Camera device for robot vision engineering machinery

Abstract

The invention belongs to the technical field of robot vision engineering machinery, and particularly relates to a camera device for robot vision engineering machinery. The camera assembly is arranged in the transparent outer cover; the camera assembly is arranged in the electromagnetic bearing assembly, the electromagnetic bearing assembly is magnetically connected with the camera assembly, and the electromagnetic bearing assembly enables the camera assembly to be arranged in the middle of the electromagnetic bearing assembly in a suspended mode through magnetic force; the electromagnetic driving assembly is in transmission connection with the camera assembly, and the electromagnetic driving assembly is used for driving the camera assembly to rotate; and the wireless power supply assembly is arranged in the transparent outer cover and located below the camera assembly, and the wireless power supply assembly is electrically connected with the camera assembly. When the device passes through a bumpy road section, the camera assembly shakes up and down, the electromagnetic bearing assembly compensates the displacement of the camera assembly by adjusting the magnitude of electromagnetic force, and then it is guaranteed that pictures shot by the camera assembly are stable.

Description

Technical Field

[0001] The invention belongs to the technical field of robot vision engineering machinery, and in particular relates to a camera device for robot vision engineering machinery. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. It has basic characteristics such as perception, decision-making, and execution. It can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities. The camera device for robot vision engineering machinery is a camera used by robots for viewing or filming.

[0003] Although there are many types and quantities of robot vision engineering machinery camera devices on the market, robot vision engineering machinery camera devices have the following shortcomings: the existing robot vision engineering machinery camera devices have a complex installation structure, which is not easy to install and maintain. After being mounted on the engineering machinery, they do not have a physical anti-shake function when the engineering machinery moves. Image shaking may affect the visual recognition effect. Therefore, there is an urgent need for a robot vision engineering machinery camera device to solve this problem. Summary of the invention

[0004] The object of the present invention is to provide a camera device for robot vision engineering machinery to solve the above problems.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] A camera device for robot vision engineering machinery, comprising:

[0007] Camera assembly;

[0008] A transparent outer cover, wherein the camera assembly is arranged in the transparent outer cover;

[0009] An electromagnetic support assembly, wherein the camera assembly is arranged inside the electromagnetic support assembly, the electromagnetic support assembly is magnetically connected to the camera assembly, and the electromagnetic support assembly suspends the camera assembly in the middle of the electromagnetic support assembly through magnetic force;

[0010] An electromagnetic drive assembly, which is in transmission connection with the camera assembly, and is used to drive the camera assembly to rotate;

[0011] The wireless power supply component is arranged in the transparent outer cover and is located below the camera component. The wireless power supply component is electrically connected to the camera component.

[0012] Optionally, the electromagnetic support assembly includes two symmetrically arranged electromagnetic support positioning parts, the camera assembly is arranged between the two electromagnetic support positioning parts, the two electromagnetic support positioning parts are respectively fixed to the top and bottom of the transparent outer cover, and the electromagnetic support positioning parts are magnetically connected to the camera assembly.

[0013] Optionally, the electromagnetic support positioning part includes a supporting electromagnetic coil, the supporting electromagnetic coil is a ring-shaped structure, the supporting electromagnetic coil is fixed to the end of the transparent outer cover, and a plurality of horizontal displacement adjustment electromagnetic coils are arranged at equal intervals on the inner side of the inner ring of the supporting electromagnetic coil;

[0014] The supporting electromagnetic coil and the plurality of horizontal displacement adjustment electromagnetic coils are electrically connected to a circuit board, the circuit board is coaxially fixed to the end of the transparent outer cover, and the supporting electromagnetic coil and the circuit board are coaxially arranged;

[0015] The supporting electromagnetic coil is used to provide the magnetic force required for the camera assembly to suspend;

[0016] A plurality of the horizontal displacement adjustment electromagnetic coils are used in conjunction with each other to adjust the horizontal position of the camera assembly.

[0017] Optionally, the top and bottom of the camera assembly are respectively fixed with plastic brackets, and a permanent magnet is coaxially fixed to one side of the plastic bracket close to the corresponding supporting electromagnetic coil. The permanent magnet is magnetically connected to the corresponding supporting electromagnetic coil and several of the horizontal displacement adjustment electromagnetic coils.

