Visual system of coupling device and coupling device

Abstract

The utility model discloses a visual system of coupling equipment and the coupling equipment. The visual system comprises a first visual mechanism used for collecting a top view angle image of a to-be-collected target, a second visual mechanism used for collecting an oblique view angle image of the to-be-collected target, a third visual mechanism used for collecting a rear view angle image of the to-be-collected target, and a fourth visual mechanism used for collecting a side view angle image of the to-be-collected target. The first visual mechanism comprises a first adjusting mechanism and a first visual module installed on the first adjusting mechanism, the second visual mechanism comprises a second adjusting mechanism and a second visual module installed on the second adjusting mechanism, and the third visual mechanism comprises a third adjusting mechanism and a third visual module installed on the third adjusting mechanism. The fourth visual mechanism comprises a fourth adjusting mechanism and a fourth visual module installed on the fourth adjusting mechanism. Each visual mechanism can move and rotate so as to observe the position relation condition of components and coupling components from multiple angles.

Description

Technical Field

[0001] The utility model relates to the technical field of optical communication, in particular to a visual system of a coupling device and a coupling device. Background Art

[0002] In the field of optical communications, it is necessary to couple a small lens with a laser on a PCB. The components and lasers on the PCB are three-dimensional rather than flat. At the same time, the small lens and the laser need to be coupled and aligned during the coupling process, and the coupling alignment is a multi-directional three-dimensional alignment, so the traditional visual system cannot achieve this function. In this field, this function can be achieved through a 3D camera, but the 3D camera can observe the PCB board in all directions by rotating the rotation axis, but it has the disadvantages of a short working distance, and cannot observe multiple angles at the same time, and affects the movement of the fixture during the rotation process, thereby affecting the coupling process. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art, and proposes a visual system of a coupling device and a coupling device.

[0004] The technical solution of the utility model is implemented as follows: The utility model discloses a visual system of a coupling device, comprising:

[0005] A first visual mechanism for acquiring a top-down perspective image of a target to be acquired, wherein the first visual mechanism comprises a first adjustment mechanism and a first visual module mounted on the first adjustment mechanism;

[0006] A second visual mechanism for acquiring a squint angle image of a target to be acquired, wherein the second visual mechanism comprises a second adjustment mechanism and a second visual module mounted on the second adjustment mechanism;

[0007] A third visual mechanism for acquiring a rear-view image of a target to be acquired, wherein the third visual mechanism comprises a third adjustment mechanism and a third visual module installed on the third adjustment mechanism;

[0008] A fourth visual mechanism for acquiring a side-view image of a target to be acquired, wherein the fourth visual mechanism comprises a fourth adjustment mechanism and a fourth visual module mounted on the fourth adjustment mechanism.

[0009] Further, the first adjustment mechanism is configured to drive the first visual module to move along the first direction, the second direction, and the fourth direction, and to drive the first visual module to rotate within the first plane; the second adjustment mechanism is configured to drive the second visual module to move along the fifth direction, the second direction, and the third direction, and to drive the second visual module to rotate within the second plane; the third adjustment mechanism is configured to drive the third visual module to move along the first direction, the second direction, and the third direction, and to drive the third visual module to rotate within the first plane; the fourth adjustment mechanism is configured to drive the fourth visual module to move along the first direction, the second direction, and the third direction, and to drive the fourth visual module to rotate within the second plane;

[0010] The first direction is the X-axis direction, the second direction is the Y-axis direction, the third direction is the Z-axis direction, the fourth direction is the lens optical axis direction of the first visual module, and the fifth direction is the lens optical axis direction of the second visual module;

[0011] The first plane is the YZ plane, and the second plane is the XZ plane.

[0012] Further, the first adjustment mechanism includes a first linear module for driving the first visual module to move along a first direction, a second linear module for driving the first visual module to move along a second direction, and a third linear module for driving the first visual module to move along a fourth direction, the second linear module is fixedly mounted on the first linear module, a first connecting plate is connected between the third linear module and the second linear module, the first connecting plate is rotatably connected to the second linear module, the first connecting plate is fixedly connected to the third linear module, a first fixture is fixedly mounted on the third linear module, and the first visual module is mounted on the first fixture;

[0013] The first direction is the X-axis direction, the second direction is the Y-axis direction, and the fourth direction is the lens optical axis direction of the first visual module;

[0014] or / and,

[0015] The third adjustment mechanism includes a seventh linear module for driving the third visual module to move along the first direction, an eighth linear module for driving the third visual module to move along the second direction, and a ninth linear module for driving the third visual module to move along the third direction, the seventh linear module is fixedly mounted on the ninth linear module, the eighth linear module is fixedly mounted on the seventh linear module, a second connecting plate is fixedly mounted on the eighth linear module, a third fixture is rotatably connected to the second connecting plate, and the third visual module is mounted on the third fixture;

[0016] The first direction is the X-axis direction, the second direction is the Y-axis direction, and the third direction is the Z-axis direction.

