Camera composite holder mechanism for inspection robot of two-for-one twister

Abstract

The invention relates to a camera composite holder mechanism for a two-for-one twister inspection robot, comprising: a support frame vertically arranged, the bottom of which is connected with a mobile chassis; a camera platform; the two transverse moving rods are vertically arranged and are in sliding connection with the supporting frame, and each transverse moving rod is driven by the transverse moving module to move in the width direction of the supporting frame; the middle of the first connecting rod is hinged to the end of the camera platform, and one end is connected with a camera assembly; one end of the second connecting rod is hinged to the other end of the first connecting rod; one end of the third connecting rod is hinged to the bottom of the camera platform, and the other end is hinged to the other end of the second connecting rod; the lifting of the camera is realized through the lifting of the lifting module, and the adjustment of the pitching angle of the camera is realized through the transverse movement of the transverse movement rod driven by the transverse movement module, that is, the device realizes rapid tracking, synchronous pitching adjustment and independent height lifting, and can realize rapid, efficient, stable and flexible lens tracking adjustment.

Description

Technical Field

[0001] The present invention relates to an inspection robot for a doubling twisting machine, in particular to a camera composite pan-tilt mechanism for an inspection robot of a doubling twisting machine. Background Art

[0002] In the field of textile manufacturing, as the core equipment for the yarn twisting process, the operation stability of the doubling twisting machine directly affects the strength, elasticity and product quality of the yarn; in the traditional textile field, the status of the doubling twisting machine mainly depends on manual inspection, relying on experienced operators to regularly check the equipment status (such as broken yarn detection, silk path abnormality identification, etc.); in modern textile industry, inspection robots for doubling twisting gradually replace manual labor to complete the inspection tasks in the workshop. The way for the inspection robot for doubling twisting to judge the yarn status is mainly to take pictures of the yarn through an industrial camera for inspection. However, in actual production, the height and position of the yarn will be affected by the position of the doubling twisting machine in actual production, resulting in the situation that the yarn exceeds the camera range during the inspection process, which will cause blind spots and may affect the stable operation of the doubling twisting machine and the efficiency and product quality of the entire production line.

[0003] Existing inspection robots for doubling twisting realize the detection of yarn through a fixed multi-camera array or a mechanically limited translation pan-tilt, but the above solutions have the following deficiencies:

[0004] 1) Insufficient dynamic tracking ability:

[0005] Defect in the cooperation of degrees of freedom: Most mechanical pan-tilts are single-axis translation structures, lacking the multi-degree-of-freedom linkage ability of pitch / yaw, and unable to compensate for the Z-axis height change caused by the tension fluctuation of the yarn, resulting in out-of-focus detection vision.

[0006] The mechanical structure cannot meet the requirements of the control algorithm:

[0007] 2) Limitations of the fixed mechanical structure:

[0008] Constraint on the rigid displacement range: The physical stroke of the mechanically limited ordinary pan-tilt is restricted by the length of the guide rail, and it is impossible to adapt to the large offset of the yarn position in the recognized image caused by process adjustment or equipment layout differences.

[0009] Lack of attitude adjustment dimension: The traditional pan-tilt only supports single-axis translation (such as the X-axis) and lacks the rotational degree of freedom (such as pitch angle adjustment). When the pose of the yarn in the image is offset, the mechanical structure cannot make pitch and other actions to match the yarn position, resulting in imaging distortion or local occlusion.

[0010] 3) Perspective rigid body constraint of the fixed camera array

[0011] Installation angle curing: The installation poses (pitch angle, yaw angle) of the multi-camera array are usually statically calibrated during deployment and cannot dynamically adjust the field of view according to the yarn position.

[0012] Blind area cannot be eliminated: Even with multi-camera coverage, there is still a "sewing blind area" at the junction of the fields of view of adjacent cameras. When the yarn enters the blind area due to vibration or process adjustment, the detection algorithm fails.

[0013] Redundant resource waste: To cover the potential offset range, cameras need to be over-deployed, increasing the hardware cost, and high-density installation is likely to cause heat dissipation and electromagnetic interference problems.