[0018] Optionally, the camera assembly includes a camera body, and brackets are rotatably provided at both ends of the camera body, and the top and bottom of the brackets are respectively fixedly connected to the corresponding plastic brackets;

[0019] One end of the camera body is axially connected to the output shaft of the rotating motor, the fixed end of the rotating motor is fixedly connected to the corresponding bracket, and the other end of the camera body is coaxially rotated with a counterweight block matching the weight of the rotating motor;

[0020] The camera body is electrically connected to a control component, and the control component is fixed to the plastic bracket located below;

[0021] The control component includes a battery for providing electric energy, a controller for controlling the camera body, a gyroscope and a storage for storing images, and the battery is electrically connected to the wireless power supply component.

[0022] Optionally, the electromagnetic drive assembly includes an electromagnetic stator assembly and a permanent magnet rotor assembly, the electromagnetic stator assembly is coaxially sleeved on the outside of the bottom of the transparent outer cover, and the permanent magnet rotor assembly is coaxially arranged in the plastic bracket located below;

[0023] The electromagnetic stator assembly is magnetically connected to the permanent magnet rotor assembly.

[0024] Optionally, the electromagnetic stator assembly includes a stator bracket, on which a plurality of electromagnetic stators arranged at equal intervals are fixedly connected, two adjacent electromagnetic stators have opposite polarities, and two adjacent electromagnetic stators are separated by a stator spacer.

[0025] Optionally, the permanent magnet rotor assembly includes a plurality of permanent magnet sheets embedded in the plastic bracket, the plurality of permanent magnet sheets are circumferentially evenly spaced, two adjacent permanent magnet sheets have opposite polarities, and two adjacent permanent magnet sheets are spaced apart by a rotor spacer.

[0026] Optionally, the wireless power supply component includes a wireless charging plate, which is coaxially fixed to the inner side of the bottom of the transparent outer cover, and the wireless charging plate is electrically connected to the battery.

[0027] Compared with the prior art, the present invention has the following advantages and technical effects:

[0028] When in use, the camera assembly is set in a transparent outer cover, which plays a protective role. At the same time, the camera assembly can take pictures through the transparent outer cover. The transparent outer cover is installed on mechanical equipment. The camera assembly is suspended by starting the electromagnetic support assembly. When passing through bumpy sections, the electromagnetic support assembly compensates for the displacement of the camera assembly by adjusting the electromagnetic force. The electromagnetic drive assembly can drive the camera assembly to rotate to achieve ° surround shooting, and the wireless power supply assembly can power the camera assembly.

[0029] This device suspends the camera assembly by setting up an electromagnetic support assembly. When passing through a bumpy road section, the camera assembly shakes up and down. The electromagnetic support assembly compensates for the displacement of the camera assembly by adjusting the magnitude of the electromagnetic force, thereby ensuring the stability of the picture taken by the camera assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor:

[0031] Figure 1 It is a schematic diagram of the structure of the present invention;

[0032] Figure 2 For the present invention Figure 1 Schematic diagram of the AA section structure;

[0033] Figure 3 This is a schematic diagram of the camera assembly structure of the present invention;

[0034] Among them, 1. Camera assembly; 2. Plastic bracket; 3. Permanent magnet; 4. Transparent outer cover; 5. Supporting electromagnetic coil; 6. Circuit board; 7. Horizontal displacement adjustment electromagnetic coil; 8. Electromagnetic stator assembly; 9. Permanent magnet rotor assembly; 10. Wireless charging plate; 101. Bracket; 102. Rotating motor; 103. Counterweight; 104. Camera body; 105. Control assembly; 801. Electromagnetic stator; 802. Stator spacer; 901. Permanent magnet; 902. Rotor spacer. DETAILED DESCRIPTION