[0017] Further, one end of the first connecting plate is fixedly connected to the third linear module, the other end of the first connecting plate is provided with a first fixing hole and an arc-shaped groove, a first screw passes through the first fixing hole of the first connecting plate to connect with the second linear module, and a second screw passes through the arc-shaped groove of the first connecting plate to connect with the second linear module;

[0018] or / and,

[0019] The second connecting plate is provided with a first fixing hole and an arc-shaped groove, the third screw passes through the first fixing hole of the second connecting plate to be connected to the third clamp, and the fourth screw passes through the arc-shaped groove of the second connecting plate to be connected to the third clamp;

[0020] or / and,

[0021] The second connecting plate is provided with a strip-shaped mounting groove extending along the Z-axis direction, and at least one fifth screw passes through the strip-shaped mounting groove of the second connecting plate and is fixedly connected to the eighth linear module.

[0022] Further, the second adjustment mechanism includes a fourth linear module for driving the second visual module to move along a fifth direction, a fifth linear module for driving the second visual module to move along the second direction, and a sixth linear module for driving the second visual module to move along a third direction, the fifth linear module is fixedly mounted on the sixth linear module, the fourth linear module and the fifth linear module are rotatably connected via a connecting device, a second fixture is fixedly mounted on the fourth linear module, and the second visual module is mounted on the second fixture;

[0023] The fifth direction is the optical axis direction of the lens of the second visual module, the second direction is the Y-axis direction, and the third direction is the Z-axis direction;

[0024] or / and,

[0025] The fourth adjustment mechanism includes a tenth linear module for driving the fourth visual module to move along the first direction, an eleventh linear module for driving the fourth visual module to move along the second direction, and a twelfth linear module for driving the fourth visual module to move along the third direction, the eleventh linear module is fixedly mounted on the tenth linear module, a first mounting plate is fixed on the eleventh linear module, a third connecting plate is connected between the first mounting plate and the twelfth linear module, the third connecting plate is fixedly connected to the first mounting plate, the third connecting plate is rotatably connected to the twelfth linear module, a fourth fixture is fixedly mounted on the twelfth linear module, and the fourth visual module is mounted on the fourth fixture;

[0026] The first direction is the X-axis direction, the second direction is the Y-axis direction, and the third direction is the Z-axis direction.

[0027] Further, the connecting device includes a first connecting seat, a second connecting seat and a connecting shaft, the first connecting seat is fixedly connected to the fifth linear module, the second connecting seat is fixedly connected to the fourth linear module, the first connecting seat and the second connecting seat are both connected to the connecting shaft, and at least one of the first connecting seat and the second connecting seat is rotatably connected to the connecting shaft;

[0028] or / and,

[0029] The third connecting plate is provided with a first fixing hole and an arc-shaped groove, the sixth screw passes through the first fixing hole of the third connecting plate to be connected to the twelfth linear module, and the seventh screw passes through the arc-shaped groove of the third connecting plate to be connected to the twelfth linear module;

[0030] or / and,

[0031] The first mounting plate is also provided with a strip mounting groove extending along the Z-axis direction, at least one eighth screw passes through the strip mounting groove of the first mounting plate and is fixedly connected to the third connecting plate, and the third connecting plate is provided with a threaded hole adapted to the eighth screw.

[0032] Further, the first connecting seat is provided with a first connecting hole for cooperating with the connecting shaft, and the first connecting seat is provided with a first opening communicating with the first connecting hole on one radial side of the first connecting hole to form locking parts located on both sides of the first opening, and locking holes are correspondingly provided on the two locking parts of the first connecting seat, and at least one tenth screw passes through the locking holes of the two locking parts of the first connecting seat in sequence to be connected to the fifth linear module;

[0033] or / and,

[0034] The second connecting seat is provided with a second connecting hole for cooperating with the connecting shaft, and the second connecting seat is provided with a second opening communicated with the second connecting hole on a radial side of the second connecting hole to form locking parts located on both sides of the second opening, and locking holes are correspondingly provided on the two locking parts of the second connecting seat, and at least one eleventh screw passes through the locking holes of the two locking parts of the second connecting seat in sequence to be connected to the fourth linear module.

[0035] Furthermore, the first visual mechanism, the second visual mechanism, and the third visual mechanism are installed on a bracket, the bracket is installed on a base of the coupling device, and the fourth visual mechanism is installed on the base of the coupling device.

[0036] Furthermore, the bracket is a gantry, the first visual mechanism and the third visual mechanism are fixed on the first column, the second visual mechanism is fixed on the second column, the first column and the second column are both detachably fixed on the upper end of the beam of the gantry, and the beam of the gantry extends along the X-axis direction.

[0037] The utility model also discloses a coupling device, comprising a base, on which the visual system as described above is installed.

