housing, the second protruding shell and the mounting protrusion of the adapter are not interfered with by the components inside the visual housing when the separation operation is performed, so there is no need to disassemble the visual housing. In summary, the visual device of the embodiment of the present application is easy to operate when it is installed on the mounting device and when it is disassembled from the mounting device, thereby facilitating the installation, maintenance, and replacement of the visual device. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic diagram of the structure of a visual terminal system according to an embodiment.

[0038] Figure 2 for Figure 1 Schematic diagram of the connection relationship between the mounting device and the adapter.

[0039] Figure 3 for Figure 1 Schematic diagram of the structure of the installation device.

[0040] Figure 4 Schematic diagram of the structure of an adapter according to an embodiment.

[0041] Figure 5 for Figure 4 Schematic diagram of another perspective of the adapter.

[0042] Figure 6 for Figure 1 Schematic diagram of another perspective of the visual device in.

[0043] Figure 7 The figure is a schematic diagram of the connection relationship between the bottom shell and the back cover of an embodiment.

[0044] Figure 8 It is a schematic structural diagram of a front cover of an embodiment.

[0045] Fig. 9 Schematic diagram of the structure of a side cover according to an embodiment.

[0046] Fig.10 The figure is a schematic diagram of the structure of a main control board according to an embodiment.

[0047] Fig.11 for Figure 8 Schematic diagram of another viewing angle of the front cover shown.

[0048] Fig.12 FIG. 4 is a schematic diagram of a light-transmitting cover corresponding to the first strip-shaped groove in an embodiment.

[0049] Fig.13 FIG. 4 is a schematic diagram of a light-transmitting cover corresponding to the second strip-shaped groove in an embodiment.

[0050] Fig.14 for Figure 7 Schematic diagram of another view of the structure shown.

[0051] Fig.15 The figure is a schematic diagram of the connection relationship between the installation device and the cover of one embodiment.

[0052] Fig.16 It is a schematic structural diagram of the inner side of the cover of an embodiment.

[0053] Fig.17 FIG. 4 is a schematic diagram of the structure of a visual module according to an embodiment of the present invention.

[0054] Fig.18 Schematic diagram of the structure of a camera component according to an embodiment.

[0055] Fig.19 The figure is a schematic diagram of the connection structure between the mounting plate and the first mounting sleeve of one embodiment.

[0056] Fig. 20 The figure is a schematic diagram of the connection structure between the worm gear and the second mounting sleeve according to one embodiment.

[0057] Fig.21 The figure is a schematic diagram of the connection structure between the lens cover and the guide rod according to one embodiment.

[0058] Fig. 22 FIG. 4 is a schematic structural diagram of a lens according to an embodiment of the present invention.

[0059] Fig.23 It is a schematic structural diagram of a mounting frame according to an embodiment.

[0060] Description of reference numerals:

[0061] XX', first direction; YY', second direction; ZZ', third direction;

[0062] 10. Mounting device; 11. Mounting housing; 12. First protruding housing; 12a. First mounting hole; 12b. First through groove; 12c. Positioning groove; 13. Cover; 13a. Cover mounting hole; 13b. Cover mounting groove; 13c. Weight reduction groove;

[0063] 20, adapter; 20a, second mounting hole; 20b, third through slot; 20c, binding slot; 21, mounting protrusion; 21a, third mounting hole; 22, positioning boss;

[0064] 30. visual device; 31. visual housing; 32. second protruding housing; 32a. fourth mounting hole; 32b. second through slot;

[0065] 31. Visual shell;

[0066] 311, bottom shell; 311a, focusing hole; 3111, top wall; 3112, limiting boss; 3112a, limiting groove; 3113, fifth mounting boss; 3113a, first light source mounting hole;

[0067] 312, front cover; 312a, avoidance hole; 312b, strip groove; 312c, strip hole; 3121, heat dissipation boss; 3122, third mounting boss; 3122a, eighth mounting hole;

[0068] 313, rear cover; 3131, first mounting protrusion; 3131a, sixth mounting hole; 3132, second mounting protrusion; 3132a, seventh mounting hole; 3133, fourth mounting protrusion; 3133a, main control board mounting hole;

[0069] 314, side cover; 314a, debugging port; 3141, mounting plate; 3141a, fifth mounting hole; 3142, matching convex plate;

[0070] 315, bottom cover; 315a, second light source mounting hole;

[0071] 316, light-transmitting cover; 3161, first clamping protrusion; 3162, second clamping protrusion;

[0072] 33, main control board; 331, control chip; 33a, main control board matching hole; 332, debugging interface;

[0073] 34, camera part; 34a, lens mounting hole; 341, second step surface;

[0074] 35. lens; 351. abutment surface;

[0075] 36, mounting plate; 37, first mounting sleeve; 37a, straight guide groove; 38, second mounting sleeve; 38a, inclined guide groove; 381, positioning sleeve; 382, ​​first step surface;

[0076] 39. lens cover; 391. guide rod; 392. third step surface;

[0077] 41, mounting frame; 411, support ring; 412, support platform; 412a, worm mounting hole;

[0078] 42. Worm gear;

[0079] 43. Worm gear. DETAILED DESCRIPTION

[0080] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0081] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0082] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0083] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0084] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0085] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0086] Please refer to Figure 1 Combination Figure 2 An embodiment of the present application provides a visual terminal system, which includes a mounting device 10, an adapter 20 and a visual device 30. The mounting device 10 includes a mounting shell 11, and a first protruding shell 12 is provided on the outer surface of the mounting shell 11. Please refer to Figure 3 , the protruding direction of the first protruding shell 12 is along the first direction XX'. The first protruding shell 12 is provided with a first mounting hole 12a extending along the first direction XX' and a first through groove 12b penetrating along the first direction XX'. The first through groove 12b is connected to the inside of the mounting shell 11. Four first mounting holes 12a are provided on the side of the first protruding shell 12 facing the visual device 30. The mounting shell 11 and the first protruding shell 12 can be an integrally formed structure.

