Binocular camera fixing and adjusting mechanism suitable for robot tail end

Abstract

The binocular camera fixing and adjusting mechanism suitable for the tail end of the robot is characterized by comprising a shell (1), a guide rail (2), two sliding blocks (3), four positioning blocks (4), two rotating table adapters (5), two rotating tables (6), two camera adapters (7) and two cameras (8). According to the invention, posture adjustment and fixation of the binocular camera are realized, and the relative distance and angle of the two cameras can be respectively adjusted during use to adapt to different use scenes; and meanwhile, the device has a stable fixing mode, can be carried at the tail end of the robot, moves along with the robot and has a larger working range.

Description

Technical Field

[0001] The present invention relates to the application field of industrial cameras, and particularly relates to a binocular camera fixing and adjusting mechanism suitable for the end of a robot. Background Art

[0002] Binocular vision is an important form of machine vision. Based on the principle of parallax, it uses camera devices to obtain two images of the object to be measured from different positions, and calculates the position deviation between corresponding points of the images to obtain the three-dimensional geometric information of the object. To adapt to the measurement of the geometric information of objects with different sizes and specifications, it is necessary to adjust the distance and angle between the two cameras.

[0003] Traditional trusses carrying binocular vision systems usually occupy a large area and have low flexibility, and are not suitable for measuring objects with complex external structures. Therefore, using a robot with six degrees of freedom as the mechanical framework of the binocular vision system has higher flexibility. Summary of the Invention

[0004] The purpose of the present invention is to provide a binocular camera fixing and adjusting mechanism suitable for the end of a robot, so as to realize the attitude adjustment and overall installation of the binocular camera.

[0005] A binocular camera fixing and adjusting mechanism suitable for the end of a robot, characterized in that it includes a housing 1, a guide rail 2, two sliders 3, four positioning blocks 4, two rotary table adapters 5, two rotary tables 6, two camera adapters 7 and two cameras 8;

[0006] The guide rail 2 is fixedly installed at the bottom inside the housing 1, and the slider 3 is installed on the guide rail 2, and the slider 3 can slide along the guide rail 2;

[0007] On both sides of each slider 3 on the guide rail 2, a positioning block 4 is installed. The positioning block 4 can slide along the guide rail 2, and the positioning block 4 is fixed on the guide rail 2 by screwing a set screw 41, so as to fix the positions of the slider 3 and the camera 8, and ensure the stability of the distance between the two cameras 8 when the robot drives the mechanism to move;

[0008] The rotary table 6 is installed on the slider 3 through the rotary table adapter 5, and the camera 8 is installed on the rotary table 6 through the camera adapter 7, and the camera 8 can rotate with the rotation of the rotary table 6;

[0009] The housing 1 includes an annular mounting base plate 11, mounting side plates 12, and a plexiglass cover plate 13; the mounting side plates 12 and the plexiglass cover plate 13 are respectively installed on the front and rear sides of the annular mounting base plate 11;

[0010] The mounting side plate 12 is provided with a set of threaded holes 121 for connecting to the flange at the end of the robot; the mounting side plate 12 is provided with two wire routing holes 122 for routing the camera network port;

[0011] The described plexiglass cover plate 13 includes a transparent plexiglass plate 131 and a mounting cover plate 132, and the transparent plexiglass plate 131 is mounted on the mounting cover plate 132.

[0012] A set of array threaded holes 111 are provided at the bottom of the described annular mounting base plate 11 for mounting and fixing the guide rail 2; a countersunk head mounting hole 21 is provided on the guide rail 2 and is fixed on the annular mounting base plate 11 by a screw 22.

[0013] An angle scale 61 is provided on the side of the described rotating table 6, and an angle knob 62 and a locking knob 63 are provided in front of the rotating table 6. By adjusting the angle knob 62 and the locking knob 63, the adjustment and fixation of the axis angle of the camera 8 can be achieved.

[0014] Three mounting holes 71 are provided on the described camera adapter 7 and are connected to the camera 8, ensuring the accuracy of the 0° position when the camera 8 is mounted and also ensuring the stability of the angles of the two cameras 8 when the robot drives the mechanism to move.

[0015] The beneficial effects of the present invention are as follows:

[0016] The attitude adjustment and fixation of the binocular camera are realized. During use, the relative distance and angle of the two cameras can be adjusted separately to adapt to different usage scenarios; at the same time, it has a stable fixation method, can be carried on the end of the robot, and moves with the robot, having a larger working range. Brief Description of the Drawings

[0017] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 is a schematic diagram of the structure inside the housing of the present invention

[0019] Figure 3 is a schematic diagram of the outer shell structure of the present invention, where,

[0020] (a) Schematic diagram of the outer shell structure of the present invention;

[0021] (b) Schematic diagram of the structure of the mounting side plate 12 of the outer shell of the present invention;

[0022] (c) Schematic diagram of the structure of the plexiglass cover plate 13 of the outer shell of the present invention;

[0023] (d) Schematic diagram of the structural state of the guide rail 2 installed inside the outer shell of the present invention;

[0024] Figure 4 is a schematic diagram of the rotating table structure of the present invention;

[0025] Figure 5 is a schematic diagram of the structure of the camera adapter of the present invention.

