Hinge with scales and robot

Abstract

The utility model discloses a hinge with scales and a robot. The hinge comprises a first hinge seat and a first hinge shaft, the first hinge seat is arranged on the first hinge shaft in a sleeving mode and rotationally connected with the first hinge shaft, and the first hinge shaft is detachably connected with a first limiting piece used for limiting sliding of the first hinge seat on the first hinge shaft. A first rotating angle scale area is fixedly arranged on the first hinge seat, and a first pointing mark pointing to the first rotating angle scale area is fixedly arranged on the first hinge shaft. According to the hinge, the relative rotation angle between the first hinge shaft and the first hinge base can be adjusted and observed, the pitching angle of a camera can be adjusted and observed through the hinge when the hinge is used in cooperation with the camera, parts such as a box are not needed for the hinge, and the hinge has the advantages of being small in overall size and low in cost.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a hinge with scales and a robot. Background Art

[0002] In recent years, with the development of the robotics field, the research and development of autonomous driving robots has received more and more attention. In order for robots to achieve autonomous driving, they need to use cameras to collect information about surrounding road conditions.

[0003] In the prior art, the camera is generally fixedly mounted on the robot, so that the pitch angle of the camera cannot be flexibly adjusted according to the needs. The patent with application number "201420100022.0" and name "An imaging device for inclination angle measurement" discloses the following information: the imaging device includes a camera, the camera is arranged on a tray fixedly connected to the upper end of the bracket, a box is arranged outside the camera, a horizontal axis fixedly connected to the camera is rotatably arranged inside the box, a pitch angle measuring disk scale surface is fixed on the box, and a pitch angle measuring disk pointer is fixed on the horizontal axis. The pitch angle of the camera can be adjusted and observed in the imaging device, but the patent requires the camera to be arranged inside the box, and the volume of the required box must be larger than the camera. When the larger volume component is arranged on the robot, it will take up more space. Therefore, there is an urgent need for a device that can flexibly adjust the pitch angle of the camera and is smaller in size. Utility Model Content

[0004] The purpose of the utility model is to provide a hinge with a scale and a robot to solve the above problems.

[0005] To achieve this purpose, the utility model adopts the following technical solutions:

[0006] A hinge with a scale, characterized in that it includes a first hinge seat and a first hinge shaft, the first hinge seat is mounted on the first hinge shaft and is rotatably connected to the first hinge shaft, the first hinge shaft is detachably connected with a first limiter for limiting the sliding of the first hinge seat on the first hinge shaft; a first rotation angle scale area is fixedly provided on the first hinge seat, and a first direction mark pointing to the first rotation angle scale area is fixedly provided on the first hinge shaft.

[0007] Optionally, the hinge also includes a second hinge seat and a second hinge shaft, the second hinge seat is mounted on the second hinge shaft and is rotatably connected to the second hinge shaft, the second hinge shaft is detachably connected to a second limit member for limiting the sliding of the second hinge seat on the second hinge shaft; a second rotation angle scale area is fixedly provided on the second hinge seat, and a second direction mark pointing to the second rotation angle scale area is fixedly provided on the second hinge shaft.

[0008] Optionally, the first hinge seat and the second hinge seat are the same part, the first hinge shaft and the second hinge shaft are the same part, and the first limiting member and the second limiting member are the same part;

[0009] The first hinge shaft and the second hinge shaft are axially symmetrically distributed; the first hinge seat is sleeved at one end of the first hinge shaft away from the second hinge shaft, and the first limiter abuts against one side of the first hinge seat away from the second hinge seat. The second hinge seat is sleeved at one end of the second hinge shaft away from the first hinge shaft, and the second limiter abuts against one side of the second hinge seat away from the first hinge seat.