[0087] Combination Figure 2 , Figure 4 and Figure 5, the adapter 20 is provided with a second mounting hole 20a extending along the first direction XX', and the second mounting hole 20a is aligned with the first mounting hole 12a so that the two can be connected by bolts. The adapter 20 is provided with mounting protrusions 21 at both ends along the second direction YY', and both mounting protrusions 21 are provided with third mounting holes 21a extending along the third direction ZZ'. The number of the second mounting holes 20a is four, corresponding to the first mounting holes 12a one by one.

[0088] Please refer to Figure 6 The visual device 30 includes a visual housing 31, and the outer surface of the visual housing 31 is provided with a second protruding shell 32, and the second protruding shell 32 is provided with a second through groove 32b that penetrates along the first direction XX'. The second protruding shell 32 is provided with a fourth mounting hole 32a extending along the third direction ZZ'. The second through groove 32b is connected to the interior of the visual housing 31. The visual housing 31 and the second protruding shell 32 can be an integrally formed structure. The second protruding shell 32 has an upper shell wall and a lower shell wall that are opposite to each other along the third direction ZZ', and the upper shell wall and the lower shell wall are respectively provided with a fourth mounting hole 32a. The upper shell wall is provided with two fourth mounting holes 32a arranged along the second direction YY'. The lower shell wall is provided with two fourth mounting holes 32a arranged along the second direction YY'. The third mounting hole 21a is arranged corresponding to the fourth mounting hole 32a.

[0089] The adapter 20 is inserted into the second through slot 32b along the first direction XX', and the third mounting hole 21a is aligned with the fourth mounting hole 32a so that the two can be connected by bolts. The adapter 20 is provided with a third through slot 20b penetrating along the first direction XX'. The third through slot 20b, the second through slot 32b and the first through slot 12b are used for the wire connecting the visual device 30 and the mounting device 10 to pass through. The wire connecting the visual device 30 and the mounting device 10 can be passed through the third through slot 20b, the second through slot 32b and the first through slot 12b.

[0090] The first direction XX', the second direction YY', and the third direction ZZ' are perpendicular to each other.

[0091] When assembling the above-mentioned visual terminal system, the second mounting hole 20a is aligned with the first mounting hole 12a along the first direction XX', and bolts are used to cooperate with the second mounting hole 20a and the first mounting hole 12a, so that the adapter 20 can be fixedly connected to the first protruding shell 12 of the mounting device 10. Among them, the first mounting hole 12a can be a threaded hole, which is threadedly matched with the bolt. The third mounting hole 21a is aligned with the fourth mounting hole 32a along the third direction ZZ', and bolts are used to cooperate with the third mounting hole 21a and the fourth mounting hole 32a, so that the mounting protrusion 21 of the adapter 20 can be fixedly connected to the second protruding shell 32 of the visual device 30. Among them, the third mounting hole 21a can be a threaded hole, which is threadedly matched with the bolt. In this way, the visual device 30 is indirectly fixedly connected to the mounting device 10 through the adapter 20. Since the second protruding shell 32 protrudes from the outer surface of the visual housing 31, when the second protruding shell 32 is fixed to the mounting protrusion 21 of the adapter 20 through the third mounting hole 21a and the fourth mounting hole 32a, there is no interference from the components inside the visual housing 31, so there is no need to disassemble the visual housing 31. Similarly, when the visual device 30 is disassembled from the mounting device 10, the second protruding shell 32 can be separated from the mounting protrusion 21 of the adapter 20 along the first direction XX' by loosening the bolts matched with the third mounting hole 21a and the fourth mounting hole 32a. Since the second protruding shell 32 protrudes from the outer surface of the visual housing 31, when the second protruding shell 32 is separated from the mounting protrusion 21 of the adapter 20, there is no interference from the components inside the visual housing 31, so there is no need to disassemble the visual housing 31. In summary, the visual device 30 of the embodiment of the present application is easy to operate when installed on the mounting device 10 and when removed from the mounting device 10, thereby facilitating the installation, maintenance, and replacement of the visual device 30.

[0092] Please refer to Figure 3 In one embodiment, positioning grooves 12c are respectively provided on the groove walls at both ends of the first through groove 12b along the second direction YY'. Figure 5 A positioning boss 22 corresponding to the positioning groove 12c is provided on one side of the adapter 20 close to the first protruding shell 12, and the positioning boss 22 is positioned and matched with the positioning groove 12c. The two positioning bosses 22 are respectively located on both sides of the third through groove 20b along the second direction YY'.

[0093] When fixing the adapter 20 to the first protruding shell 12 , the positioning boss 22 is first inserted into the corresponding positioning groove 12 c along the first direction XX′, so as to position the adapter 20 and facilitate fixing the adapter 20 to the first protruding shell 12 .