[0026] Among them, 1 is the outer shell, 2 is the guide rail, 3 is the slider, 4 is the positioning block, 5 is the rotary table adapter, 6 is the rotary table, 7 is the camera adapter, and 8 is the camera; 11 is the annular mounting base plate, 12 is the mounting side plate, and 13 is the plexiglass cover plate; 21 is the countersunk mounting hole, 22 is the screw, 41 is the set screw, 61 is the angle scale, 62 is the angle knob, 63 is the locking knob, 71 is the mounting hole, 111 is the threaded hole, 112 is the threaded hole, 122 is the wire routing hole, 131 is the plexiglass plate, and 132 is the mounting cover plate. Detailed implementation mode

[0027] A binocular camera fixing and adjusting mechanism applicable to the end of a robot, characterized in that it is provided with an outer shell, a guide rail, a slider, a positioning block, a rotary table adapter, a rotary table, a camera adapter, and a camera. The guide rail is fixedly installed inside the outer shell, and the slider is installed on the guide rail and can slide along the guide rail; the positioning blocks are installed on both sides of the slider on the guide rail, can slide along the guide rail, and are fixed on the guide rail by screwing in the set screws, thereby fixing the positions of the slider and the camera, and ensuring the stability of the distance between the two cameras when the robot drives the mechanism to move; the rotary table is installed on the slider through the rotary table adapter, and the camera is installed on the rotary table through the camera adapter, and the camera rotates with the rotary table.

[0028] The outer shell is characterized in that it is provided with an annular mounting base plate, a mounting side plate, and a plexiglass cover plate. The mounting side plate and the plexiglass cover plate are respectively installed on the front and rear sides of the annular mounting base plate.

[0029] A group of arrayed threaded holes are provided at the bottom of the annular mounting base plate for installing and fixing the guide rail.

[0030] The mounting side plate is provided with a group of threaded holes for connecting with the flange at the end of the robot.

[0031] The mounting side plate is provided with two wire routing holes for the camera network port to route wires.

[0032] The plexiglass cover plate is provided with a transparent plexiglass plate and a mounting cover plate for realizing the normal viewing angle of the camera.

[0033] The guide rail is provided with countersunk mounting holes and is fixed on the annular mounting base plate by screws.

[0034] The side of the rotary table is provided with an angle scale, and the front is provided with an angle knob and a locking knob. By adjusting the angle knob and the locking knob, the adjustment and fixation of the camera axis angle are realized.

[0035] The camera adapter is provided with 3 mounting holes for connecting with the camera, ensuring the accuracy of the 0° position when the camera is installed, and ensuring the stability of the angles of the two cameras when the robot drives the mechanism to move.

[0036] A binocular camera fixing and adjusting mechanism applicable to the end of a robot, characterized by comprising a housing, a guide rail, a slider, a positioning block, a rotary table adapter, a rotary table, a camera adapter, and a camera.

[0037] The guide rail is fixedly installed inside the housing, and the slider is installed on the guide rail and can slide along the guide rail;

[0038] The positioning blocks are installed on both sides of the slider on the guide rail, can slide along the guide rail, and are fixed on the guide rail by screwing in the set screws, thereby fixing the positions of the slider and the camera, and ensuring the stability of the distance between the two cameras when the robot drives the mechanism to move;

[0039] The rotary table is installed on the slider through the rotary table adapter, and the camera is installed on the rotary table through the camera adapter, and the camera rotates with the rotary table.

[0040] There are provided an annular mounting base plate, mounting side plates, and a plexiglass cover plate. The mounting side plates and the plexiglass cover plate are respectively installed on the front and rear sides of the annular mounting base plate.

[0041] A set of array threaded holes are provided at the bottom of the annular mounting base plate for installing and fixing the guide rail.

[0042] The mounting side plates are provided with a set of threaded holes for connecting with the flange at the end of the robot.

[0043] The mounting side plates are provided with two wire routing holes for routing the network ports of the camera.

[0044] The plexiglass cover plate is provided with a transparent plexiglass plate and a mounting cover plate for realizing normal viewing angle observation of the camera.

[0045] The guide rail is provided with countersunk head mounting holes and is fixed on the annular mounting base plate by screws.

[0046] The side surface of the rotary table is provided with angle scales, and the front surface is provided with an angle knob and a locking knob. By adjusting the angle knob and the locking knob, the adjustment and fixation of the axis angle of the camera are realized.

[0047] The camera adapter is provided with 3 mounting holes for connecting with the camera, ensuring the accuracy of the 0° position when the camera is installed, and ensuring the stability of the angles of the two cameras when the robot drives the mechanism to move.

[0048] Embodiment:

[0049] The present invention will be further described in detail below with reference to the accompanying drawings

[0050] A binocular camera fixing and adjusting mechanism applicable to the end of a robot, characterized by comprising a housing 1, a guide rail 2, a slider 3, a positioning block 4, a rotary table adapter 5, a rotary table 6, a camera adapter 7, and a camera 8, as Figure 1, Figure 2 as shown.