[0038] Compared with the prior art, the utility model has the following beneficial effects:

[0039] The visual system of the present utility model is a four-vision mechanism, which includes a three-vision mechanism of the gantry and a separate side-view vision mechanism. The first vision mechanism of the three-vision mechanism of the gantry mainly observes the downward direction, and the third vision mechanism of the three-vision mechanism of the gantry mainly observes the rearward direction. The second vision mechanism of the three-vision mechanism of the gantry mainly observes the oblique direction, and the fourth vision mechanism is an independent vision mechanism, which is used to observe components or coupling elements in tricky positions that need to be observed from the side or upward. The four vision mechanisms can all achieve multi-directional and multi-angle adjustment. Among them, each vision mechanism can achieve movement in three axes (such as two basic directions and one lens optical axis direction) and rotation in one direction, so as to achieve multiple angles to observe the positional relationship of components and coupling components. The four-vision mechanism of the present utility model can meet the coupling alignment of the small lens and the laser during the coupling process, and can observe multiple angles at the same time without affecting the coupling process.

[0040] The utility model is provided with a strip-shaped installation groove with a long stroke in addition to the slide table of the linear module which can be fine-tuned up and down, so as to facilitate more flexible observation.

[0041] In order to maintain the basic consistency of the top-view and rear-view directions and save space, the first visual mechanism and the third visual mechanism are fixed on the same column, and the second visual mechanism is fixed on another column. Both columns are fixed on the gantry by T-nuts. The distance between the two columns, that is, the distance between the first visual mechanism, the third and the second visual mechanism can be adaptively adjusted according to the position of the observed components, making the observation range more flexible and versatile. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic diagram of the structure of a visual system of a coupling device provided by an embodiment of the utility model;

[0043] Figure 2 A schematic diagram of the structure of a first visual mechanism and a third visual mechanism provided by the utility model at a viewing angle;

[0044] Figure 3 A schematic diagram of the structure of the first visual mechanism and the third visual mechanism provided by the utility model from another perspective;

[0045] Figure 4 A schematic diagram of the structure of a second visual mechanism of one viewing angle provided by the utility model;

[0046] Figure 5 A partial schematic diagram of a second visual mechanism from another perspective provided by the utility model;

[0047] Figure 6 A schematic diagram of the structure of a fourth visual mechanism of a viewing angle provided by the utility model;

[0048] Figure 7 A schematic diagram of the structure of a fourth visual mechanism from another viewing angle provided by the utility model;

[0049] Figure 8 This is a structural schematic diagram of the fourth adjustment mechanism provided by the utility model.

[0050] In the accompanying drawings, 1 is a base, 2 is a bracket, 21 is a first column, 22 is a second column, 3 is a first adjustment mechanism, 31 is a first linear module, 32 is a second linear module, 33 is a third linear module, 34 is a first connecting plate, 341 is an arc groove of the first connecting plate, 342 is a first fixing hole of the first connecting plate, 343 is a second fixing hole of the first connecting plate, 35 is a first clamp, 36 is a second mounting plate, 4 is a first visual module, 5 is a second adjustment mechanism, 51 is a fourth linear module, 52 is a fifth linear module, 53 is a sixth linear module, 54 is a first connecting seat, 55 is a second connecting seat, 56 is a connecting shaft, 57 is a second clamp, 58 is a fourth mounting plate, 59 is a handle, and 6 is a second visual module. Group, 7 is the third adjustment mechanism, 71 is the seventh linear module, 72 is the eighth linear module, 73 is the ninth linear module, 74 is the second connecting plate, 741 is the strip mounting groove of the second connecting plate, 742 is the arc groove of the second connecting plate, 743 is the first fixing hole of the second connecting plate, 75 is the third fixture, 76 is the third mounting plate, 8 is the third visual module, 9 is the fourth adjustment mechanism, 91 is the tenth linear module, 92 is the eleventh linear module, 93 is the twelfth linear module, 94 is the first mounting plate, 941 is the strip mounting groove of the first mounting plate, 95 is the third connecting plate, 951 is the arc groove of the third connecting plate, 952 is the first fixing hole of the third connecting plate, 96 is the fourth fixture, and 10 is the fourth visual module. DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0052] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Multiple means two or more. Similarly, words such as "one", "one" or "the" do not indicate quantity restrictions, but indicate the existence of at least one. Words such as "include" or "include" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described target changes, the relative positional relationship may also change accordingly.

[0053] In each of the accompanying drawings, identical elements are represented by similar reference numerals. For the sake of clarity, the various parts in the accompanying drawings are not all drawn to scale. In addition, some well-known parts may not be shown in the drawings.

[0054] Many specific details of the present invention are described below, such as the structure, materials, dimensions, processing techniques and technologies of the components, so as to more clearly understand the present invention. However, as those skilled in the art will appreciate, the present invention may be implemented without following these specific details.

