A collaborative robot and its visual terminal system

Abstract

The present application relates to a collaborative robot and its visual terminal system. The 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 and a first through-groove; the adapter is provided with a second mounting hole extending along a first direction, the second mounting hole is aligned with the first mounting hole; the adapter is provided with mounting protrusions at both ends along a second direction, the mounting protrusions are provided with a third mounting hole; the visual device includes a visual shell, the outer surface of the visual shell is provided with a second protruding shell, the second protruding shell is provided with a second through-groove; the second protruding shell is provided with a fourth mounting hole; the adapter is provided in the second through-groove, the third mounting hole is aligned with the fourth mounting hole; the adapter is provided with a third through-groove. The visual device is easy to operate when being installed on and removed from the mounting device, thereby facilitating the installation, maintenance, and replacement of the visual device.

Description

Technical Field

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

[0002] Collaborative robots require guidance from a vision terminal system during operation. A collaborative robot's vision terminal system typically consists of a vision device and a mounting device. The mounting device is fixed to the end of the robotic arm, and the vision device is mounted on the mounting device, allowing the entire vision terminal system to be installed at the end of the robotic arm.

[0003] In related technologies, a visual device includes a housing, a main control board located within the housing, a visual module, and a light source. The visual device and mounting device are secured by creating a connecting hole in the housing and a threaded hole in the mounting device. The bolt's rod is inserted from the inside of the housing through the connecting hole and then locked into the threaded hole in the mounting device, with the head of the bolt contacting the inner surface of the housing. The main control board is located on the side of the bolt facing away from the mounting device, obscuring the bolt.

[0004] Maintenance and replacement of the visual device requires the entire device to be removed from the mounting device. Because the main control board obscures the bolts, the visual device housing must be opened and the main control board removed before the device can be removed from the mounting device, making maintenance and replacement inconvenient. Similarly, securing the visual device to the mounting device requires first opening the housing, removing the main control board, securing the housing to the mounting device with bolts, then reinstalling the main control board into the housing and closing the housing, making the installation process very cumbersome. 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 from the mounting device, which leads to inconvenience in the 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 housing, an outer surface of the mounting housing is provided with a first protruding housing, the first protruding housing is provided with a first mounting hole extending in a first direction and a first through-groove extending in the first direction;

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

[0008] The visual device includes a visual housing, an 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 a bolt; the adapter is provided with a third through-slot extending along the first direction; the third through-slot, the second through-slot, and the first through-slot are used to pass a wire connecting the visual device and the mounting device;

[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 is provided 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 wires on the groove wall shared by the binding groove and the third through groove.

[0015] In one embodiment, the visual housing includes: a bottom shell, a front cover, a back cover, a side cover, and a bottom cover; the bottom shell is provided with a mounting cavity extending along a third direction, wherein the mounting cavity is used to mount 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 back 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 provided 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 back cover.

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

[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 being 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 being 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 extends from the bottom of the strip-shaped groove through the third mounting protrusion;

[0023] The bottom of the strip-shaped groove is further 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 includes 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 a side close to the front cover and the back cover, and the top wall is used to install a visual module;

[0026] The top wall is provided with limiting bosses at both ends along the second direction of the surface facing away from the bottom cover, 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 a side close to the front cover and the rear cover; the visual module includes a camera component and a lens, the camera component is fixedly connected to a 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 further includes a focusing mechanism;

[0029] The focusing mechanism includes: 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 side wall of the first mounting sleeve is provided with a plurality of guide straight grooves arranged in sequence along the circumferential direction, and the extending direction of the guide straight grooves is along the third direction;

[0031] The second mounting sleeve is mounted on the first mounting sleeve, and a plurality of guide bevel grooves are provided on the side wall of the second mounting sleeve, wherein the extending direction of the guide bevel grooves is inclined to the guiding straight grooves;

[0032] A plurality of guide rods are provided on the side wall of the lens housing, wherein the guide rods extend in the radial direction of the lens housing and pass through 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 in a one-to-one manner;

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

[0034] In one embodiment, the mounting device further includes a cover, the cover is provided with a cover mounting hole, the cover mounting hole is used to be aligned 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 assembling the visual terminal system, 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. The first mounting hole can be a threaded hole, which is threadedly engaged 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. The third mounting hole can be a threaded hole, which is threadedly engaged 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 engaging 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 during the separation operation, thereby eliminating the need to disassemble the visual housing. In summary, the visual device of the embodiment of the present application is easy to operate when being installed on the mounting device and when being disassembled from the mounting device, thereby facilitating the installation, maintenance, and replacement of the visual device. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 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 the adapter from another perspective.