[0094] Please refer to Figure 2 and Figure 4In one embodiment, the adapter 20 is provided with two binding grooves 20c, which are respectively located on both sides of the third through groove 20b along the second direction YY', and the two binding grooves 20c are spaced apart from the third through groove 20b. Since the binding groove 20c is spaced apart from the third through groove 20b, the binding groove 20c and the third through groove 20b have a common groove wall.

[0095] The binding groove 20c is used for allowing a binding tie to pass through, so that the binding tie can bind the wires on the groove wall shared by the binding groove 20c and the third through groove 20b.

[0096] There are usually multiple wires connecting the visual device 30 and the mounting device 10. By tying the multiple wires with a tie band, the multiple wires can be kept in order and not shifted. The tie band can surround the multiple wires and surround the groove wall shared by the tying groove 20c and the third through groove 20b, so that the multiple wires can be tied to the shared groove wall, which is convenient for tying.

[0097] Specifically, the wires of the visual device 30 can be plugged in with the wires of the installation device 10 through a plug connector. That is, the end of the wire of the visual device 30 is connected with a first plug connector, and the end of the wire of the installation device 10 is connected with a second plug connector. The first plug connector and the second plug connector are plugged in respectively to achieve electrical connection between the wires of the visual device 30 and the wires of the installation device 10.

[0098] Please combine Figure 1 and Figure 6 In one embodiment, the visual housing 31 includes: a bottom housing 311, a front cover 312, a rear cover 313, a side cover 314 and a bottom cover 315. The bottom housing 311 is provided with an installation cavity penetrating along the third direction ZZ', and the installation cavity is used to install the visual module and the light source. The bottom cover 315 is connected to one side of the bottom housing 311 along the third direction ZZ'. Figure 6 and Figure 7 The rear cover 313 is connected to the bottom shell 311 along the other side of the third direction ZZ'. The rear cover 313 and the bottom shell 311 may be integrally formed.

[0099] Please combine Figures 7 to 9 The front cover 312 and the rear cover 313 are spaced apart along the first direction XX' to form a spacer cavity. The second protruding shell 32 is disposed on the side of the rear cover 313 facing away from the front cover 312. The spacer cavity is used to install the main control board 33.

[0100] The inner surface of the front cover 312 is provided with a heat dissipation boss 3121, and the heat dissipation boss 3121 is connected to the control chip 331 on the main control board 33 (please refer to Fig.10) are sandwiched with heat dissipation silicone grease. The side cover 314 surrounds the periphery of the partition cavity. The side cover 314 is detachably connected to the rear cover 313. Specifically, the two sides of the side cover 314 along the first direction XX' are respectively sealed and connected to the front cover 312 and the rear cover 313 to protect the main control board 33 in the partition cavity and the components thereon.

[0101] Specifically, the main control board 33 is used to control the operation of the visual module and the light source. The specific principle and structure can be referred to the prior art, and will not be described in detail. The control chip 331 is the main heating device on the main control board 33 .

[0102] In this embodiment, by sandwiching heat dissipation silicone grease between the heat dissipation boss 3121 and the control chip 331 on the main control board 33, the heat generated by the control chip 331 can be quickly conducted to the heat dissipation boss 3121, and then quickly diffused to the front cover 312, and dissipated to the outside air through the front cover 312, thereby achieving rapid heat dissipation of the control chip 331. The front cover 312 and the heat dissipation boss 3121 can be made of metal material to quickly dissipate heat. The front cover 312 and the heat dissipation boss 3121 can be an integrally formed structure.

[0103] By removing the side cover 314 from the rear cover 313, the partition cavity can be exposed between the front cover 312 and the rear cover 313, so that the main control board 33 and the components arranged thereon can be exposed, and then the main control board 33 and the components thereon can be repaired. During the repair, the main control board 33 and the components thereon usually need to be in a working state, so the control chip 331 will still generate heat. In this embodiment, since the side cover 314 can be removed from the rear cover 313 alone, there is no need to remove the front cover 312, and the control chip 331 in a working state during the repair can still dissipate heat through the heat dissipation boss 3121 on the front cover 312, thereby facilitating the repair.

[0104] Please combine Figure 6 and Fig.10 In one embodiment, the side cover 314 is provided with a debugging port 314a, and the position of the debugging port 314a corresponds to the position of the debugging interface 32 provided on the main control board 33, so as to facilitate debugging.

[0105] Please refer to Fig. 9 In one embodiment, a mounting piece 3141 is disposed on one end of the inner surface of the side cover 314 away from the bottom cover 315, and a fifth mounting hole 3141a extending along the first direction XX' is disposed on the mounting piece 3141. Figure 7 The inner surface of the rear cover 313 is provided with a first mounting protrusion 3131, and a sixth mounting hole 3131a extending along the first direction XX' is provided on the first mounting protrusion 3131. There are two mounting pieces 3141, and the two mounting pieces 3141 are spaced apart along the second direction YY'.

[0106] Please refer to Figure 8 and Fig.11 The front cover 312 is provided with an avoidance hole 312a penetrating along the first direction XX', and the avoidance hole 312a is used for a bolt to pass through to enter the spacer cavity. The fifth mounting hole 3141a, the sixth mounting hole 3131a and the avoidance hole 312a are aligned, so that the fifth mounting hole 3141a and the sixth mounting hole 3131a can be connected by bolts. The fifth mounting hole 3141a, the sixth mounting hole 3131a and the avoidance hole 312a correspond to each other one by one. The sixth mounting hole 3131a can be a threaded hole.