[0035] In the prior art, there is a camera device for robot vision engineering machinery that is easy to install, including a bolt cap, a bottom rod and a camera, the bottom of the bolt cap is connected with a bolt, one end of the bolt is connected with a mounting plate, one side of the mounting plate is connected with a rotating shaft, one end of the rotating shaft is connected with a clamping plate, and one end of the clamping plate is connected with the bottom plate; the inside of the bottom plate is embedded with a first gear plate, the surface of the bottom rod is connected with the first gear plate, the inside of the bottom rod is connected with a soft plug, one side of the soft plug is connected with a limit plate, the top of the limit plate is connected with a slide bar, the surface of the slide bar is connected with a fixing bolt, and the top of the fixing bolt is provided with a support frame; the inside of the support frame is embedded with a spring, the bottom of the spring is connected with a spring, one end of the spring is connected with a second gear plate, and one side of the camera is connected with the second gear plate. The connection between the bolt cap and the bolt is a threaded connection, and the surface of the mounting plate is provided with a slot that matches the size of one end of the bolt, and the connection between the bolt and the mounting plate constitutes a clamping connection structure. The cross-section of the card plate is "L"-shaped, and the surface of the bottom plate is provided with a groove that matches the size of one end of the card plate, and the rotating shaft forms a rotating clamping structure through the connection between the card plate and the bottom plate. The bottom of the bottom rod is provided with a gear groove that matches the size of the first gear plate, and the first gear plate is tangent to the surface of the bottom rod, and the bottom plate forms a gear linkage structure through the connection between the first gear plate and the bottom rod. The soft plug is made of rubber material, and the bottom rod is a hollow structure, and an opening is provided at the top of the bottom rod, and the cross-sectional size of the limit plate is larger than the cross-sectional size of the opening at the top of the bottom rod. The connection between the spring and the spring plate is perpendicular to each other, and the surface of the second gear plate is provided with a mounting groove that matches the size of one end of the spring plate, and the spring forms an elastic clamping structure through the connection between the spring plate and the second gear plate. The above-mentioned camera device for robot visual engineering machinery is easy to install. When the mounting plate is welded to the robot, one end of the bolt is engaged with the mounting plate, and the opening on the surface of the bottom plate is aligned with one end of the bolt, so that the bolt vertically penetrates the bottom plate, and the bolt cap is threadedly connected with the end of the bolt away from the mounting plate, and then the clamping plate is rotated and engaged with both sides of the bottom plate through the rotating shaft, so that the mounting plate and the bottom plate are installed and docked, thereby achieving the purpose of quickly installing the camera. The user rotates the bottom rod horizontally to any side, so that the bottom rod and the first gear plate inside the bottom plate form a gear linkage, and the camera is adjusted horizontally. The camera is rotated inside the support frame through the second gear plate. When the second gear plate rotates, the spring and the spring are squeezed, so that after rotating a certain angle, the spring elasticity pushes the spring to engage with the second gear plate, so as to achieve the purpose of adjusting the longitudinal angle of the camera. Through the above two methods, the multi-angle adjustment of the camera is realized. By twisting the fixing bolt, the connection between the fixing bolt and the slide bar is disconnected, the support frame is pulled upward, the limit plate and the slide bar slide inside the bottom bar, and at the same time, the limit plate drives the soft plug and the inner wall of the bottom bar to squeeze each other, so that when the slide bar slides inside the bottom bar, the fixing bolt and the notch of the slide bar are kept consistent, and the fixing bolt is screwed back, and the connection between the slide bar and the bottom bar is fixed again, so as to achieve the purpose of adjusting the height of the camera. However, the above device has a complex structure, occupies a lot of space, and has a low degree of integration.

[0036] In another prior art, an intelligent robot vision device based on five cameras includes: a hemispherical fixing part, an azimuth motor, an I-shaped frame, a pitch motor and a camera; the camera includes: three wide-angle cameras and two ordinary cameras; the azimuth motor is installed on the inner wall of the hemispherical fixing part, and its output shaft passes through the top of the hemispherical fixing part and is fixedly connected to the I-shaped frame; there are four pitch motors, which are circumferentially symmetrically arranged in the four quadrants of the lower end surface of the I-shaped frame; the three wide-angle cameras are connected to the output shafts of the three pitch motors through three L-shaped brackets respectively; two ordinary cameras are installed at both ends of the horizontal bracket to form a binocular camera, and are connected to the output shaft of the remaining pitch motor through the horizontal bracket; the camera, the pitch motor, and the azimuth motor are connected to the control chip through a hub to achieve the acquisition and transmission of image data. The above scheme can effectively solve the problems of information real-time and distortion. This enables the robot to obtain three-dimensional real-time monitoring of abnormal information in the surrounding environment, and then perform three-dimensional detection, path planning, obstacle avoidance and other functions; compared with ordinary robot vision, the above solution utilizes the advantages of evenly distributed ordinary cameras, motors and algorithm control combination to successfully build a set of robot all-round intelligent vision device.

[0037] The above scheme has five degrees of freedom, among which the wide-angle camera and binocular camera are evenly distributed with 4 degrees of freedom respectively, which can observe effective information in addition to the upper and lower ranges of the horizontal position. The setting of the azimuth motor can obtain 360° information around the robot in real time, meeting the requirements of real-time information acquisition.