[0010] Optionally, the first hinge shaft comprises a first shaft mounting portion and a first shaft portion that are fixedly connected, and the first shaft mounting portion is used for fixed connection with other parts;

[0011] The first hinge seat comprises a first seat mounting portion and a first seat sleeve portion which are fixedly connected, and the first seat mounting portion is used for fixed connection with other parts;

[0012] The first seat sleeve portion is sleeved on the first shaft portion and is rotatably connected to the first shaft portion, the first rotation angle scale area is arranged on the first seat sleeve portion and is arranged around the rotation axis of the first seat sleeve portion, and the first stopper is detachably fixed to the first shaft portion;

[0013] The first seat sleeve portion and the first shaft portion are in interference fit.

[0014] Optionally, a first shaft marking portion is fixedly connected between the first shaft mounting portion and the first shaft portion, and the first directional mark is provided on the first shaft marking portion;

[0015] The first seat sleeve portion includes two opposite sleeve annular bottom surfaces and a sleeve outer side surface and a sleeve inner side surface arranged between the two sleeve annular bottom surfaces, and the first rotation angle scale area is arranged on the outer side surface of the sleeve; one of the two sleeve annular bottom surfaces abuts against the first axis marking portion, and the other abuts against the first limiting member, and the first seat sleeve portion is limited between the first limiting member and the first axis marking portion.

[0016] Optionally, a retaining spring groove is formed on the shaft portion of the first shaft, and the first limiting member is a retaining spring, and the retaining spring is clamped on the retaining spring groove;

[0017] The retaining spring is an E-type retaining spring, and the retaining spring groove is arranged along the circumferential direction of the first shaft portion.

[0018] Optionally, the first rotation angle scale area includes a scale value area and two scale line areas, the scale value area is located at the center of the outer side of the sleeve; the two scale line areas are axially symmetrically distributed about the scale value area, and are respectively located on the side of the outer side of the sleeve abutting against the first limiter and the side of the first axis marking portion; the scale value area includes a plurality of scale value marks, and the plurality of scale value marks are arranged in the order of small to large or from large to small along the circumferential direction of the first seat sleeve portion;

[0019] The multiple scale value marks include a center mark, and a forward rotation mark and a reverse rotation mark respectively arranged on both sides of the center mark.

[0020] Optionally, the forward rotation marks are arranged from small to large along the first clockwise direction and the minimum value is closest to the center mark, and the reverse rotation marks are arranged from large to small in the opposite direction of the first clockwise direction and the maximum value is closest to the center mark, or are arranged from small to large in the opposite direction of the first clockwise direction and the minimum value is closest to the center mark.

[0021] Optionally, the center mark is 0, the forward rotation mark is greater than 0, and the reverse rotation mark is less than 360; the forward rotation mark is not greater than 90, and the reverse rotation mark is not less than 270.

[0022] Optionally, the forward rotation marks include 30, 60 and 90, and the reverse rotation marks include 330, 300 and 270.

[0023] Optionally, the first shaft marking portion is cylindrical, and the outer diameter of the first shaft marking portion is equal to the outer diameter of the first seat sleeve portion;

[0024] The first directional mark includes two first markers and two second markers that are alternately distributed at equal intervals along the circumferential direction of the first axis marking portion, and the angle difference between adjacent first markers and second markers is 90 degrees;

[0025] The first marker is in the shape of an arrow, and the second marker is in the shape of a triangle;

[0026] The first shaft mounting portion, the first shaft portion, the first shaft marking portion and the first direction mark are an integrally formed structure, and the first seat sleeve portion, the first seat mounting portion and the first rotation angle scale area are an integrally formed structure.

[0027] Optionally, the first shaft mounting portion is provided with a plurality of first shaft mounting holes for inserting the locking member, the first seat mounting portion is provided with a plurality of first seat mounting holes for inserting the locking member, and both the first shaft mounting holes and the first seat mounting holes are through holes; the first shaft mounting portion is arranged perpendicular to the first seat mounting portion;

[0028] The first shaft mounting portion includes two opposite first shaft mounting planes, and the first shaft mounting hole passes through the two first shaft mounting planes; the length direction of the first shaft mounting plane is parallel to the axial direction of the first shaft marking portion, the width direction of the first shaft mounting plane is parallel to the radial direction of the first shaft marking portion, and the width of the first shaft mounting plane is equal to the outer diameter of the first shaft marking portion;

[0029] The first seat mounting portion includes two opposite first seat mounting planes, and the first seat mounting hole passes through the two first seat mounting planes; the length direction of the first seat mounting plane is parallel to the radial direction of the first seat sleeve portion, the width direction of the first seat mounting plane is parallel to the axial direction of the first seat sleeve portion, and the width of the first seat mounting portion is equal to the axial length of the first seat sleeve portion.