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

[0043] Figure 7 Schematic diagram of the connection between the bottom shell and the back cover of an embodiment.

[0044] Figure 8 Schematic diagram of the structure of the front cover of an embodiment.

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

[0046] Figure 10 Schematic diagram of the structure of a main control board according to an embodiment.

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

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

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

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

[0051] Figure 15 Schematic diagram of the connection relationship between the mounting device and the cover in one embodiment.

[0052] Figure 16 Schematic diagram of the structure of the inner side of the cover of one embodiment.

[0053] Figure 17 FIG. 4 is a structural diagram of a visual module according to an embodiment.

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

[0055] Figure 19 Schematic diagram of the connection structure between the mounting plate and the first mounting sleeve in one embodiment.

[0056] Figure 20 Schematic diagram of the connection structure between the worm gear and the second mounting sleeve according to one embodiment.

[0057] Figure 21 Schematic diagram of the connection structure between the lens sleeve and the guide rod according to one embodiment.

[0058] Figure 22 Schematic diagram of the structure of a lens according to an embodiment.

[0059] Figure 23 Schematic diagram of the structure 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-groove; 20c. Binding groove; 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-groove;

[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, mating tab;

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

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

[0072] 33. Main control board; 331. Control chip; 33a. Main control board matching hole; 332. Debug interface;

[0073] 34, camera component; 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] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0081] In the description of this 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 this 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 this application.

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

[0083] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0084] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this 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. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower 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 an intermediate 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 an intermediate element. 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 embodiment.

[0086] Please refer to Figure 1 Combine 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. Figure 3 The first protruding housing 12 protrudes in the first direction XX'. The first protruding housing 12 is provided with a first mounting hole 12a extending in the first direction XX' and a first through-slot 12b extending in the first direction XX'. The first through-slot 12b is connected to the interior of the mounting housing 11. Four first mounting holes 12a are defined on the side of the first protruding housing 12 facing the visual device 30. The mounting housing 11 and the first protruding housing 12 may be integrally formed.

[0087] Combine Figure 2 、 Figure 4 and Figure 5Adapter 20 is provided with a second mounting hole 20a extending in the first direction XX'. Second mounting hole 20a is aligned with first mounting hole 12a, allowing bolt connection. Adapter 20 is provided with mounting protrusions 21 at both ends along the second direction YY'. Both mounting protrusions 21 are provided with a third mounting hole 21a extending along the third direction ZZ'. There are four second mounting holes 20a, corresponding one-to-one with each first mounting hole 12a.

[0088] Please refer to Figure 6 The visual device 30 includes a visual shell 31, and the outer surface of the visual shell 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 shell 31. The visual shell 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 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'. The third mounting hole 21a aligns with the fourth mounting hole 32a, allowing them to be bolted together. The adapter 20 is provided with a third through-slot 20b extending along the first direction XX'. The third through-slot 20b, the second through-slot 32b, and the first through-slot 12b are used to pass wires connecting the visual device 30 and the mounting device 10. The wires connecting the visual device 30 and the mounting device 10 can be routed 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. The first mounting hole 12a can be a threaded hole that is threadedly engaged 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. The third mounting hole 21a can be a threaded hole that is threadedly engaged with the bolt. In this way, the visual device 30 is indirectly fixedly connected to the mounting device 10 through the adapter 20. Because 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, thereby eliminating the need to disassemble the visual housing 31. Similarly, when disassembling the visual device 30 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 engaged with the third mounting hole 21a and the fourth mounting hole 32a. Because the second protruding shell 32 protrudes from the outer surface of the visual housing 31, there is no interference from the components inside the visual housing 31 during the separation operation, thereby eliminating the 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 The adapter 20 has a positioning boss 22 on one side thereof, which corresponds to the positioning groove 12c. 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 slot 20b along the second direction YY'.

[0093] When fixing the adapter 20 to the first protruding housing 12 , the positioning boss 22 is first inserted into the corresponding positioning groove 12 c along the first direction XX′, thereby positioning the adapter 20 and facilitating fixing the adapter 20 to the first protruding housing 12 .

[0094] Please refer to Figure 2 and Figure 4In one embodiment, the adapter 20 is provided with two binding grooves 20c, one located on either side of the third through-groove 20b along the second direction YY'. The two binding grooves 20c are spaced apart from the third through-groove 20b. Because the binding grooves 20c are spaced apart from the third through-groove 20b, they share 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 to the groove wall shared by the binding groove 20c and the third through groove 20b.