[0107] When fixing the side cover 314 to the rear cover 313, the front cover 312 and the rear cover 313 can be fixed first. The side cover 314 is arranged between the front cover 312 and the rear cover 313, so that the fifth mounting hole 3141a, the sixth mounting hole 3131a and the avoidance hole 312a are aligned along the first direction XX'. The bolt can be passed through the avoidance hole 312a along the first direction XX' to enter the spacer cavity with the help of a screwdriver or other tools, and then the bolt is passed through the fifth mounting hole 3141a and then the bolt is tightened with the sixth mounting hole 3131a (threaded hole). At this time, the head of the bolt abuts against the side of the mounting plate 3141 facing the front cover 312, so that the mounting plate 3141 is fixed to the first mounting protrusion 3131, that is, the side cover 314 is fixed to the rear cover 313.

[0108] On the contrary, when the side cover 314 and the rear cover 313 are to be disassembled, the avoidance hole 312a can be used to insert a screwdriver into the avoidance hole 312a to screw the bolt, so that the bolt is loosened from the sixth mounting hole 3131a and disengaged from the fifth mounting hole 3141a and the sixth mounting hole 3131a, so that the mounting piece 3141 and the first mounting protrusion 3131 can be unfastened, that is, the side cover 314 and the rear cover 313 are unfastened. When the side cover 314 and the rear cover 313 are unfastened, the front cover 312 does not need to be disassembled from the rear cover 313.

[0109] Please refer to Fig. 9 In one embodiment, the inner surface of the rear cover 313 is provided with a second mounting protrusion 3132, and the second mounting protrusion 3132 is provided with a seventh mounting hole 3132a extending along the first direction XX'. Fig. 9As shown, the number of the second mounting protrusions 3132 is four, with two as a group, and there are two groups of second mounting protrusions 3132 in total. The first group of second mounting protrusions 3132 includes two second mounting protrusions 3132 spaced apart along the second direction YY'. The second group of second mounting protrusions 3132 includes two second mounting protrusions 3132 spaced apart along the second direction YY'. The second group of second mounting protrusions 3132 is located on the side of the first group of second mounting protrusions 3132 close to the bottom shell 311 along the third direction ZZ'. Each second mounting protrusion 3132 is provided with a seventh mounting hole 3132a extending along the first direction XX', that is, four seventh mounting holes 3132a are provided.

[0110] like Figure 8 As shown, the inner surface of the front cover 312 is provided with a third mounting protrusion 3122, and the third mounting protrusion 3122 is provided with an eighth mounting hole 3122a extending along the first direction XX'. The seventh mounting hole 3132a is aligned with the eighth mounting hole 3122a so that the two can be connected by bolts. The number of the third mounting protrusion 3122 is four, which are arranged in a one-to-one correspondence with the second mounting protrusion 3132, and each third mounting protrusion 3122 is provided with an eighth mounting hole 3122a extending along the first direction XX'. Correspondingly, the seventh mounting hole 3132a is arranged in a one-to-one correspondence with the eighth mounting hole 3122a. The seventh mounting hole 3132a can be a threaded hole. Corresponding to the two groups of second mounting protrusions 3132, the third mounting protrusion 3122 is also two groups, respectively, a first group of third mounting protrusions 3122 and a second group of third mounting protrusions 3122.

[0111] When fixing the front cover 312 and the rear cover 313 , a bolt may be inserted into the eighth mounting hole 3122 a and then threadedly connected to the seventh mounting hole 3132 a , so that the third mounting protrusion 3122 and the second mounting protrusion 3132 are fixedly connected.

[0112] In one embodiment, the main control board 33 is provided with an indicator light extending along the second direction YY', and the indicator light is used to indicate the working state, working mode, etc. of the components on the main control board 33. Fig.11 The outer surface of the front cover 312 is provided with a strip groove 312b extending along the second direction YY'. The concave direction of the strip groove 312b is along the first direction XX'. The eighth mounting hole 3122a penetrates the third mounting protrusion 3122 from the bottom of the strip groove 312b.

[0113] The bottom of the strip groove 312b is also provided with a strip hole 312c penetrating along the first direction XX' and extending along the second direction YY'. The position of the indicator light corresponds to the position of the strip hole 312c, and the light emitted from the indicator light can pass through the strip hole 312c.

[0114] Please refer to Fig.12 and Fig.13The visual housing 31 further includes a light-transmitting cover 316 mounted on the strip groove 312 b , and the contour of the outer circumference of the light-transmitting cover 316 matches the contour of the inner circumference of the strip groove 312 b , so that the light emitted by the indicator light can be emitted through the light-transmitting cover 316 .

[0115] By matching the light-transmitting cover 316 with the strip groove 312b, the light-transmitting cover 316 can be covered outside the eighth mounting hole 3122a, so that the bolts at the eighth mounting hole 3122a are not exposed, thereby making the visual housing 31 look beautiful. Preferably, the light-transmitting cover 316 is flush with the outer surface of the front cover 312. Moreover, since the light emitted by the indicator light can be emitted through the strip hole 312c and the light-transmitting cover 316, it is convenient to see the indication of the indicator light.

[0116] Combination Figures 11 to 13 and Figure 8 , corresponding to the two groups of second mounting protrusions 3132 and the two groups of third mounting protrusions 3122, there are two strip grooves 312b and two light-transmitting covers 316. They are respectively the first strip groove 312b and the second strip groove 312b. The second strip groove 312b is located on the side of the first strip groove 312b close to the bottom shell 311. The avoidance hole 312a runs through the bottom of the first strip groove 312b, and the avoidance hole 312a is located at the end of the strip hole 312c and communicates with the strip hole 312c. The two avoidance holes 312a are respectively located at the ends of the two strip holes 312c. The two light-transmitting covers 316 are arranged one-to-one with the two strip grooves 312b.