[0055] Embodiment 1

[0056] See also Figures 1 to 8 , the utility model embodiment discloses a visual system of a coupling device, including:

[0057] A first visual mechanism for acquiring a top-down perspective image of a target to be acquired, wherein the first visual mechanism comprises a first adjustment mechanism 3 and a first visual module 4 installed on the first adjustment mechanism 3;

[0058] A second visual mechanism for acquiring a squint angle image of a target to be acquired, wherein the second visual mechanism comprises a second adjustment mechanism 5 and a second visual module 6 installed on the second adjustment mechanism 5;

[0059] A third visual mechanism for acquiring a rear-view image of a target to be acquired, the third visual mechanism comprising a third adjustment mechanism 7 and a third visual module 8 mounted on the third adjustment mechanism 7;

[0060] The fourth visual mechanism is used for acquiring the side view image of the target to be acquired, and the fourth visual mechanism includes a fourth adjustment mechanism 9 and a fourth visual module 10 installed on the fourth adjustment mechanism 9.

[0061] In some embodiments, the first adjustment mechanism is configured to drive the first visual module to move in at least two directions among the first direction, the second direction, and the fourth direction, and to drive the first visual module to rotate within the first plane; the second adjustment mechanism is configured to drive the second visual module to move in at least two directions among the fifth direction, the second direction, and the third direction, and to drive the second visual module to rotate within the second plane; the third adjustment mechanism is configured to drive the third visual module to move in at least two directions among the first direction, the second direction, and the third direction, and to drive the third visual module to rotate within the first plane; the fourth adjustment mechanism is configured to drive the fourth visual module to move in at least two directions among the first direction, the second direction, and the third direction, and to drive the fourth visual module to rotate within the second plane.

[0062] In some embodiments, the first adjustment mechanism 3 is configured to drive the first visual module 4 to move along the first direction, the second direction, and the fourth direction, and to drive the first visual module 4 to rotate within the first plane; the second adjustment mechanism 5 is configured to drive the second visual module 6 to move along the fifth direction, the second direction, and the third direction, and to drive the second visual module 6 to rotate within the second plane; the third adjustment mechanism 7 is configured to drive the third visual module 8 to move along the first direction, the second direction, and the third direction, and to drive the third visual module 8 to rotate within the first plane; the fourth adjustment mechanism 9 is configured to drive the fourth visual module 10 to move along the first direction, the second direction, and the third direction, and to drive the fourth visual module 10 to rotate within the second plane.

[0063] The first direction, the second direction, the third direction, the fourth direction, and the fifth direction all refer to axial directions. For example, the first direction refers to the first axial direction, the second direction refers to the second axial direction, the third direction refers to the third axial direction, the fourth direction refers to the fourth axial direction, and the fifth direction refers to the fifth axial direction.

[0064] The first direction, the second direction and the third direction intersect each other. Preferably, the first direction, the second direction and the third direction are perpendicular to each other. In some embodiments, the first direction is the X-axis direction (including the positive direction of the X-axis and the negative direction of the X-axis), the second direction is the Y-axis direction, and the third direction is the Z-axis direction.

[0065] The fourth direction is the lens optical axis direction of the first vision module (the lens optical axis refers to the center line of the lens), and the fifth direction is the lens optical axis direction of the second vision module.

[0066] The first plane, the second plane and the third plane intersect each other. Preferably, the first plane, the second plane and the third plane are perpendicular to each other.

[0067] The first plane is a first vertical plane. The second plane is a second vertical plane. The first plane is perpendicular to the second plane. The third plane is a horizontal plane.

[0068] In some embodiments, the first plane is a YZ plane, the second plane is an XZ plane, and the third plane is an XY plane.

[0069] Further, the first visual mechanism, the second visual mechanism, and the third visual mechanism are installed on a bracket 2, the bracket 2 is installed on a base 1 of a coupling device, and the fourth visual mechanism is installed on the base 1 of the coupling device.

[0070] Furthermore, the bracket 2 is a gantry, the first visual mechanism and the third visual mechanism are fixed on the first column 21, the second visual mechanism is fixed on the second column 22, the first column 21 and the second column 22 are both detachably fixed on the upper end of the beam of the gantry, and the beam of the gantry extends along the X-axis direction.

[0071] Further, the first adjustment mechanism 3 includes a first linear module 31 for driving the first visual module 4 to move along the first direction, a second linear module 32 for driving the first visual module 4 to move along the second direction, and a third linear module 33 for driving the first visual module 4 to move along the fourth direction. The first linear module 31 is fixedly mounted on the first column 21, the second linear module 32 is fixedly mounted on the first linear module 31, a first connecting plate 34 is connected between the third linear module 33 and the second linear module 32, the first connecting plate 34 is rotatably connected to the second linear module 32, the first connecting plate 34 is fixedly connected to the third linear module 33, a first clamp 35 is fixedly mounted on the third linear module 33, and the first visual module 4 is mounted on the first clamp 35.