[0096] The visual device 30 and the mounting device 10 typically have multiple wires connected. Using a tie band to tie these wires together can help keep them in place and in place. The tie band can wrap around the wires and around the common wall between the binding slot 20c and the third through slot 20b, thereby tying the wires to the common wall for easier tying.

[0097] Specifically, the wires of the visual device 30 and the wires of the installation device 10 can be plugged in and out via connectors. That is, the ends of the wires of the visual device 30 are connected to a first connector, and the ends of the wires of the installation device 10 are connected to a second connector. The first connector and the second connector are plugged in and out, 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 back cover 313, a side cover 314 and a bottom cover 315. The bottom housing 311 is provided with an installation cavity extending 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 back cover 313 is connected to the bottom shell 311 along the other side of the third direction ZZ'. The back cover 313 and the bottom shell 311 can 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 Figure 10) are sandwiched between the front and rear covers 312 and 313. A side cover 314 surrounds the periphery of the compartment cavity. The side cover 314 is detachably connected to the rear cover 313. Specifically, the side cover 314 is sealed to the front and rear covers 312 and 313 on both sides along the first direction XX', protecting the main control board 33 and the components thereon within the compartment cavity.

[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 existing technology and will not be described in detail. The control chip 331 is the main heat generating device on the main control board 33.

[0102] In this embodiment, thermal grease is interposed between the heat dissipation boss 3121 and the control chip 331 on the main control board 33. This allows heat generated by the control chip 331 to be quickly transferred to the heat dissipation boss 3121, where it is then quickly diffused to the front cover 312. The heat is then dissipated to the outside air through the front cover 312, achieving rapid heat dissipation of the control chip 331. The front cover 312 and the heat dissipation boss 3121 can be made of metal to quickly dissipate heat. The front cover 312 and the heat dissipation boss 3121 can be integrally formed.

[0103] By removing the side cover 314 from the rear cover 313, the compartment cavity can be exposed between the front cover 312 and the rear cover 313, thereby exposing the main control board 33 and the components mounted thereon, allowing for maintenance. During maintenance, the main control board 33 and its components typically need to be in operation, 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 independently, without removing the front cover 312, the control chip 331, while in operation, can still dissipate heat through the heat dissipation bosses 3121 on the front cover 312 during maintenance, facilitating maintenance.

[0104] Please combine Figure 6 and Figure 10 In one embodiment, the side cover 314 is provided with a debugging port 314 a , and the position of the debugging port 314 a 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 Figure 9 In one embodiment, a mounting piece 3141 is provided on the inner surface of the side cover 314 at one end away from the bottom cover 315, and a fifth mounting hole 3141a extending along the first direction XX' is provided on the mounting piece 3141. Figure 7 The inner surface of the rear cover 313 is provided with a first mounting protrusion 3131, and the first mounting protrusion 3131 is provided with a sixth mounting hole 3131a extending along the first direction XX'. 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 Figure 11 The front cover 312 is provided with a relief hole 312a extending along the first direction XX'. The relief hole 312a is used to allow a bolt to pass through and enter the partition cavity. The fifth mounting hole 3141a, the sixth mounting hole 3131a, and the relief hole 312a are aligned, allowing the fifth mounting hole 3141a and the sixth mounting hole 3131a to be connected by bolts. The fifth mounting hole 3141a, the sixth mounting hole 3131a, and the relief hole 312a correspond to each other one-to-one. The sixth mounting hole 3131a can be a threaded hole.

[0107] When securing the side cover 314 to the rear cover 313, the front cover 312 and rear cover 313 can be secured first. The side cover 314 is positioned between the front cover 312 and 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'. A bolt can be inserted through the avoidance hole 312a along the first direction XX' into the spacer cavity using a tool such as a screwdriver. The bolt is then passed through the fifth mounting hole 3141a and tightened into the sixth mounting hole 3131a (the threaded hole). At this point, the head of the bolt abuts the side of the mounting plate 3141 facing the front cover 312, securing the mounting plate 3141 to the first mounting protrusion 3131, thereby securing the side cover 314 to the rear cover 313.