[0117] Combination Figures 11 to 13 The eighth mounting hole 3122a is a countersunk hole. A first clamping protrusion 3161 and a second clamping protrusion 3162 are provided on one side of the light-transmitting cover 316. The first clamping protrusion 3161 elastically abuts against the hole wall of the corresponding countersunk hole (the eighth mounting hole 3122a), and the second clamping protrusion 3162 elastically abuts against the hole wall of the strip hole 312c, so that the light-transmitting cover 316 and the strip groove 312b can be matched reliably.

[0118] The first clamping protrusion 3161 and the second clamping protrusion 3162 can be made of elastic material, and the first clamping protrusion 3161 is interference-fitted with the corresponding countersunk hole, and the second clamping protrusion 3162 is interference-fitted with the strip hole 312c.

[0119] Please refer to Figure 7 In one embodiment, the inner surface of the rear cover 313 is provided with a fourth mounting protrusion 3133, and the fourth mounting protrusion 3133 is provided with a main control board mounting hole 3133a extending along the first direction XX'. The main control board 33 is provided with a main control board matching hole 33a extending along the first direction XX'.

[0120] Please refer to Fig.10The main control board mounting hole 3133a is aligned with the main control board matching hole 33a so that the two can be connected by bolts. The main control board mounting hole 3133a can be a threaded hole, and the bolt is inserted into the main control board matching hole 33a and the main control board mounting hole 3133a in sequence, and is threadedly connected with the main control board mounting hole 3133a.

[0121] Combination Figure 7 and Fig.10 The number of the fourth mounting protrusions 3133 and the main control board matching holes 33a are both four, and they correspond one to one. The four main control board matching holes 33a are respectively arranged at the four vertex corners of the main control board 33. Each fourth mounting protrusion 3133 is provided with a main control board mounting hole 3133a extending along the first direction XX'.

[0122] Please refer to Figure 7 In one embodiment, the bottom shell 311 has a top wall 3111 on one side close to the front cover 312 and the rear cover 313, and the top wall 3111 is used for installing the visual module.

[0123] The top wall 3111 has a surface facing away from the bottom cover 315 and two ends along the second direction YY′ respectively provided with limiting bosses 3112 , and the two limiting bosses 3112 are respectively provided with limiting grooves 3112 a . The limiting bosses 3112 protrude from the top wall 3111 toward the side facing away from the bottom cover 315 .

[0124] The side cover 314 is provided with matching protrusions 3142 at both ends along the second direction YY′, and the two matching protrusions 3142 are matched with the two limiting grooves 3112a in a one-to-one correspondence.

[0125] By matching the two mating protrusions 3142 with the two limiting grooves 3112 a in a one-to-one manner, the side cover 314 can be limited along the second direction YY′, thereby facilitating the positioning of the side cover 314 .

[0126] Please refer to Figure 7 and Fig.14 In one embodiment, the bottom shell 311 has a top wall 3111 on one side close to the front cover 312 and the rear cover 313, and the top wall 3111 is used for installing the visual module.

[0127] A fifth mounting protrusion 3113 is provided on one side of the top wall 3111 facing the bottom cover 315 . The fifth mounting protrusion 3113 is provided with a first light source mounting hole 3113 a . The bottom cover 315 is provided with a second light source mounting hole 315 a . The light source is provided with a light source matching hole.

[0128] The first light source mounting hole 3113a is aligned with the second light source mounting hole 315a and the light source matching hole so that the two can be connected by bolts.

[0129] The bolts are inserted into the second light source mounting hole 315a, the light source matching hole, and the first light source mounting hole 3113a in sequence, and are threadedly connected to the first light source mounting hole 3113a, so that the bottom cover 315 and the light source can be fixed to the fifth mounting protrusion 3113 together for easy assembly.

[0130] like Fig.14 As shown, there are four fifth mounting protrusions 3113. The fifth mounting protrusions 3113, the first light source mounting holes 3113a, the second light source mounting holes 315a, and the light source matching holes are arranged one by one.

[0131] Please combine Fig.15 and Fig.16 In one embodiment, the mounting device 10 further comprises a cover 13. The cover 13 is provided with a cover mounting hole 13a. The cover mounting hole 13a is used to align with the first mounting hole 12a along the first direction XX' so that the two can be connected by bolts. The number and position of the cover mounting holes 13a correspond to the first mounting holes 12a one by one. The cover 13 is used to close the first through slot 12b.

[0132] When the visual device 30 is not needed, the visual device 30 and the adapter 20 can be removed from the mounting device 10. The cover 13 can be fixed to the first protruding shell 12 by inserting the bolts into the cover mounting hole 13a and the first mounting hole 12a in sequence and threading them with the first mounting hole 12a. When the cover 13 is fixed to the first protruding shell 11, the first through groove 12b is closed, so that the electronic components in the mounting device 10 can be protected when the visual device 30 is not needed.

[0133] Please refer to Figure 3 In one embodiment, the first protruding shell 12 includes an integrally formed protruding shell body 121 and a protruding shell boss 122, one end of the protruding shell body 121 is connected to the mounting shell 11, and the other end is connected to the protruding shell boss 122. The protruding shell boss 122 protrudes from the protruding shell body 121, so that the connection between the outer walls of the two forms a step surface.