[0038] However, the above solution does not have anti-shake capability. When the mechanical equipment equipped with this device is moving and encounters bumpy roads, the collected images will shake, affecting visual recognition.

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] Reference Figures 1 to 3 The present invention discloses a camera device for robot vision engineering machinery, comprising:

[0042] Camera assembly 1;

[0043] A transparent outer cover 4, wherein the camera assembly 1 is arranged in the transparent outer cover 4;

[0044] An electromagnetic support assembly, wherein the camera assembly 1 is arranged in the electromagnetic support assembly, the electromagnetic support assembly is magnetically connected to the camera assembly 1, and the electromagnetic support assembly uses magnetic force to suspend the camera assembly 1 in the middle of the electromagnetic support assembly;

[0045] The electromagnetic driving component is connected to the camera assembly 1 by transmission, and is used to drive the camera assembly 1 to rotate;

[0046] The wireless power supply component is arranged in the transparent outer cover 4 and is located below the camera assembly 1 . The wireless power supply component is electrically connected to the camera assembly 1 .

[0047] When in use, the camera assembly 1 is arranged in the transparent outer cover 4, and the transparent outer cover 4 plays a protective role. At the same time, the camera assembly 1 can be photographed through the transparent outer cover 4. The transparent outer cover 4 is installed on the mechanical equipment. The camera assembly 1 is suspended by starting the electromagnetic support assembly. When passing through a bumpy road section, the electromagnetic support assembly compensates for the displacement of the camera assembly 1 by adjusting the electromagnetic force. The electromagnetic drive assembly can drive the camera assembly 1 to rotate to achieve 360° surround shooting. The wireless power supply assembly can power the camera assembly 1.

[0048] This device suspends the camera assembly 1 by setting up an electromagnetic support assembly. When passing through a bumpy road section, the camera assembly 1 shakes up and down. The electromagnetic support assembly compensates for the displacement of the camera assembly 1 by adjusting the magnitude of the electromagnetic force, thereby ensuring the stability of the picture taken by the camera assembly 1.

[0049] As an optional embodiment, the electromagnetic support assembly includes two symmetrically arranged electromagnetic support positioning parts, the camera assembly 1 is arranged between the two electromagnetic support positioning parts, the two electromagnetic support positioning parts are respectively fixed to the top and bottom of the transparent outer cover 4, and the electromagnetic support positioning parts are magnetically connected to the camera assembly 1.

[0050] As an optional embodiment, the electromagnetic support positioning part includes a supporting electromagnetic coil 5, which is a ring-shaped structure, and the supporting electromagnetic coil 5 is fixed to the end of the transparent outer cover 4. A plurality of horizontal displacement adjustment electromagnetic coils 7 are arranged at equal intervals on the inner side of the inner ring of the supporting electromagnetic coil 5.

[0051] The supporting electromagnetic coil 5 and the plurality of horizontal displacement adjustment electromagnetic coils 7 are electrically connected to a circuit board 6, the circuit board 6 is coaxially fixed to the end of the transparent outer cover 4, and the supporting electromagnetic coil 5 and the circuit board 6 are coaxially arranged;

[0052] The supporting electromagnetic coil 5 is used to provide the magnetic force required for the camera assembly 1 to suspend;

[0053] A plurality of horizontal displacement adjustment electromagnetic coils 7 are used to adjust the horizontal position of the camera assembly 1 .

[0054] As an optional embodiment, the top and bottom of the camera assembly 1 are respectively fixed with plastic brackets 2, and the plastic bracket 2 is coaxially fixed with a permanent magnet 3 on one side close to the corresponding supporting electromagnetic coil 5. The permanent magnet 3 is magnetically connected to the corresponding supporting electromagnetic coil 5 and a plurality of horizontal displacement adjustment electromagnetic coils 7.

[0055] The supporting electromagnetic coil 5 generates magnetic force, and the magnetic force at the center of the supporting electromagnetic coil 5 is opposite to the polarity of the permanent magnet 3 in the plastic bracket 2, so that the plastic bracket 2 can be supported. The two supporting electromagnetic coils 5 are symmetrically arranged and correspond to the permanent magnets 3 respectively. The camera assembly 1 can be stabilized between the two by the change of the electromagnetic force of the two supporting electromagnetic coils 5. The multiple horizontal displacement adjustment electromagnetic coils 7 arranged in the center of the same supporting electromagnetic coil 5 can adjust the horizontal position of the corresponding permanent magnet 3 by the change of electromagnetic force, thereby ensuring that the camera assembly 1 is in a suspended state.