[0030] A robot comprising the hinge with scale as described above, and also comprising a camera and a mounting frame;

[0031] The first hinge shaft is fixedly connected to the camera, and the first hinge seat is fixedly connected to the mounting bracket.

[0032] Compared with the prior art, the utility model has the following beneficial effects:

[0033] The hinge with scale provided by the utility model sets the first hinge seat on the first hinge shaft and limits the sliding of the first hinge seat on the first hinge shaft through the first limiter, thereby adjusting the relative rotation angle between the first hinge shaft and the first hinge seat. Furthermore, the hinge also sets the first rotation angle scale area and the first pointing mark so that the relative rotation angle can be observed and recorded. In summary, when the hinge is used in conjunction with a camera, it can be used to adjust and observe the pitch angle of the camera, and the hinge does not need to use parts such as a box, and has the advantages of small overall size and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0035] The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportion or adjustment of size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical contents disclosed by the present invention.

[0036] Figure 1 A schematic diagram of an exploded structure of a hinge provided in an embodiment of the utility model;

[0037] Figure 2 A schematic diagram of a partial structure of a hinge provided in an embodiment of the utility model;

[0038] Figure 3 A schematic diagram of the structure of a first hinge axis provided in an embodiment of the utility model;

[0039] Figure 4 A schematic structural diagram of a first hinge shaft seat provided in an embodiment of the utility model;

[0040] Figure 5 A schematic diagram of a portion of the structure of a robot provided by an embodiment of the utility model;

[0041] Illustrations: 1. First hinge seat 11. First seat sleeve portion; 101. Sleeve annular bottom surface; 102. Sleeve outer side surface; 103. Sleeve inner side surface; 111. First rotation angle scale area; 1111. Scale value area; 1112. Scale line area; 12. First seat mounting portion; 121. First seat mounting hole; 2. First hinge axis; 21. First axis shaft portion; 211. Retaining ring groove; 22. First axis mounting portion; 221. First axis mounting hole; 23. First axis marking portion; 231. First pointing mark; 2311. First marker; 2312. Second marker; 3. First limiter; 4. Second hinge seat; 5. Second hinge axis; 6. Second limiter; 7. Camera; 8. Mounting bracket; A. Axial length of the first seat sleeve portion. DETAILED DESCRIPTION

[0042] In order to make the utility model's purpose, features, and advantages more obvious and easy to understand, the following will be combined with the drawings in the utility model embodiments to clearly and completely describe the technical solutions in the utility model embodiments. Obviously, the embodiments described below are only part of the utility model embodiments, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0043] In the description of the present invention, it should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside", "front", "back", "left", "right", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. It should be noted that when a component is considered to be "connected / set on" another component, it can be connected / set on the other component, and there may also be a centrally set component at the same time.

[0044] The technical solution of the utility model is further explained below with reference to the accompanying drawings and through specific implementation methods.

[0045] Please refer to Figure 1-2 The present embodiment provides a hinge with a scale, including a first hinge seat 1 and a first hinge shaft 2. The first hinge seat 1 is sleeved on the first hinge shaft 2 and is rotatably connected to the first hinge shaft 2. The first hinge shaft 2 is detachably connected with a first limiter 3 for limiting the first hinge seat 1 from sliding on the first hinge shaft 2. A first rotation angle scale area 111 is fixedly provided on the first hinge seat 1, and a first pointing mark 231 pointing to the first rotation angle scale area 111 is fixedly provided on the first hinge shaft 2. The first hinge shaft 2 and the first hinge seat 1 can rotate relative to each other, and the first rotation angle scale area 111 is arranged along the relative rotation direction of the two to show the relative rotation angle of the two, that is, the first rotation angle scale area 111 is arranged around the rotation axis of the first hinge shaft 2, and the rotation axes of the first hinge seat 1 and the second hinge shaft 2 should be the same straight line.