[0051] The guide rail 2 is fixedly installed inside the housing 1, and the slider 3 is installed on the guide rail 2 and can slide along the guide rail 2;

[0052] The positioning blocks 4 are installed on both sides of the slider 3 on the guide rail 2, can slide along the guide rail 2, and are fixed on the guide rail 2 by screwing the set screws 41, so as to fix the positions of the slider 3 and the camera 8, and ensure the stability of the distance between the two cameras 8 when the robot drives the mechanism to move;

[0053] The rotating table 6 is installed on the slider 3 through the rotating table adapter 5, and the camera 8 is installed on the rotating table 6 through the camera adapter 7, and the camera 8 rotates with the rotating table 6.

[0054] The housing 1 is characterized in that it is provided with an annular mounting base plate 11, mounting side plates 12, and a plexiglass cover plate 13. The mounting side plates 12 and the plexiglass cover plate 13 are respectively installed on the front and rear sides of the annular mounting base plate 11, as Figure 3 shown in (a).

[0055] A set of array threaded holes 111 are provided at the bottom of the annular mounting base plate 11 for installing and fixing the guide rail 2, as Figure 3 shown in (a).

[0056] The mounting side plate 12 is provided with a set of threaded holes 121 for connecting with the flange at the end of the robot, as Figure 3 shown in (b).

[0057] The mounting side plate 12 is provided with two wire routing holes 122 for routing the camera network port, as Figure 3 shown in (b).

[0058] The plexiglass cover plate 13 is provided with a transparent plexiglass plate 131 and a mounting cover plate 132 for realizing the normal viewing angle of the camera 8, as Figure 3 shown in (c).

[0059] The guide rail 2 is provided with countersunk mounting holes 21 and is fixed on the annular mounting base plate 11 by screws 22, as Figure 3 shown in (d).

[0060] The side of the rotating table 6 is provided with an angle scale 61, and the front is provided with an angle knob 62 and a locking knob 63. By adjusting the angle knob 62 and the locking knob 63, the adjustment and fixation of the axis angle of the camera 8 are realized, as Figure 4 shown.

[0061] The camera adapter 7 is provided with 3 mounting holes 71 connected to the camera 8 to ensure the accuracy of the 0° position when the camera 8 is installed, and to ensure the stability of the angles of the two cameras 8 when the robot drives the mechanism to move, asFigure 5 as shown

Claims

1. A binocular camera fixing and adjusting mechanism suitable for the end of a robot, characterized in that: It comprises a housing (1), a guide rail (2), two sliders (3), four positioning blocks (4), two rotating table adapters (5), two rotating tables (6), two camera adapters (7) and two cameras (8); The guide rail (2) is fixedly mounted at the bottom of the housing (1), the slider (3) is mounted on the guide rail (2), and the slider (3) can slide along the guide rail (2); A positioning block (4) is installed on both sides of each slider (3) on the guide rail (2). The positioning block (4) can slide along the guide rail (2). The positioning block (4) is fixed to the guide rail (2) by screwing a set screw (41), thereby fixing the position of the slider (3) and the camera (8), and ensuring the stability of the distance between the two cameras (8) when the robot drives the mechanism to move. The rotating platform (6) is mounted on the slider (3) via the rotating platform adapter (5), and the camera (8) is mounted on the rotating platform (6) via the camera adapter (7), and the camera (8) can rotate along with the rotation of the rotating platform (6); The housing (1) comprises an annular mounting base plate (11), a mounting side plate (12), and an organic glass cover plate (13); the mounting side plate (12) and the organic glass cover plate (13) are respectively mounted on the front and rear sides of the annular mounting base plate (11); A group of threaded holes (121) are provided on the mounting side plate (12) for connection with the end flange of the robot; the mounting side plate (12) is provided with two wiring holes (122) for wiring the camera network port; The organic glass cover plate (13) comprises a transparent organic glass plate (131) and a mounting cover plate (132), wherein the transparent organic glass plate (131) is mounted on the mounting cover plate (132).

2. According to claim 1, a binocular camera fixing and adjusting mechanism suitable for the end of a robot is characterized in that: A group of array threaded holes (111) are arranged at the bottom of the annular mounting base plate (11) for mounting and fixing the guide rail (2); countersunk mounting holes (21) are arranged on the guide rail (2) and are fixed to the annular mounting base plate (11) by screws (22).

3. A binocular camera fixing and adjusting mechanism suitable for a robot end according to claim 1 or 2, characterized in that: The side of the rotating platform (6) is provided with an angle scale (61), and the front of the rotating platform (6) is provided with an angle knob (62) and a locking knob (63). By adjusting the angle knob (62) and the locking knob (63), the angle of the camera (8) axis can be adjusted and fixed.

4. A binocular camera fixing and adjusting mechanism suitable for a robot end according to claim 1 or 2, characterized in that: The camera adapter (7) is provided with three mounting holes (71) connected to the camera (8), thereby ensuring the accuracy of the 0° position of the camera (8) when it is installed, and ensuring the stability of the angles of the two cameras (8) when the robot drives the mechanism to move.

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