[0072] A second mounting plate 36 is fixed on the first linear module 31 , and the second linear module 32 is fixedly mounted on the second mounting plate 36 .

[0073] Furthermore, one end of the first connecting plate 34 is fixedly connected to the third linear module 33, and the other end of the first connecting plate 34 is provided with a first fixing hole 342 and an arc groove 341, and the first screw passes through the first fixing hole 342 of the first connecting plate 34 to be connected to the second linear module 32, and the second screw passes through the arc groove 341 of the first connecting plate 34 to be connected to the second linear module 32.

[0074] The first connecting plate 34 of this embodiment is fixedly connected to the third linear module 33 by a ninth screw. The first connecting plate 34 is provided with at least one second fixing hole 343, and at least one ninth screw is fixedly connected to the third linear module 33 through the second fixing hole 343 of the first connecting plate 34. The third linear module 33 is provided with a threaded hole for matching with the ninth screw. The second linear module 32 is provided with a threaded hole for matching with the first screw. The second linear module 32 is provided with a threaded hole for matching with the second screw.

[0075] Furthermore, the second adjustment mechanism 5 includes a fourth linear module 51 for driving the second visual module 6 to move along the fifth direction, a fifth linear module 52 for driving the second visual module 6 to move along the second direction, and a sixth linear module 53 for driving the second visual module 6 to move along the third direction. The sixth linear module 53 is fixedly mounted on the second column 22, the fifth linear module 52 is fixedly mounted on the sixth linear module 53, the fourth linear module 51 and the fifth linear module 52 are rotatably connected via a connecting device, a second clamp 57 is fixedly mounted on the fourth linear module 51, and the second visual module 6 is mounted on the second clamp 57.

[0076] The sixth linear module 53 is fixed with a fourth mounting plate 58 , and the fifth linear module 52 is fixedly mounted on the fourth mounting plate 58 .

[0077] Furthermore, the connecting device includes a first connecting seat 54, a second connecting seat 55 and a connecting shaft 56, the first connecting seat 54 is fixedly connected to the fifth linear module 52, the second connecting seat 55 is fixedly connected to the fourth linear module 51, the first connecting seat 54 and the second connecting seat 55 are both connected to the connecting shaft 56, and at least one of the first connecting seat 54 and the second connecting seat 55 is rotatably connected to the connecting shaft 56.

[0078] The first connecting seat 54 is provided with a first connecting hole for cooperating with the connecting shaft 56. The first connecting seat 54 is provided with a first opening communicated with the first connecting hole on the radial side of the first connecting hole to form locking parts located on both sides of the first opening. The two locking parts of the first connecting seat 54 are correspondingly provided with locking holes. At least one tenth screw passes through the locking holes of the two locking parts of the first connecting seat 54 in sequence to connect with the fifth linear module 52.

[0079] The second connecting seat 55 is provided with a second connecting hole for cooperating with the connecting shaft 56. The second connecting seat 55 is provided with a second opening communicated with the second connecting hole on the radial side of the second connecting hole to form locking parts located on both sides of the second opening. The two locking parts of the second connecting seat 55 are correspondingly provided with locking holes. At least one eleventh screw passes through the locking holes of the two locking parts of the second connecting seat 55 in sequence to connect with the fourth linear module 51.

[0080] The fifth linear module 52 is provided with a threaded hole for matching with the tenth screw.

[0081] The fourth linear module 51 is provided with a threaded hole for matching with the eleventh screw.

[0082] The first connecting seat 54 is also connected to the fifth linear module 52 via at least one twelfth screw.

[0083] A handle 59 is provided on the connecting shaft 56 .

[0084] The axis center line of the locking hole is perpendicular to the axis center line of the connecting hole.

[0085] The two axial ends of the connection hole respectively penetrate the first side wall and the second side wall of the first connection seat 54. The two axial ends of the opening respectively penetrate the first side wall and the second side wall of the first connection seat 54.

[0086] Of course, when the first connection seat 54 and the connecting shaft 56 are rotatably connected, the connecting shaft 56 and the second connection seat 55 can be fixedly connected in various ways. When the second connection seat 55 and the connecting shaft 56 are rotatably connected, the connecting shaft 56 and the first connection seat 54 can be fixedly connected in various ways.

[0087] Further, the third adjustment mechanism 7 includes a seventh linear module 71 for driving the third visual module 8 to move along the first direction, an eighth linear module 72 for driving the third visual module 8 to move along the second direction, and a ninth linear module 73 for driving the third visual module 8 to move along the third direction, wherein the ninth linear module 73 is fixedly mounted on the first column 21, the seventh linear module 71 is fixedly mounted on the ninth linear module 73, the eighth linear module 72 is fixedly mounted on the seventh linear module 71, a second connecting plate 74 is fixedly mounted on the eighth linear module 72, a third fixture 75 is rotatably connected to the second connecting plate 74, and the third visual module 8 is mounted on the third fixture 75. A third mounting plate 76 is fixedly mounted on the seventh linear module 71, and the eighth linear module 72 is fixedly mounted on the third mounting plate 76.