[0046] The hinge with scale sets the first hinge seat 1 on the first hinge shaft 2 and limits the sliding of the first hinge seat 1 on the first hinge shaft 2 through the first limiter 3, thereby adjusting the relative rotation angle between the first hinge shaft 2 and the first hinge seat 1. Furthermore, the hinge also makes the relative rotation angle observable and recordable through the arrangement of the first rotation angle scale area 111 and the first pointing mark 231. Therefore, when the hinge is used in conjunction with the camera 7, the pitch angle of the camera 7 can be adjusted and observed. The hinge has a small overall volume, does not require the use of parts such as a box, and is low in cost.

[0047] In this embodiment, the hinge with scale also includes a second hinge seat 4 and a second hinge shaft 5. The second hinge seat 4 is sleeved on the second hinge shaft 5 and is rotatably connected to the second hinge shaft 5. The second hinge shaft 5 is detachably connected to a second stopper 6 for limiting the second hinge seat 4 from sliding on the second hinge shaft 5. A second rotation angle scale area is fixedly provided on the second hinge seat 4, and a second pointing mark pointing to the second rotation angle scale area is fixedly provided on the second hinge shaft 5. By installing the first hinge seat 1 and the second hinge seat 4 in pairs, the rotation of the camera 7 can be made more stable when adjusting the rotation angle of the camera 7.

[0048] In this embodiment, the first hinge seat 1 and the second hinge seat 4 are the same parts, the first hinge shaft 2 and the second hinge shaft 5 are the same parts, and the first stopper 3 and the second stopper 6 are the same parts. The first hinge shaft 2 and the second hinge shaft 5 are axially symmetrically distributed. Using the same parts can reduce costs, and the axially symmetrical distribution setting makes the overall structure of the hinge with scales distinguishable on the left and right while using the same parts, which not only makes the overall structure of the hinge with scales beautiful, but also facilitates the first hinge shaft 2 and the second hinge shaft 5 to be installed on opposite sides of the camera 7 respectively.

[0049] Specifically, the first hinge seat 1 is sleeved on one end of the first hinge shaft 2 away from the second hinge shaft 5, and the first stopper 3 abuts against the side of the first hinge seat 1 away from the second hinge seat 4. The second hinge seat 4 is sleeved on one end of the second hinge shaft 5 away from the first hinge shaft 2, and the second stopper 6 abuts against the side of the second hinge seat 4 away from the first hinge seat 1.

[0050] Please refer to Figure 2-4 The first hinge shaft 2 includes a first shaft mounting portion 22 and a first shaft portion 21 that are fixedly connected. The first shaft mounting portion 22 is arranged toward the second hinge shaft 5. The first shaft mounting portion 22 is used to be fixedly connected to other parts such as a camera 7. The first hinge seat 1 includes a first seat mounting portion 12 and a first seat sleeve portion 11 that are fixedly connected. The first seat mounting portion 12 is used to be fixedly connected to other parts such as a mounting frame 8 of a robot.

[0051] Specifically, the first shaft mounting portion 22 is arranged perpendicular to the first seat mounting portion 12. The first shaft mounting portion 22 is provided with a plurality of first shaft mounting holes 221 for inserting locking members, and the first seat mounting portion 12 is provided with a plurality of first seat mounting holes 121 for inserting locking members, and the locking members may be screws. Both the first shaft mounting holes 221 and the first seat mounting holes 121 are through holes.

[0052] The first shaft mounting portion 22 includes two opposite first shaft mounting planes, and the first shaft mounting hole 221 passes through the two first shaft mounting planes. The length direction of the first shaft mounting plane is parallel to the axial direction of the first shaft marking portion 23, the width direction of the first shaft mounting plane is parallel to the radial direction of the first shaft marking portion 23, and the width of the first shaft mounting plane is equal to the outer diameter of the first shaft marking portion 23.