[0014] In summary, how to achieve fast, efficient, stable, and flexible tracking adjustment of the camera lens has become an urgent problem for researchers in this field. Summary of the Invention

[0015] The technical problem to be solved by the present invention is: how to achieve fast, efficient, stable, and flexible tracking adjustment of the camera lens;

[0016] To solve the above technical problem, the technical solution adopted by the present invention is:

[0017] The present invention is a camera compound pan-tilt mechanism for a double-twisting machine inspection robot, including: a mobile chassis; a support frame, which is vertically arranged and its bottom is connected to the mobile chassis; a camera platform, which is adapted to move along the height direction of the support frame through a lifting module; two horizontal moving rods, which are vertically arranged and slidably connected to the support frame, and each horizontal moving rod moves along the width direction of the support frame under the drive of a horizontal moving module; a first connecting rod, the middle of which is hinged to the end of the camera platform, and one end of which is connected with a camera assembly; a second connecting rod, one end of which is hinged to the other end of the first connecting rod; a third connecting rod, one end of which is hinged to the bottom of the camera platform and the other end of which is hinged to the other end of the second connecting rod; wherein, the first connecting rod, the second connecting rod, the third connecting rod, and the camera platform form a parallelogram transmission structure, and the second connecting rod and the third connecting rod are slidably connected to the horizontal moving rod.

[0018] Further, a first slider is arranged at the second connecting rod and the third connecting rod, and a first slide rail cooperating with the first slider is arranged on the side wall of the horizontal moving rod, and the first slide rail is vertically arranged.

[0019] Further, the lifting module includes: a vertically arranged support rod, the bottom of which is connected to the mobile chassis; a lifting motor, which is arranged at the top of the support rod; a lifting lead screw, which is vertically arranged and the end of which is connected to the rotating end of the lifting motor; a lifting nut, which is arranged in the middle of the camera platform and connected to the lifting lead screw.

[0020] Further, the transverse movement module includes: horizontal slide rails disposed at the top and bottom of the support frame; horizontal sliders disposed at the bottom and top of the transverse movement rod, the horizontal sliders being slidably connected to the corresponding horizontal slide rails; a rack disposed at the top of the support frame; and a transverse movement motor disposed at the top of the transverse movement rod, an output end of which is provided with a gear meshing with the rack.

[0021] Further, the camera assembly includes: a light source having an annular structure; a camera disposed at the center of the light source; wherein the camera is connected to an end of the first link through a camera bracket, and the light source is connected to the end of the first link through a light source bracket.

[0022] Further, two camera platforms are provided in the up-and-down direction, and each camera platform is controlled by the corresponding lifting module to perform lifting.

[0023] Advantages of the present invention: The present invention is a camera compound pan-tilt mechanism for a double-twisting machine inspection robot. The lifting of the camera is realized through the lifting of the lifting module, and the adjustment of the pitching angle of the camera is realized through the transverse movement of the transverse movement rod driven by the transverse movement module. This mechanism can achieve synchronous pitching and independent lifting functions, that is, the device realizes fast tracking, synchronous pitching adjustment, and independent height lifting, and can realize fast, efficient, stable, and flexible lens tracking adjustment. Description of the Drawings

[0024] The present invention will be further described below in conjunction with the drawings and embodiments.

[0025] Figure 1 is the front view of the present invention;

[0026] Figure 2 is the top partial view of the present invention;

[0027] Figure 3 is the top partial three-dimensional view of the present invention. Detailed Description of the Embodiment

[0028] The present invention will now be described in further detail in conjunction with the drawings. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present invention in a schematic manner, and therefore only showing the components related to the present invention.

[0029] Figures 1 - 3As shown in the figure, this embodiment provides a camera composite pan-tilt mechanism for a double-twisting machine inspection robot. The bottom of this mechanism is a mobile chassis 1, which can move this mechanism to any position. A support frame 2 is vertically arranged on the mobile chassis 1. The camera platform 3 can be lifted under the drive of the lifting module, that is, lifted along the height direction of the support frame 2. Camera components 4 are arranged on both sides of the camera platform 3. In this way, the lifting module realizes the adjustment of the camera components 4 in the height direction.