[0108] Conversely, when removing the side cover 314 from the rear cover 313, a screwdriver can be inserted into the avoidance hole 312a to tighten the bolt, thereby loosening the bolt from the sixth mounting hole 3131a and disengaging the bolt from the fifth mounting hole 3141a and the sixth mounting hole 3131a. This releases the mounting piece 3141 from the first mounting protrusion 3131, thereby releasing the side cover 314 from the rear cover 313. When the side cover 314 is released from the rear cover 313, the front cover 312 does not need to be removed from the rear cover 313.

[0109] Please refer to Figure 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'. Figure 9As shown, there are four second mounting protrusions 3132, each grouped in two. 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 also 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 closer to the bottom case 311 along the third direction ZZ'. Each second mounting protrusion 3132 is defined by a seventh mounting hole 3132a extending along the first direction XX', providing four seventh mounting holes 3132a.

[0110] like Figure 8 As shown, the inner surface of the front cover 312 is provided with a third mounting protrusion 3122, each of which 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. There are four third mounting protrusions 3122, each corresponding one-to-one with the second mounting protrusions 3132. Each third mounting protrusion 3122 is provided with an eighth mounting hole 3122a extending along the first direction XX'. Accordingly, the seventh mounting hole 3132a is provided one-to-one 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, there are also two groups of third mounting protrusions 3122: 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 passed through the eighth mounting hole 3122 a and then threadedly connected to the seventh mounting hole 3132 a , thereby fixing the third mounting protrusion 3122 and the second mounting protrusion 3132 .

[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 status, working mode, etc. of the components on the main control board 33. Figure 11 The outer surface of the front cover 312 is provided with a strip groove 312b extending along the second direction YY'. The strip groove 312b is recessed along the first direction XX'. The eighth mounting hole 3122a extends from the bottom of the strip groove 312b through the third mounting protrusion 3122.

[0113] The bottom of the strip groove 312b is further provided with a strip hole 312c extending along the first direction XX' and 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 Figure 12 and Figure 13The visual housing 31 further includes a light-transmitting cover 316 mounted on the strip groove 312 b . 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 fitting the light-transmitting cover 316 with the strip-shaped groove 312b, the light-transmitting cover 316 can be positioned over the eighth mounting hole 3122a, thereby preventing the bolts at the eighth mounting hole 3122a from being exposed and enhancing the visual appearance of the housing 31. Preferably, the light-transmitting cover 316 is flush with the outer surface of the front cover 312. Furthermore, since the light emitted by the indicator light can be emitted through the strip-shaped hole 312c and the light-transmitting cover 316, the indication of the indicator light can be easily viewed.

[0116] Combine Figures 11 to 13 and Figure 8 Corresponding to the two sets of second mounting protrusions 3132 and the two sets of third mounting protrusions 3122, there are two strip grooves 312b and two light-transmitting covers 316. These are 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 closer to the bottom shell 311. The avoidance hole 312a runs through the bottom of the first strip groove 312b and is located at the end of the strip hole 312c and connected to the strip hole 312c. The two avoidance holes 312a are located at the ends of the two strip holes 312c, respectively. The two light-transmitting covers 316 are provided in a one-to-one correspondence with the two strip grooves 312b.

[0117] Combine Figures 11 to 13 The eighth mounting hole 3122a is a countersunk hole. A first latching protrusion 3161 and a second latching protrusion 3162 are provided on one side of the light-transmitting cover 316. The first latching protrusion 3161 elastically abuts against the wall of the corresponding countersunk hole (the eighth mounting hole 3122a), while the second latching protrusion 3162 elastically abuts against the wall of the strip-shaped hole 312c, thereby ensuring a secure fit between the light-transmitting cover 316 and the strip-shaped groove 312b.

[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 Figure 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 a bolt. The main control board mounting hole 3133a can be a threaded hole, and the bolt is sequentially inserted into the main control board matching hole 33a and the main control board mounting hole 3133a to be threadedly connected to the main control board mounting hole 3133a.

[0121] Combine Figure 7 and Figure 10 There are four fourth mounting protrusions 3133 and four main control board mating holes 33a, each corresponding to the other. The four main control board mating holes 33a are located at the four 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 with two limiting bosses 3112 at both ends along the second direction YY′. The two limiting bosses 3112 each have a limiting groove 3112a. 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′. The two matching protrusions 3142 are matched with the two limiting grooves 3112 a 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 correspondence, 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 Figure 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 passed through 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, making assembly convenient.

[0130] like Figure 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 in a one-to-one correspondence.