[0088] Furthermore, the second connecting plate 74 is provided with a first fixing hole 743 and an arc groove 742 , the third screw passes through the first fixing hole 743 of the second connecting plate 74 to be connected to the third clamp 75 , and the fourth screw passes through the arc groove 742 of the second connecting plate 74 to be connected to the third clamp 75 .

[0089] Furthermore, the second connecting plate 74 is provided with a strip-shaped mounting groove extending along the Z-axis direction, and at least one fifth screw passes through the strip-shaped mounting groove 741 of the second connecting plate 74 to be fixedly connected to the eighth linear module 72 .

[0090] The second connecting plate 74 extends along the Z-axis direction.

[0091] The eighth linear module 72 is provided with a threaded hole adapted to the fifth screw. The third clamp 75 is provided with a threaded hole adapted to the third screw. The third clamp 75 is provided with a threaded hole adapted to the fourth screw.

[0092] Further, the fourth adjustment mechanism 9 includes a tenth linear module 91 for driving the fourth visual module 10 to move along the first direction, an eleventh linear module 92 for driving the fourth visual module 10 to move along the second direction, and a twelfth linear module 93 for driving the fourth visual module 10 to move along the third direction. The tenth linear module 91 is fixedly mounted on the base 1 of the coupling device, the eleventh linear module 92 is fixedly mounted on the tenth linear module 91, a first mounting plate 94 is fixed on the eleventh linear module 92, a third connecting plate 95 is connected between the first mounting plate 94 and the twelfth linear module 93, the third connecting plate 95 is fixedly connected to the first mounting plate 94, the third connecting plate 95 is rotatably connected to the twelfth linear module 93, a fourth clamp 96 is fixedly mounted on the twelfth linear module 93, and the fourth visual module 10 is mounted on the fourth clamp 96.

[0093] Furthermore, the third connecting plate 95 is provided with a first fixing hole 952 and an arc groove 951 , the sixth screw passes through the first fixing hole 952 of the third connecting plate 95 to be connected to the twelfth linear module 93 , and the seventh screw passes through the arc groove 951 of the third connecting plate 95 to be connected to the twelfth linear module 93 .

[0094] Furthermore, the first mounting plate 94 is also provided with a strip mounting groove 941 extending along the Z-axis direction, and at least one eighth screw passes through the strip mounting groove of the first mounting plate 94 and is fixedly connected to the third connecting plate 95, and the third connecting plate 95 is provided with a threaded hole adapted to the eighth screw.

[0095] The twelfth linear module 93 is provided with a threaded hole adapted to the sixth screw. The twelfth linear module 93 is provided with a threaded hole adapted to the seventh screw.

[0096] The X-axis linear module of this embodiment is arranged along the X-axis direction, the Y-axis linear module is arranged along the Y-axis direction, and the Z-axis linear module is arranged along the Z-axis direction, wherein the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other. The X-axis linear module, the Y-axis linear module and the Z-axis linear module of the utility model can be manually adjusted linear modules or electrically driven linear modules (such as motor-driven linear modules). The first clamp 35, the second clamp 57, the third clamp 75 and the fourth clamp 96 are all L-shaped plates, and the L-shaped plates include a first fixed plate and a second fixed plate, and the first fixed plate is provided with a fixing hole for fixing and connecting with the adjustment mechanism. The second fixed plate is provided with a mounting hole for mounting a visual module. The second fixed plate is provided with an opening communicating with the mounting hole on one radial side of the mounting hole to form a locking portion located on both sides of the opening, and locking holes are correspondingly provided on the two locking portions of the second fixed plate.

[0097] The visual system of the utility model is a four-vision mechanism, including a gantry three-vision mechanism and a separate side vision mechanism, and the four vision mechanisms can realize multi-directional and multi-angle adjustment. Among them, each vision mechanism can realize basic movement in three directions and rotation in one direction, so as to realize multi-angle observation of the position relationship of components and coupled components.

[0098] The first visual mechanism mainly observes the top-down direction, and the third visual mechanism mainly observes the rear-view direction. The first visual mechanism can not only realize the movement in two basic directions (such as the first direction and the second direction) and the lens optical axis direction of the first visual module (for lens focusing), but also can rotate in the first plane (such as the YZ plane).

[0099] The second vision mechanism mainly observes the oblique direction. In addition to realizing movement in two basic directions (such as the second direction and the third direction) and the lens optical axis direction of the second vision module (for lens focusing), it can also rotate in a second plane (such as the XZ plane).