[0053] The first seat mounting portion 12 includes two opposite first seat mounting planes, and the first seat mounting hole 121 passes through the two first seat mounting planes. The length direction of the first seat mounting plane is parallel to the radial direction of the first seat sleeve portion 11, the width direction of the first seat mounting plane is parallel to the axial direction of the first seat sleeve portion 11, and the width of the first seat mounting portion 12 is equal to the axial length A of the first seat sleeve portion 11.

[0054] Since the outer side surfaces of the first shaft portion 21 and the first seat sleeve portion 11 are curved surfaces, it is not conducive to fixed connection with other parts. Therefore, a first shaft mounting plane and a first seat mounting plane are provided to facilitate fixation with other parts.

[0055] In this embodiment, the first seat sleeve portion 11 is sleeved on the first shaft portion 21 and is rotatably connected to the first shaft portion 21, the first rotation angle scale area 111 is provided on the first seat sleeve portion 11 and is arranged around the rotation axis of the first seat sleeve portion 11, and the first limit member 3 is detachably fixed to the first shaft portion 21.

[0056] Specifically, a spring groove 211 is provided on the first shaft portion 21, and the first limiter 3 is a spring, which is clamped on the spring groove 211, and the clamping arrangement has the advantage of convenient installation. The spring is an E-type spring, and the spring groove 211 is arranged along the circumferential direction of the first shaft portion 21.

[0057] Furthermore, the first seat sleeve portion 11 and the first shaft portion 21 are interference fit, so there is damping when the first seat sleeve portion 11 and the first shaft portion 21 rotate relative to each other, that is, when the first shaft portion 21 and the first seat sleeve portion 11 rotate relative to each other at a certain angle, they can be fixed at the angle without the action of external force. In this way, when the hinge with scale is used in conjunction with the camera 7, the camera 7 can rotate according to demand and stay at the desired angle.

[0058] In this embodiment, a first shaft marking portion 23 is fixedly connected between the first shaft mounting portion 22 and the first shaft portion 21 , and a first directional mark 231 is disposed on the first shaft marking portion 23 .

[0059] The first seat sleeve portion 11 includes two opposite sleeve annular bottom surfaces 101 and a sleeve outer side surface 102 and a sleeve inner side surface 103 arranged between the two sleeve annular bottom surfaces 101, and the first rotation angle scale area 111 is arranged on the sleeve outer side surface 102. One of the two sleeve annular bottom surfaces 101 of the first seat sleeve portion 11 abuts against the first axis marking portion 23, and the other abuts against the first limiting member 3. The first seat sleeve portion 11 is limited between the first limiting member 3 and the first axis marking portion 23. The existence of the first axis marking portion 23 and the first limiting member 3 makes it impossible for the first seat sleeve portion 11 to slide left and right on the first axis portion 21. The first axis marking portion 23 simultaneously assumes the functions of limiting and setting the pointer, making the overall installation of the hinge simple and small in size.

[0060] Specifically, the first shaft mounting portion 22, the first shaft portion 21, the first shaft marking portion 23 and the first direction mark 231 are an integrally formed structure, and the first seat sleeve portion 11, the first seat mounting portion 12 and the first rotation angle scale area 111 are an integrally formed structure.

[0061] Please refer to Figure 3-4 The first rotation angle scale area 111 includes a scale value area 1111 and two scale line areas 1112. The scale value area 1111 is located at the center of the outer side surface 102 of the sleeve. The two scale line areas 1112 are axially symmetrically distributed about the scale value area 1111 and are respectively located on the side of the outer side surface 102 of the sleeve that abuts the first limiter 3 and the side of the first axis marking portion 23. Since the first hinge axis 2 and the second hinge axis 5 use the same parts and are axially symmetrically distributed, while the first hinge seat 1 and the second hinge seat 4 are not axially symmetrically distributed, the pointing directions of the first pointing mark 231 and the second pointing mark will be opposite, and the two scale line areas 1112 are symmetrically arranged so that the first pointing mark 231 and the second pointing mark can both point to the scale line for easy viewing of the scale.