[0131] Please combine Figure 15 and Figure 16 In one embodiment, the mounting device 10 further includes a cover 13. The cover 13 is provided with cover mounting holes 13a. The cover mounting holes 13a are configured to align with the first mounting holes 12a along the first direction XX', enabling bolts to connect the two. The number and positions of the cover mounting holes 13a correspond one-to-one with the first mounting holes 12a. The cover 13 closes the first through-slot 12b.

[0132] When visual device 30 is no longer needed, visual device 30 and adapter 20 can be removed from mounting device 10. Bolts are sequentially inserted through cover mounting hole 13a and first mounting hole 12a and threadedly connected to first mounting hole 12a, thereby securing cover 13 to first protruding housing 12. When secured to first protruding housing 11, cover 13 closes first through-slot 12b, thereby protecting the electronic components within mounting device 10 when 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 housing 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 , the inner peripheral contour of the cover installation groove 13 b matches the outer peripheral contour of the protruding shell boss 122 , thereby enabling the cover 13 to be positioned with the first protruding shell 12 .

[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 can 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 Figure 14The bottom shell 311 has a top wall 3111 on one side close to the front cover 312 and the rear cover 313. Figure 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 a 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', thereby adjusting the focal length of the lens 35.

[0138] Please refer to Figure 17 and Figure 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 Figure 17 、 Figure 19 and Figure 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 the side of the mounting plate 36 close to the bottom cover 315. The sidewall of the first mounting sleeve 37 is provided with a plurality of guide straight grooves 37a arranged in sequence along the circumferential direction. The guide straight grooves 37a extend along the third direction ZZ'.

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

[0142] Please combine Figure 17 and Figure 21 A lens cover 39 is mounted and fixed on the lens 35. A plurality of guide rods 391 are provided on the sidewall of the lens cover 39. The guide rods 391 extend radially along the lens cover 39. The guide rods 391 are inserted into the straight guide grooves 37a and the oblique guide grooves 38a. The guide rods 391, the straight guide grooves 37a, and the oblique guide grooves 38a correspond to each other.

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

[0144] Specifically, because the guide bevel 38a extends obliquely relative to the guide straight groove 37a and extends in the third direction ZZ', the extension of the guide bevel 38a from one end to the other surrounds the central axis of the second mounting sleeve 38. Furthermore, there is a height difference between the ends of the guide bevel 38a along the third direction ZZ'. Thus, when the operating assembly rotates the second mounting sleeve 38, the guide rod 391 is guided by the guide bevel 38a to move relative to the guide bevel 38a. Furthermore, because the guide straight groove 37a extends in the third direction ZZ', the guide straight groove 37a limits the displacement of the guide rod 391 along the third direction ZZ'. Thus, the guide bevel 38a and the guide straight groove 37a cooperate with the guide rod 391 to drive the guide rod 391 to move in the third direction ZZ', thereby driving the lens sleeve 39 and the lens 35 to move in the third direction ZZ', thereby achieving focusing of the lens 35.

[0145] Please refer to Figure 22 In one embodiment, the outer periphery of the lens 35 has an abutting surface 351, and the abutting surface 351 abuts and fixes with 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 Figure 17 and Figure 23 In one embodiment, the operating assembly includes: a mounting bracket 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 both 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. A worm gear 42 is coaxially and fixedly connected to the second mounting sleeve 38. A worm 43 meshes with the worm gear 42 and is rotatably connected to one of the support platforms 412. A knob is coaxially and fixedly connected to the worm 43, with the end of the knob away from the worm 43 extending out of the side wall of the bottom housing 311.

[0149] like Figure 7 As shown, a focusing hole 311a is provided on the side wall of the bottom housing 311, and one end of the knob extends from the focusing hole 311a. By rotating the knob, the knob drives the worm 43 to rotate, which in turn drives the worm gear 42 to rotate, and the worm gear 42 drives the second mounting sleeve 38 to rotate, which in turn drives the lens 35 to focus.

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

[0151] Please refer to Figure 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 Figure 23 As shown, in one embodiment, a positioning sleeve 381 is provided at one end of the second mounting sleeve 38 proximal to the bottom cover 315. 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 junction of the positioning sleeve 381 and the outer wall of the second mounting sleeve 38. The positioning sleeve 381 is positioned and engaged with the inner circumferential surface of the support ring 411 and is rotatable relative to the support ring 411, thereby rotating with the second mounting sleeve 38.

[0153] The second mounting sleeve 38 and the positioning sleeve 381 can 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 mounting sleeve 38 and the worm gear 42 through the first step surface 382 .