[0100] In addition to realizing basic movements in the first direction, the second direction (the second direction is parallel to the optical axis of the lens of the third vision module, and adjusting the movement of the third vision module along the second direction can be used for focusing the lens of the third vision module), and the third direction, the third vision mechanism can also rotate in the first plane (such as the YZ plane).

[0101] The fourth visual mechanism is an independent visual mechanism, which is separately fixed on the base (or mounting plate) of the coupling device. It is flexible and can be installed in any position. It is used to observe components or coupling elements in tricky positions that need to be observed from the side or upward. The fourth visual mechanism can realize basic movements in the first direction (the first direction is parallel to the optical axis direction of the lens of the fourth visual module, and adjusting the movement of the fourth visual module along the first direction can be used for focusing the lens of the fourth visual module), the second direction, and the third direction, and can also rotate in the second plane (such as the XZ plane).

[0102] Lens focusing can also be achieved by adjusting the position of the clamp fixing the lens barrel.

[0103] The utility model is provided with a strip-shaped installation groove with a long stroke in addition to the slide table of the linear module which can be fine-tuned up and down, so as to facilitate more flexible observation.

[0104] In order to maintain the basic consistency of the top-view and rear-view directions and save space, the first visual mechanism and the third visual mechanism are fixed on the same column, and the second visual mechanism is fixed on another column. Both columns are fixed on the gantry by T-nuts. The distance between the two columns, that is, the distance between the first visual mechanism, the third and the second visual mechanism can be adaptively adjusted according to the position of the observed components, making the observation range more flexible and versatile.

[0105] Embodiment 2

[0106] The embodiment of the utility model discloses a coupling device, comprising a base 1, on which the visual system as described in the first embodiment is installed.

[0107] It is understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A visual system for a coupled device, characterized in that: include: A first visual mechanism for acquiring a top-down perspective image of a target to be acquired, wherein the first visual mechanism comprises a first adjustment mechanism and a first visual module mounted on the first adjustment mechanism; A second visual mechanism for acquiring a squint angle image of a target to be acquired, wherein the second visual mechanism comprises a second adjustment mechanism and a second visual module mounted on the second adjustment mechanism; A third visual mechanism for acquiring a rear-view image of a target to be acquired, wherein the third visual mechanism comprises a third adjustment mechanism and a third visual module installed on the third adjustment mechanism; A fourth visual mechanism for acquiring a side-view image of a target to be acquired, wherein the fourth visual mechanism comprises a fourth adjustment mechanism and a fourth visual module mounted on the fourth adjustment mechanism.

2. The visual system of the coupling device as claimed in claim 1, characterized in that: The first adjustment mechanism is configured to drive the first visual module to move along the first direction, the second direction, and the fourth direction, and to drive the first visual module to rotate within the first plane; the second adjustment mechanism is configured to drive the second visual module to move along the fifth direction, the second direction, and the third direction, and to drive the second visual module to rotate within the second plane; the third adjustment mechanism is configured to drive the third visual module to move along the first direction, the second direction, and the third direction, and to drive the third visual module to rotate within the first plane; the fourth adjustment mechanism is configured to drive the fourth visual module to move along the first direction, the second direction, and the third direction, and to drive the fourth visual module to rotate within the second plane; The first direction is the X-axis direction, the second direction is the Y-axis direction, the third direction is the Z-axis direction, the fourth direction is the lens optical axis direction of the first visual module, and the fifth direction is the lens optical axis direction of the second visual module; The first plane is the YZ plane, and the second plane is the XZ plane.

3. The visual system of the coupling device as claimed in claim 1 or 2, characterized in that: The first adjustment mechanism includes a first linear module for driving the first visual module to move along a first direction, a second linear module for driving the first visual module to move along a second direction, and a third linear module for driving the first visual module to move along a fourth direction, the second linear module is fixedly mounted on the first linear module, a first connecting plate is connected between the third linear module and the second linear module, the first connecting plate is rotatably connected to the second linear module, the first connecting plate is fixedly connected to the third linear module, a first fixture is fixedly mounted on the third linear module, and the first visual module is mounted on the first fixture; The first direction is the X-axis direction, the second direction is the Y-axis direction, and the fourth direction is the lens optical axis direction of the first visual module; or / and, The third adjustment mechanism includes a seventh linear module for driving the third visual module to move along the first direction, an eighth linear module for driving the third visual module to move along the second direction, and a ninth linear module for driving the third visual module to move along the third direction, the seventh linear module is fixedly mounted on the ninth linear module, the eighth linear module is fixedly mounted on the seventh linear module, a second connecting plate is fixedly mounted on the eighth linear module, a third fixture is rotatably connected to the second connecting plate, and the third visual module is mounted on the third fixture; The first direction is the X-axis direction, the second direction is the Y-axis direction, and the third direction is the Z-axis direction.