[0056] The horizontal displacement adjustment electromagnetic coils 7 appear in pairs and at least four are provided.

[0057] The present invention preferably has four horizontal displacement adjustment electromagnetic coils 7 .

[0058] As an optional embodiment, the camera assembly 1 includes a camera body 104, and brackets 101 are rotatably provided at both ends of the camera body 104, and the top and bottom of the bracket 101 are respectively fixedly connected to the corresponding plastic bracket 2;

[0059] One end of the camera body 104 is axially connected to the output shaft of the rotating motor 102, the fixed end of the rotating motor 102 is fixedly connected to the corresponding bracket 101, and the other end of the camera body 104 is coaxially rotated with a counterweight 103 that matches the weight of the rotating motor 102;

[0060] The camera body 104 is electrically connected to a control component 105, and the control component 105 is fixed on a plastic bracket 2 located below;

[0061] The control component 105 includes a battery for providing electric energy, a controller for controlling the camera body 104, a gyroscope and a storage for storing images, and the battery is electrically connected to the wireless power supply component.

[0062] The camera body 104 is connected to the rotating motor 102. The rotating motor 102 drives the camera body 104 to rotate, so as to realize the change of the elevation angle, which is beneficial to expand the shooting range. The counterweight block 103 is used to maintain the overall balance.

[0063] The control component 105 includes a battery for providing electric energy, a controller for controlling the camera body 104, a gyroscope and a storage for storing images, and the battery is electrically connected to the wireless power supply component.

[0064] The circuit board 6 is electrically connected to a magnetic suspension controller, and the magnetic suspension controller is connected to the gyroscope via wireless signals. The electromagnetic force is adjusted in a timely manner through the signal fed back by the gyroscope to achieve displacement compensation.

[0065] As an optional embodiment, the electromagnetic drive assembly includes an electromagnetic stator assembly 8 and a permanent magnet rotor assembly 9, the electromagnetic stator assembly 8 is coaxially sleeved on the outside of the bottom of the transparent outer cover 4, and the permanent magnet rotor assembly 9 is coaxially arranged in the plastic bracket 2 located below;

[0066] The electromagnetic stator assembly 8 is magnetically connected to the permanent magnet rotor assembly 9 .

[0067] As an optional implementation, the electromagnetic stator assembly 8 includes a stator bracket, on which a plurality of electromagnetic stators 801 arranged at equal intervals are fixedly connected, two adjacent electromagnetic stators 801 have opposite polarities, and two adjacent electromagnetic stators 801 are separated by a stator spacer 802 .

[0068] As an optional embodiment, the permanent magnet rotor assembly 9 includes a plurality of permanent magnet sheets 901 embedded in the plastic bracket 2, the plurality of permanent magnet sheets 901 are arranged at equal intervals in the circumferential direction, two adjacent permanent magnet sheets 901 have opposite polarities, and two adjacent permanent magnet sheets 901 are separated by a rotor spacer 902.

[0069] By switching the polarity of each electromagnetic stator 801, the displacement of each permanent magnet piece 901 can be driven, and then the camera assembly 1 can be driven to rotate or position horizontally through the plastic bracket 2, and finally 360° surround shooting can be achieved.

[0070] As an optional implementation, the wireless power supply assembly includes a wireless charging plate 10, which is coaxially fixed to the inner side of the bottom of the transparent outer cover 4, and the wireless charging plate 10 is electrically connected to the battery.

[0071] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do 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 should not be understood as a limitation on the present invention.

[0072] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A camera device for robot vision engineering machinery, characterized in that: include: Camera assembly (1); A transparent outer cover (4), wherein the camera assembly (1) is arranged inside the transparent outer cover (4); An electromagnetic support assembly, wherein the camera assembly (1) is arranged inside the electromagnetic support assembly, the electromagnetic support assembly is magnetically connected to the camera assembly (1), and the electromagnetic support assembly causes the camera assembly (1) to be suspended and arranged in the middle of the electromagnetic support assembly by means of magnetic force; An electromagnetic drive component, which is in transmission connection with the camera assembly (1), and is used to drive the camera assembly (1) to rotate; A wireless power supply component is arranged in the transparent outer cover (4) and is located below the camera assembly (1); the wireless power supply component is electrically connected to the camera assembly (1).