[0154] Please refer to Figure 18 In one embodiment, the outer surface of the camera member 34 has a second stepped surface 341, which faces the bottom cover 315. The second stepped surface 341 is used to stop the end of the lens cover 39 away from the bottom cover 315, thereby limiting the extreme 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 sleeve 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, resulting in a self-locking worm gear. This means that only the worm can rotate to drive the worm wheel, while the worm wheel cannot drive the worm. Therefore, once the lens focal length is adjusted using the knob, the lens's focal length is automatically locked, ensuring a stable and reliable focal length. Furthermore, there is no need for a separate focus lock mechanism.

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

[0158] The angle of extension of a single guide bevel 38a along the circumference of the second mounting sleeve 38 is less than one revolution, and can be 1 / 2 revolution (180 degrees), 1 / 3 revolution (120 degrees), etc. Therefore, the worm gear 42 can drive the lens 35 through the entire focusing range via the guide bevel 38a with less than one revolution, thereby reducing the number of revolutions of the worm gear 42 during focusing, and thus reducing the number of revolutions of the worm gear 42 during focusing.

[0159] In the embodiments of the present application, the worm is the input shaft and the worm wheel is the output shaft. The transmission ratio of the worm gear typically ranges from 5:1 to 100:1. The greater the transmission ratio, the more revolutions the worm must rotate for each revolution of the worm wheel. In visual terminal systems, the required focusing range of the lens, corresponding to the required lens movement range, is often within 0 to 10 mm. In this application, this refers to the height difference between the two ends of the guide groove.

[0160] To ensure smooth focusing and a better user experience, the angle of worm rotation should be designed appropriately to avoid requiring dozens or even hundreds of rotations to move the lens just a few millimeters. Based on the actual user experience, the focus knob should ideally be designed with fewer than a few turns, for example, 1-3 turns to achieve a lens raise or lower by less than 10mm.

[0161] Therefore, the worm gear ratio in this solution is preferably small, for example, a 6:1 ratio, meaning that for every six turns of the focus knob, the worm gear rotates once. When a single guide bevel covers an angle of 120° (1 / 3 turn), the worm gear rotates 120° to achieve the desired lens height adjustment after two turns of the worm. This demonstrates that the focus adjustment solution of this application offers 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-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned 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 merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A visual terminal system, characterized in that: The device comprises a mounting device, an adapter, and a visual device; the mounting device comprises 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, the second mounting hole being aligned with the first mounting hole so that the two can be connected by a bolt; the adapter is provided with mounting protrusions at both ends along the second direction, and the mounting protrusions are provided with third mounting holes extending along the third direction; The visual device includes a visual housing, an 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 a bolt; the adapter is provided with a third through-slot extending along the first direction; the third through-slot, the second through-slot, and the first through-slot are used to pass a wire connecting the visual device and the mounting device; 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 is provided 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 wires 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 back cover, a side cover and a bottom cover; the bottom shell is provided with an installation cavity extending along a third direction, wherein 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 back 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 provided 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 back cover.

5. The visual terminal system according to claim 4, characterized in that: A mounting plate is provided on an end of the inner surface of the side cover away from the bottom cover, and a fifth mounting hole is provided on the mounting plate and extends along the first direction; a first mounting protrusion is provided on the inner surface of the back cover, and a sixth mounting hole is provided on the first mounting protrusion and extends along the first direction; 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, the second mounting protrusion being 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 being 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 extends from the bottom of the strip-shaped groove through the third mounting protrusion; The bottom of the strip-shaped groove is further 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 includes 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 the visual module; The top wall is provided with limiting bosses at both ends along the second direction of the surface facing away from the bottom cover, 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 a 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 a 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 further includes a focusing mechanism; The focusing mechanism includes: 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 side wall of the first mounting sleeve is provided with a plurality of guide straight grooves arranged in sequence along the circumferential direction, and the extending direction of the guide straight grooves is along the third direction; The second mounting sleeve is mounted on the first mounting sleeve, and a plurality of guide bevel grooves are provided on the side wall of the second mounting sleeve, wherein the extending direction of the guide bevel grooves is inclined to the guiding straight grooves; A plurality of guide rods are provided on the side wall of the lens housing, wherein the guide rods extend in the radial direction of the lens housing and pass through 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 in a one-to-one manner; 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 mounting device further includes a cover, which is provided with a cover mounting hole, and the cover mounting hole is used to be aligned 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.

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

Images