4. The visual system of the coupling device as claimed in claim 3, characterized in that: One end of the first connecting plate is fixedly connected to the third linear module, the other end of the first connecting plate is provided with a first fixing hole and an arc-shaped groove, a first screw passes through the first fixing hole of the first connecting plate to connect with the second linear module, and a second screw passes through the arc-shaped groove of the first connecting plate to connect with the second linear module; or / and, The second connecting plate is provided with a first fixing hole and an arc-shaped groove, the third screw passes through the first fixing hole of the second connecting plate to be connected to the third clamp, and the fourth screw passes through the arc-shaped groove of the second connecting plate to be connected to the third clamp; or / and, The second connecting plate is provided with a strip-shaped mounting groove extending along the Z-axis direction, and at least one fifth screw passes through the strip-shaped mounting groove of the second connecting plate and is fixedly connected to the eighth linear module.

5. The visual system of the coupling device according to claim 1 or 2, characterized in that: The second adjustment mechanism includes a fourth linear module for driving the second visual module to move along a fifth direction, a fifth linear module for driving the second visual module to move along the second direction, and a sixth linear module for driving the second visual module to move along a third direction, the fifth linear module is fixedly mounted on the sixth linear module, the fourth linear module and the fifth linear module are rotatably connected via a connecting device, a second fixture is fixedly mounted on the fourth linear module, and the second visual module is mounted on the second fixture; The fifth direction is the optical axis direction of the lens of the second visual module, the second direction is the Y-axis direction, and the third direction is the Z-axis direction; or / and, The fourth adjustment mechanism includes a tenth linear module for driving the fourth visual module to move along the first direction, an eleventh linear module for driving the fourth visual module to move along the second direction, and a twelfth linear module for driving the fourth visual module to move along the third direction, the eleventh linear module is fixedly mounted on the tenth linear module, a first mounting plate is fixed on the eleventh linear module, a third connecting plate is connected between the first mounting plate and the twelfth linear module, the third connecting plate is fixedly connected to the first mounting plate, the third connecting plate is rotatably connected to the twelfth linear module, a fourth fixture is fixedly mounted on the twelfth linear module, and the fourth visual module is mounted on the fourth fixture; The first direction is the X-axis direction, the second direction is the Y-axis direction, and the third direction is the Z-axis direction.

6. The visual system of the coupling device as claimed in claim 5, characterized in that: The connecting device includes a first connecting seat, a second connecting seat and a connecting shaft, the first connecting seat is fixedly connected to the fifth linear module, the second connecting seat is fixedly connected to the fourth linear module, the first connecting seat and the second connecting seat are both connected to the connecting shaft, and at least one of the first connecting seat and the second connecting seat is rotatably connected to the connecting shaft; or / and, The third connecting plate is provided with a first fixing hole and an arc-shaped groove, the sixth screw passes through the first fixing hole of the third connecting plate to be connected to the twelfth linear module, and the seventh screw passes through the arc-shaped groove of the third connecting plate to be connected to the twelfth linear module; or / and, The first mounting plate is also provided with a strip mounting groove extending along the Z-axis direction, at least one eighth screw passes through the strip mounting groove of the first mounting plate and is fixedly connected to the third connecting plate, and the third connecting plate is provided with a threaded hole adapted to the eighth screw.

7. The visual system of the coupling device as claimed in claim 6, characterized in that: The first connecting seat is provided with a first connecting hole for cooperating with the connecting shaft, and the first connecting seat is provided with a first opening communicating with the first connecting hole on one radial side of the first connecting hole to form locking parts located on both sides of the first opening, and locking holes are correspondingly provided on the two locking parts of the first connecting seat, and at least one tenth screw passes through the locking holes of the two locking parts of the first connecting seat in sequence to be connected to the fifth linear module; or / and, The second connecting seat is provided with a second connecting hole for cooperating with the connecting shaft, and the second connecting seat is provided with a second opening communicated with the second connecting hole on a radial side of the second connecting hole to form locking parts located on both sides of the second opening, and locking holes are correspondingly provided on the two locking parts of the second connecting seat, and at least one eleventh screw passes through the locking holes of the two locking parts of the second connecting seat in sequence to be connected to the fourth linear module.

8. The visual system of the coupling device as claimed in claim 1, characterized in that: The first visual mechanism, the second visual mechanism and the third visual mechanism are installed on a bracket, the bracket is installed on a base of a coupling device, and the fourth visual mechanism is installed on the base of the coupling device.

9. The visual system of the coupling device as claimed in claim 8, characterized in that: The bracket is a gantry, the first visual mechanism and the third visual mechanism are fixed on the first column, the second visual mechanism is fixed on the second column, the first column and the second column are both detachably fixed on the upper end of the beam of the gantry, and the beam of the gantry extends along the X-axis direction.

10. A coupling device, comprising a base, characterized in that: The base is mounted with a visual system as described in any one of claims 1 to 9.

Images