[0030] Two cross-moving rods 5 are vertically and slidably arranged on the support frame 2. The two cross-moving rods 5 move along the width direction of the support frame 2 under the drive of the corresponding cross-moving module, that is, the cross-moving rods 5 can move in the left-right direction. The first connecting rod 6, the second connecting rod 7, the third connecting rod 8 and part of the camera platform 3 form a parallelogram transmission structure. The camera component 4 is fixed to the end of the first connecting rod 6. When the cross-moving rod 5 moves outward horizontally, it pushes the second connecting rod 7 to move outward. At this time, the first connecting rod 6 together with the camera component 4 makes a pitch angle adjustment.

[0031] Figures 2 - 3 As shown in the figure, in order to ensure that the parallelogram transmission does not interfere with the lifting movement, the hinge joints of the second connecting rod 7 and the third connecting rod 8 are slidably connected to the cross-moving rod 5. In this way, the camera component 4 in this mechanism can perform synchronous lifting and pitch angle adjustment.

[0032] Figures 1 - 3 As shown in the figure, in some possible implementations, in order to illustrate how the hinge joints of the second connecting rod 7 and the third connecting rod 8 are slidably connected to the cross-moving rod 5, the present invention uses a first slider 9 arranged at the second connecting rod 7 and the third connecting rod 8. A first sliding rail 10 that cooperates with the first slider 9 is arranged on the side wall of the cross-moving rod 5, and the first sliding rail 10 is vertically arranged.

[0033] In this embodiment, a first slider 9 is arranged at the second connecting rod 7 and the third connecting rod 8. A first sliding rail 10 is arranged on the left side wall of the left cross-moving rod 5, and a first sliding rail 10 is also arranged on the right side wall of the right cross-moving rod 5. The first slider 9 at the hinge joint of the second connecting rod 7 and the third connecting rod 8 is slidably connected to the corresponding first sliding rail 10. The above settings can realize the functions of synchronous lifting and pitch angle adjustment of the camera component 4.

[0034] Figures 1 - 3 As shown in the figure, in some possible implementations, in order to illustrate the specific structure of the lifting module, the present invention uses the lifting module including: a vertically arranged support rod 11, the bottom of which is connected to the mobile chassis 1; a lifting motor 12, which is arranged at the top of the support rod 11; a lifting lead screw 13, which is vertically arranged, and the end of which is connected to the rotating end of the lifting motor 12; a lifting lead screw nut 14, which is arranged in the middle of the camera platform 3 and is connected to the lifting lead screw 13.

[0035] In this embodiment, the support rod 11 is located outside the support frame 2. The bottom of the support rod 11 is connected to the mobile chassis 1. An elevating motor 12 is provided at the side wall of the top of the support rod 11. The output end of the elevating motor 12 is connected to an elevating lead screw 13. An elevating nut 14 is provided on the elevating lead screw 13. The elevating nut 14 is connected to the camera platform 3. In this way, when the elevating motor 12 is started, the elevating lead screw 13 rotates, driving the elevating nut 14 and the camera platform 3 to be lifted and lowered synchronously, realizing the lifting adjustment of the camera assembly 4.

[0036] Figures 1 - 3 As shown, in some possible implementations, to illustrate the specific structure of the lateral movement module, the present invention adopts that the lateral movement module includes: horizontal slide rails 15 provided at the top and bottom of the support frame 2; horizontal sliders 16 provided at the bottom and top of the lateral movement rod 5, and the horizontal sliders 16 are slidably connected to the corresponding horizontal slide rails 15; a rack 17 provided at the top of the support frame 2; a lateral movement motor 18 provided at one side of the top of the lateral movement rod 5, and a gear 19 meshing with the rack 17 is provided at the output end thereof;

[0037] In this embodiment, horizontal sliders 16 are provided at the side walls of the top and bottom of the lateral movement rod 5, horizontal slide rails 15 are provided at the side walls of the top and bottom of the support frame 2, and the horizontal sliders 16 and the horizontal slide rails 15 are cooperatively connected. In this way, the left and right lateral movement of the lateral movement rod 5 is realized. A lateral movement motor 18 is also provided at the side wall of the top of the lateral movement rod 5. A horizontal gear 19 is provided at the output end of the lateral movement motor 18. A rack 17 is provided at the side wall of the top of the support frame 2. The gear 19 meshes with the rack 17. When the lateral movement motor 18 rotates forward and backward, the left and right lateral movement of the lateral movement rod 5 is realized.