[0062] The scale value area 1111 includes a plurality of scale value marks, and the plurality of scale value marks are arranged in an order from small to large or from large to small along the circumferential direction of the first seat sleeve portion 11 .

[0063] The multiple scale value marks include a center mark, and a forward mark and a reverse mark respectively arranged on both sides of the center mark. When the camera 7 is installed on the robot, it is generally installed at a horizontal angle, and distinguishing the forward mark and the reverse mark can conveniently distinguish whether the camera 7 is in a downward angle state or an upward angle state.

[0064] In this embodiment, the forward rotation marks are arranged from small to large along the first clockwise direction and the minimum value is closest to the center mark, and the reverse rotation marks are arranged from large to small along the opposite direction of the first clockwise direction and the maximum value is closest to the center mark. The first clockwise direction can be clockwise or counterclockwise. Specifically, the center mark is 0, 0<forward rotation mark ≤90, 270≤reverse rotation mark<360. Figure 4 As shown, the forward rotation marks include 30, 60 and 90, and the reverse rotation marks include 330, 300 and 270. It can be understood that the center mark can also be 360.

[0065] It is understandable that the forward and reverse rotation marks can also be distinguished by symbols such as "forward" and "reverse", "forward" and "reverse", "upward" and "downward", "+" and "-", etc., and symbols such as "flat" or "zero" can be used as the center mark. For example, the forward rotation marks include positive 30, positive 60 and positive 90, and the reverse rotation marks include reverse 30, reverse 60 and reverse 90. This type of representation should also be within the protection scope of this patent.

[0066] The first shaft marking portion 23 is cylindrical, and the outer diameter of the first shaft marking portion 23 is equal to the outer diameter of the first seat sleeve portion 11 .

[0067] The first directional mark 231 includes two first markers 2311 and two second markers 2312 that are alternately distributed at equal intervals along the circumferential direction of the first axis marking portion 23, and the angle difference between adjacent first markers 2311 and second markers is 90 degrees. The first marker 2311 is arrow-shaped, and the second marker is a triangle. Alternating distribution means that the first directional mark 231 is distributed in the form of the first marker 2311, the second marker, the first marker 2311, and the second marker. The setting of multiple directional marks can make it easier to check the rotation angle of the first hinge axis 2, and since the first hinge axis 2 and the second hinge axis 5 are the same parts that are axially symmetrically distributed, if there is only a single mark, the same part will have different marking positions when installed in different directions. The setting of multiple directional marks in this embodiment can avoid this problem.

[0068] Since the first hinge seat 1 and the second hinge seat 4 use the same parts, the first hinge shaft 2 and the second hinge shaft 5 use the same parts, and the first stopper 3 and the second stopper 6 use the same parts, the detailed structures of the second hinge seat 4, the second hinge shaft 5 and the second stopper 6 can refer to the above-mentioned description of the first hinge seat 1, etc., and will not be repeated here.

[0069] Please refer to Figure 5The present embodiment further provides a robot, comprising the aforementioned hinge with a scale, and also comprising a camera 7 and a mounting bracket 8. The first hinge shaft 2 is fixedly connected to the camera 7, and the first hinge seat 1 is fixedly connected to the mounting bracket 8. Specifically, the first hinge shaft 2 and the second hinge shaft 5 are respectively fixedly connected to the two sides of the camera 7, and the first hinge seat 1 and the second hinge seat 4 are respectively fixedly connected to the two sides of the mounting bracket 8. Among them, the first shaft mounting portion 22 of the first hinge shaft 2 is fixedly connected to the camera 7 by screws, and the first seat mounting portion 12 of the first hinge seat 1 is fixedly connected to the mounting bracket 8 by screws.