[0134] The cover 13 is provided with a cover installation groove 13 b , and the inner peripheral contour of the cover installation groove 13 b matches the outer peripheral contour of the protruding shell boss 122 , so that the cover 13 and the first protruding shell 12 can be positioned.

[0135] The step surface at the connection between the protruding shell boss 122 and the outer wall of the protruding shell body 121 abuts against the cover 13, and a sealing member may be provided between the two to achieve reliable sealing.

[0136] In one embodiment, a weight-reducing groove 13c is further provided at the bottom of the cover installation groove 13b.

[0137] In one embodiment, reference Fig.14The bottom shell 311 has a top wall 3111 on one side close to the front cover 312 and the rear cover 313. Fig.17 The visual module includes a camera component 34 and a lens 35. The camera component 34 is fixedly connected to the side of the mounting plate 36 facing away from the bottom cover 315. The lens 35 is movably connected to the camera component 34 along the third direction ZZ'. The visual terminal system also includes a focusing mechanism, which is configured to operably drive the lens 35 to move along the third direction ZZ'. By operating the focusing mechanism, the lens 35 is driven to move along the third direction ZZ', so that the focal length of the lens 35 can be adjusted.

[0138] Please refer to Fig.17 and Fig.18 The camera component 34 is provided with a lens mounting hole 34a, and the lens 35 is movably inserted into the lens mounting hole 34a along the third direction ZZ'.

[0139] In one embodiment, please combine Fig.17 , Fig.19 and Fig. 20 The focusing mechanism includes: a mounting plate 36, a first mounting sleeve 37, a second mounting sleeve 38 and an operating assembly.

[0140] The first mounting sleeve 37 is fixedly connected to one side of the mounting plate 36 close to the bottom cover 315. The side wall of the first mounting sleeve 37 is provided with a plurality of guide straight grooves 37a arranged in sequence and spaced apart along the circumferential direction, and the extension direction of the guide straight grooves 37a is along the third direction ZZ'.

[0141] The second installation sleeve 38 is sleeved on the first installation sleeve 37 . The side wall of the second installation sleeve 38 is provided with a plurality of guide inclined grooves 38 a . The extending direction of the guide inclined grooves 38 a is inclined to the guide straight grooves 37 a .

[0142] Please combine Fig.17 and Fig.21 A lens cover 39 is mounted and fixed on the lens 35, and a plurality of guide rods 391 are provided on the side wall of the lens cover 39 of the lens 35. The extension direction of the guide rods 391 is along the radial direction of the lens cover 39, and the guide rods 391 are inserted into the guide straight groove 37a and the guide oblique groove 38a. The guide rods 391, the guide straight groove 37a, and the guide oblique groove 38a correspond to each other.

[0143] The operating assembly is configured to operably drive the second mounting sleeve 38 to rotate.

[0144] Specifically, since the extending direction of the guide slant groove 38a is inclined to the guiding straight groove 37a, and the extending direction of the guiding straight groove 37a is along the third direction ZZ', the extension of one end of the guide slant groove 38a to the other end surrounds the central axis of the second mounting sleeve 38, and at the same time, the two ends of the guide slant groove 38a have a height difference along the third direction ZZ'. In this way, when the operating component drives the second mounting sleeve 38 to rotate, under the guidance of the guide slant groove 38a, the guide rod 391 can move relative to the guide slant groove 38a, and since the guiding straight groove 37a extends along the third direction ZZ', the guide straight groove 37a limits the displacement of the guide rod 391 along the third direction ZZ'. In this way, the guide slant groove 38a and the guiding straight groove 37a cooperate with the guide rod 391 to drive the guide rod 391 to move along the third direction ZZ', that is, drive the lens sleeve 39 and the lens 35 to move along the third direction ZZ', so as to achieve focusing of the lens 35.

[0145] Please refer to Fig. 22 In one embodiment, the outer periphery of the lens 35 has a contact surface 351, and the contact surface 351 contacts and fixes an end of the lens sleeve 39 away from the camera part 34, so that the lens 35 is fixedly connected to the lens sleeve 39.

[0146] Please combine Fig.17 and Fig.23 In one embodiment, the operating assembly includes: a mounting frame 41, a worm gear 42, a worm 43 and a knob.

[0147] The mounting frame 41 includes a support ring 411 and two support platforms 412. The two support platforms 412 are respectively connected to two ends of the support ring 411 along the second direction YY'. The two support platforms 412 are respectively fixedly connected to one side of the mounting plate 36 close to the bottom cover 315.

[0148] The second mounting sleeve 38 is rotatably supported on the support ring 411. The worm wheel 42 is coaxially fixedly connected to the second mounting sleeve 38. The worm 43 is meshed with the worm wheel 42, and the worm 43 is rotatably connected to one of the support platforms 412. The knob is coaxially fixedly connected to the worm 43, and one end of the knob away from the worm 43 extends out of the side wall of the bottom shell 311.

[0149] like Figure 7 As shown, a focusing hole 311a is provided on the side wall of the bottom shell 311, and one end of the knob extends out of the focusing hole 311a. By rotating the knob, the knob drives the worm 43 to rotate, so that the worm 43 drives the worm wheel 42 to rotate, and the worm wheel 42 drives the second mounting sleeve 38 to rotate, thereby driving the lens 35 to focus.

[0150] The axial direction of the worm 43 is along the first direction XX'. Fig.23One of the support platforms 412 is provided with two worm mounting holes 412a, and the two ends of the worm 43 are rotatably connected to the support platform 412 through the two worm mounting holes 412a.