[0038] Figures 1 - 3 As shown, in some possible implementations, to illustrate the specific structure of the camera assembly, the present invention adopts that the camera assembly includes: a light source 41 with an annular structure; a camera 42 provided at the center of the light source 41; wherein, the camera 42 is connected to the end of the first connecting rod 6 through a camera bracket, and the light source is connected to the end of the first connecting rod 6 through a light source bracket;

[0039] In this embodiment, the camera and the light source rotate synchronously, and the light source can make the picture captured by the camera clearer.

[0040] Figure 1 As shown, in some possible implementations, the camera platform 3 is provided with two up and down, and each camera platform 3 is lifted and lowered by corresponding control of the lifting module.

[0041] In this embodiment, two camera platforms 3 are provided, and correspondingly two lifting motors 12 are provided. The two camera assemblies 4 at the same height are controlled by the corresponding lifting motors 12 to move up and down, and the two camera assemblies 4 on the same side are controlled by the transverse movement rod 5 to adjust the synchronous pitching angle.

[0042] Based on the ideal embodiment of the present invention described above, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A camera composite pan-tilt mechanism for a twister inspection robot, characterized in that: include: Mobile chassis; A supporting frame, which is arranged vertically and has a bottom connected to the mobile chassis; A camera platform, which is adapted to move in a height direction along the support frame through a lifting module; Two transverse rods are vertically arranged and slidably connected to the support frame, and each of the transverse rods moves along the width direction of the support frame driven by the transverse module; A first connecting rod, the middle part of which is hinged to the end of the camera platform, and one end of which is connected to a camera assembly; a second connecting rod, one end of which is hinged to the other end of the first connecting rod; The third connecting rod has one end hinged to the bottom of the camera platform, and the other end hinged to the other end of the second connecting rod; wherein the first connecting rod, the second connecting rod, the third connecting rod and the camera platform constitute a parallelogram transmission structure, and the second connecting rod and the third connecting rod are slidably connected to the transverse rod.

2. A camera composite pan-tilt mechanism for a two-for-one twister inspection robot according to claim 1, characterized in that: The second connecting rod and the third connecting rod are provided with a first sliding block, and the side wall of the transverse rod is provided with a first sliding rail matched with the first sliding block, and the first sliding rail is vertically arranged.

3. The camera composite pan-tilt mechanism for a two-for-one twister inspection robot according to claim 1, characterized in that: The lifting module comprises: A vertically arranged support rod, the bottom of which is connected to the mobile chassis; A lifting motor, which is arranged on the top of the support rod; A lifting screw rod is vertically arranged, and its end is connected to the rotating end of the lifting motor; A lifting screw nut is arranged in the middle of the camera platform and connected to the lifting screw rod.

4. The camera composite pan-tilt mechanism for a two-for-one twister inspection robot according to claim 1, characterized in that: The traverse module comprises: Horizontal slide rails arranged at the top and bottom of the support frame; Horizontal sliding blocks are arranged at the bottom and the top of the transverse rod, and the horizontal sliding blocks are slidably connected with the corresponding horizontal sliding rails; A rack disposed on the top of the support frame; The transverse motor is arranged on the top of the transverse rod, and the output end of the motor is provided with a gear meshing with the rack.

5. The camera composite pan-tilt mechanism for a two-for-one twister inspection robot according to claim 1, characterized in that: The camera assembly comprises: Ring-shaped light source; a camera disposed at the center of the light source; Wherein, the camera is connected to the end of the first connecting rod through a camera bracket, and the light source is connected to the end of the first connecting rod through a light source bracket.

6. The camera composite pan-tilt mechanism for a two-for-one twister inspection robot according to claim 1, characterized in that: The camera platform is arranged in two parts, one upper part and the other lower part. Each camera platform is raised or lowered by being controlled by the corresponding lifting module.

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