2. The camera device for robot vision engineering machinery according to claim 1, characterized in that: The electromagnetic support assembly comprises two symmetrically arranged electromagnetic support positioning parts, the camera assembly (1) is arranged between the two electromagnetic support positioning parts, the two electromagnetic support positioning parts are respectively fixed to the top and bottom of the transparent outer cover (4), and the electromagnetic support positioning parts are magnetically connected to the camera assembly (1).

3. The camera device for robot vision engineering machinery according to claim 2, characterized in that: The electromagnetic support and positioning portion comprises a support electromagnetic coil (5), the support electromagnetic coil (5) is an annular structure, the support electromagnetic coil (5) is fixed to the end of the transparent outer cover (4), and a plurality of horizontal displacement adjustment electromagnetic coils (7) are arranged at equal intervals in the circumferential direction on the inner side of the inner ring of the support electromagnetic coil (5); The supporting electromagnetic coil (5) and the plurality of horizontal displacement adjustment electromagnetic coils (7) are electrically connected to a circuit board (6), the circuit board (6) is coaxially fixed to the end of the transparent outer cover (4), and the supporting electromagnetic coil (5) and the circuit board (6) are coaxially arranged; The supporting electromagnetic coil (5) is used to provide the magnetic force required for the camera assembly (1) to suspend; A plurality of the horizontal displacement adjustment electromagnetic coils (7) are used in conjunction with each other to adjust the horizontal position of the camera assembly (1).

4. The camera device for robot vision engineering machinery according to claim 3, characterized in that: The top and bottom of the camera assembly (1) are respectively fixedly connected to plastic brackets (2), and a permanent magnet (3) is coaxially fixedly connected to one side of the plastic bracket (2) close to the corresponding supporting electromagnetic coil (5), and the permanent magnet (3) is magnetically connected to the corresponding supporting electromagnetic coil (5) and a plurality of horizontal displacement adjustment electromagnetic coils (7).

5. The camera device for robot vision engineering machinery according to claim 4, characterized in that: The camera assembly (1) comprises a camera body (104), and brackets (101) are rotatably provided at both ends of the camera body (104), and the top and bottom of the bracket (101) are respectively fixedly connected to the corresponding plastic bracket (2); One end of the camera body (104) is axially connected to the output shaft of the rotating motor (102), the fixed end of the rotating motor (102) is fixedly connected to the corresponding bracket (101), and the other end of the camera body (104) is coaxially rotated with a counterweight (103) that matches the weight of the rotating motor (102); The camera body (104) is electrically connected to a control component (105), and the control component (105) is fixed on the plastic bracket (2) located below; The control component (105) comprises a battery for providing electric energy, a controller for controlling the camera body (104), a gyroscope and a storage device for storing images, and the battery is electrically connected to the wireless power supply component.

6. The camera device for robot vision engineering machinery according to claim 4, characterized in that: The electromagnetic drive assembly comprises an electromagnetic stator assembly (8) and a permanent magnet rotor assembly (9), wherein the electromagnetic stator assembly (8) is coaxially sleeved on the outside of the bottom of the transparent outer cover (4), and the permanent magnet rotor assembly (9) is coaxially arranged in the plastic bracket (2) located below; The electromagnetic stator assembly (8) is magnetically connected to the permanent magnet rotor assembly (9).

7. A camera device for robot vision engineering machinery according to claim 6, characterized in that: The electromagnetic stator assembly (8) comprises a stator bracket, on which a plurality of electromagnetic stators (801) arranged at equal intervals are fixedly connected, two adjacent electromagnetic stators (801) have opposite polarities, and two adjacent electromagnetic stators (801) are separated by a stator spacer (802).

8. The camera device for robot vision engineering machinery according to claim 6, characterized in that: The permanent magnet rotor assembly (9) comprises a plurality of permanent magnet sheets (901) embedded in the plastic bracket (2), the plurality of permanent magnet sheets (901) being arranged at equal intervals in the circumferential direction, two adjacent permanent magnet sheets (901) having opposite polarities, and two adjacent permanent magnet sheets (901) being spaced apart by a rotor spacer (902).

9. The camera device for robot vision engineering machinery according to claim 5, characterized in that: The wireless power supply component comprises a wireless charging plate (10), the wireless charging plate (10) is coaxially fixed to the inner side of the bottom of the transparent outer cover (4), and the wireless charging plate (10) is electrically connected to the battery.

Images