[0151] Please refer to Fig.17 In one embodiment, the worm gear 42 is rotatably connected to the first mounting sleeve 37 via a rotating member 40, so that the worm gear 42 can rotate stably and smoothly. The rotating member 40 is, for example, a bearing.

[0152] like Fig.23 As shown, in one embodiment, a positioning sleeve 381 is provided at one end of the second mounting sleeve 38 close to the bottom cover 315, and the outer diameter of the positioning sleeve 381 is smaller than that of the second mounting sleeve 38, so that a first step surface 382 is formed at the connection between the positioning sleeve 381 and the outer wall of the second mounting sleeve 38. The positioning sleeve 381 is positioned and matched with the inner circumference of the support ring 411, and can rotate relative to the support ring 411, so that the positioning sleeve 381 can rotate together with the second mounting sleeve 38.

[0153] The second installation sleeve 38 and the positioning sleeve 381 may be an integrally formed structure. The first step surface 382 is supported on the end surface of the support ring 411 , so that the support ring 411 can support the second installation sleeve 38 and the worm gear 42 through the first step surface 382 .

[0154] Please refer to Fig.18 In one embodiment, the outer surface of the camera member 34 has a second step surface 341, and the second step surface 341 faces the bottom cover 315. The second step surface 341 is used to stop the end of the lens cover 39 away from the bottom cover 315, so as to limit the limit position of the lens 35 when focusing in a direction away from the bottom cover 315.

[0155] A third step surface 392 is provided on the inner periphery of the lens cover 39 , and one end of the camera component 34 close to the bottom cover 315 is used to stop the third step surface 392 , thereby limiting the extreme position of the lens 35 when focusing in the direction close to the bottom cover 315 .

[0156] In one embodiment, the lead angle of the worm is smaller than the friction angle of the worm gear, so that the worm gear has a self-locking characteristic, that is, only the worm can rotate to drive the worm wheel, and the worm wheel cannot drive the worm to rotate. Therefore, after the focal length of the lens is adjusted by the knob, the focal length of the lens can be self-locked, thereby making the focal length of the lens stable and reliable. At the same time, there is no need to set up an additional focus locking mechanism.

[0157] In one embodiment, it can be understood that the focusing range of the lens 35 is the length of the guide straight groove 37a along the third direction ZZ'. When the second mounting sleeve 38 rotates, the guide inclined groove 38a can drive the guide rod 391 to move from one end to the other end, so that the guide rod 391 can drive the lens 35 to complete the focusing range.

[0158] The extension angle of a single guide bevel groove 38a along the circumference of the second mounting sleeve 38 is less than one circle, and can be 1 / 2 circle (180 degrees), 1 / 3 circle (120 degrees), etc. Therefore, the worm wheel 42 can drive the lens 35 to complete the focusing range through the guide bevel groove 38a by rotating less than one circle, thereby reducing the number of rotations of the worm wheel 42 during focusing, and further reducing the number of rotations of the worm 43 during focusing.

[0159] In the embodiment of the present application, the worm is the input shaft and the worm wheel is the output shaft, and the transmission ratio of the worm and worm is usually between 5:1 and 100:1. The larger the transmission ratio, the more turns the worm needs to rotate when the worm wheel rotates one circle. In the visual terminal system, the focusing range required by the lens corresponds to the range of movement required by the lens, which is often within 0~10mm, which is the height difference between the two ends of the guide straight groove in the present application.

[0160] In order to achieve good operability and better user experience during actual focusing, the angle of rotation of the worm should be designed reasonably to avoid the situation where the focusing knob needs to rotate dozens or hundreds of times to move the lens a few millimeters. According to the actual operating experience required, the number of rotations of the focus knob can be reasonably designed to be within a few turns, for example, 1-3 turns can achieve a lens lift within 10mm.

[0161] Therefore, the worm gear transmission ratio in this solution should be relatively small, for example, the transmission ratio is 6:1, that is, the focus knob rotates 6 times, and the worm gear rotates 1 time; when the angle covered by a single guide bevel is 120° (1 / 3 turn), the worm gear rotates 2 times, and the worm gear rotates 120° to achieve the required lens height adjustment. It can be seen that the focus adjustment solution of this application has excellent operability and interactivity.

[0162] An embodiment of the present application also provides a collaborative robot, comprising the visual terminal system of any one of the above embodiments.

[0163] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0164] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A visual terminal system, characterized in that: It includes a mounting device, an adapter and a visual device; the mounting device includes a mounting shell, the outer surface of the mounting shell is provided with a first protruding shell, the first protruding shell is provided with a first mounting hole extending along a first direction and a first through groove penetrating along the first direction; The adapter is provided with a second mounting hole extending along the first direction, and the second mounting hole is aligned with the first mounting hole so that the two can be connected by bolts; the adapter is provided with mounting protrusions at both ends along the second direction, and the mounting protrusions are provided with a third mounting hole extending along the third direction; The visual device comprises a visual housing, the outer surface of the visual housing is provided with a second protruding housing, the second protruding housing is provided with a second through groove penetrating along a first direction; the second protruding housing is provided with a fourth mounting hole extending along a third direction; The adapter is inserted into the second through slot along the first direction, and the third mounting hole is aligned with the fourth mounting hole so that the two can be connected by bolts; the adapter is provided with a third through slot penetrating along the first direction; the third through slot, the second through slot and the first through slot are used for the wires connecting the visual device and the mounting device to pass through; The first direction, the second direction, and the third direction are perpendicular to each other.

2. The visual terminal system according to claim 1, characterized in that: Positioning grooves are respectively provided on the groove walls at both ends of the first through groove along the second direction; A positioning boss corresponding to the positioning groove one by one is arranged on one side of the adapter close to the first protruding shell, and the positioning boss is positioned and matched with the positioning groove.

3. The visual terminal system according to claim 1, characterized in that: The adapter is provided with two binding grooves, the two binding grooves are respectively located on both sides of the third through groove along the second direction, and the two binding grooves are spaced apart from the third through groove; The binding groove is used for allowing a binding tie to pass through, so that the binding tie can bind the wire on the groove wall shared by the binding groove and the third through groove.

4. The visual terminal system according to claim 1, characterized in that: The visual housing comprises: a bottom shell, a front cover, a rear cover, a side cover and a bottom cover; the bottom shell is provided with an installation cavity penetrating along a third direction, and the installation cavity is used to install a visual module and a light source; the bottom cover is connected to one side of the bottom shell along the third direction, and the rear cover is connected to the other side of the bottom shell along the third direction; The front cover and the rear cover are spaced apart along the first direction to form a spacer cavity, the second protruding shell is arranged on a side of the rear cover facing away from the front cover, and the spacer cavity is used to install a main control board; The inner surface of the front cover is provided with a heat dissipation boss, and heat dissipation silicone grease is sandwiched between the heat dissipation boss and the control chip on the main control board; the side cover surrounds the periphery of the partition cavity, and the side cover is detachably connected to the rear cover.

5. The visual terminal system according to claim 4, characterized in that: A mounting plate is provided on one end of the inner surface of the side cover away from the bottom cover, and a fifth mounting hole extending along the first direction is provided on the mounting plate; a first mounting protrusion is provided on the inner surface of the rear cover, and a sixth mounting hole extending along the first direction is provided on the first mounting protrusion; The front cover is provided with an avoidance hole penetrating along the first direction, and the avoidance hole is used for allowing bolts to pass through to enter the partition cavity; the fifth mounting hole, the sixth mounting hole and the avoidance hole are aligned so that the fifth mounting hole and the sixth mounting hole can be connected by bolts.

6. The visual terminal system according to claim 4, characterized in that: The inner surface of the rear cover is provided with a second mounting protrusion, and the second mounting protrusion is provided with a seventh mounting hole extending along the first direction; the inner surface of the front cover is provided with a third mounting protrusion, and the third mounting protrusion is provided with an eighth mounting hole extending along the first direction; the seventh mounting hole is aligned with the eighth mounting hole so that the two can be connected by bolts; The main control board is provided with an indicator light extending along the second direction; The outer surface of the front cover is provided with a strip-shaped groove extending along the second direction; the eighth mounting hole penetrates the third mounting protrusion from the bottom of the strip-shaped groove; The bottom of the strip-shaped groove is also provided with a strip-shaped hole penetrating along the first direction and extending along the second direction; the position of the indicator light corresponds to the position of the strip-shaped hole; The visual housing further comprises a light-transmitting cover mounted on the strip-shaped groove, wherein the contour of the outer circumference of the light-transmitting cover matches the contour of the inner circumference of the strip-shaped groove, so that the light emitted by the indicator light can be emitted through the light-transmitting cover.

7. The visual terminal system according to claim 4, characterized in that: The bottom shell has a top wall on one side close to the front cover and the back cover, and the top wall is used to install a visual module; The surface of the top wall facing away from the bottom cover is provided with limiting bosses at both ends along the second direction, and the two limiting bosses are provided with limiting grooves respectively; The two ends of the side cover along the second direction are respectively provided with matching protrusions, and the two matching protrusions are matched with the two limiting grooves in a one-to-one correspondence.

8. The visual terminal system according to claim 4, characterized in that: The bottom shell has a top wall on one side close to the front cover and the back cover; the visual module includes a camera component and a lens, and the camera component is fixedly connected to the side of the mounting plate facing away from the bottom cover; The lens is movably connected to the camera component along a third direction; the visual terminal system also includes a focusing mechanism; The focusing mechanism comprises: a mounting plate, a first mounting sleeve, a second mounting sleeve and an operating assembly; The first mounting sleeve is fixedly connected to a side of the mounting plate close to the bottom cover; a plurality of guide straight grooves are arranged in sequence and spaced apart along the circumferential direction on the side wall of the first mounting sleeve, and the extending direction of the guide straight grooves is along the third direction; The second installation sleeve is arranged on the first installation sleeve, and the side wall of the second installation sleeve is provided with a plurality of guide inclined grooves, and the extension direction of the guide inclined grooves is inclined to the guide straight grooves; A plurality of guide rods are provided on the side wall of the lens sleeve of the lens, the extension direction of the guide rods is along the radial direction of the lens sleeve, and the guide rods are inserted into the guide straight grooves and the guide oblique grooves; the guide rods, the guide straight grooves, and the guide oblique grooves correspond to each other one by one; The operating assembly is configured to operably drive the second mounting sleeve to rotate.

9. The visual terminal system according to claim 1, characterized in that: The installation device also includes a cover, which is provided with a cover installation hole, and the cover installation hole is used to align with the first installation hole along the first direction so that the bolts can connect the two; the cover is used to close the first through slot.

10. A collaborative robot, characterized in that: A visual terminal system comprising any one of claims 1 to 9.

Images