[0070] The graduated hinge provided in this embodiment has the following advantages:

[0071] 1. The relative rotation angle between the first hinge shaft 2 and the first hinge seat 1 can be adjusted and observed, that is, when used in conjunction with the camera 7, the pitch angle of the camera 7 can be adjusted and observed;

[0072] 2. Small overall size and low cost;

[0073] 3. Using the same two sets of parts (the first hinge seat 1, the first hinge shaft 2 and the first stopper 3 and the second hinge seat 4, the second hinge shaft 5 and the second stopper 6) to reduce costs, and the first hinge shaft 2 and the second hinge shaft 5 are axially symmetrically distributed, which is conducive to installing the first hinge shaft 2 and the second hinge shaft 5 on opposite sides of the camera 7 respectively;

[0074] 4. The clamping spring is used to limit the position, which is easy to install;

[0075] 5. The camera 7 can be suspended at a desired angle by means of interference fit between the first seat sleeve portion 11 and the first shaft portion 21;

[0076] 6. Through the symmetrical scale line area 1112 and the arrangement of two first markers 2311 and two second markers that are alternately distributed, the first hinge axis 2 and the second hinge axis 5 can be arranged in axial symmetry without affecting the observation of the scale.

[0077] The robot provided in this embodiment includes the aforementioned hinge, so the beneficial effects of the robot are the same as those of the hinge, which will not be repeated here.

[0078] The above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit them. Although the utility model is described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the utility model.

Claims

1. A hinge with a scale, characterized in that: It includes a first hinge seat and a first hinge shaft, the first hinge seat is mounted on the first hinge shaft and is rotatably connected to the first hinge shaft, the first hinge shaft is detachably connected with a first limiter for limiting the sliding of the first hinge seat on the first hinge shaft; the first hinge seat is fixedly provided with a first rotation angle scale area, and the first hinge shaft is fixedly provided with a first direction mark pointing to the first rotation angle scale area.

2. The hinge with scale according to claim 1, characterized in that: The hinge also includes a second hinge seat and a second hinge shaft, the second hinge seat is sleeved on the second hinge shaft and rotatably connected to the second hinge shaft, the second hinge shaft is detachably connected with a second limit piece for limiting the sliding of the second hinge seat on the second hinge shaft; a second rotation angle scale area is fixedly provided on the second hinge seat, and a second direction mark pointing to the second rotation angle scale area is fixedly provided on the second hinge shaft.

3. The hinge with scale according to claim 2, characterized in that: The first hinge seat and the second hinge seat are the same part, the first hinge shaft and the second hinge shaft are the same part, and the first limiting member and the second limiting member are the same part; The first hinge axis and the second hinge axis are axially symmetrically distributed; the first hinge seat is arranged at one end of the first hinge axis away from the second hinge axis, and the first limiting member abuts against a side of the first hinge seat away from the second hinge seat; the second hinge seat is arranged at one end of the second hinge axis away from the first hinge axis, and the second limiting member abuts against a side of the second hinge seat away from the first hinge seat.

4. The hinge with scale according to claim 1, characterized in that: The first hinge shaft comprises a first shaft mounting portion and a first shaft portion which are fixedly connected, and the first shaft mounting portion is used for fixedly connecting with other parts; The first hinge seat comprises a first seat mounting portion and a first seat sleeve portion which are fixedly connected, and the first seat mounting portion is used for fixed connection with other parts; The first seat sleeve portion is sleeved on the first shaft portion and is rotatably connected to the first shaft portion, the first rotation angle scale area is arranged on the first seat sleeve portion and is arranged around the rotation axis of the first seat sleeve portion, and the first limiter is detachably fixed to the first shaft portion; The first seat sleeve portion and the first shaft portion are in interference fit.

5. The hinge with scale according to claim 4, characterized in that: A first shaft marking portion is fixedly connected between the first shaft mounting portion and the first shaft portion, and the first directional mark is provided on the first shaft marking portion; The first seat sleeve portion includes two opposite sleeve annular bottom surfaces and a sleeve outer side surface and a sleeve inner side surface arranged between the two sleeve annular bottom surfaces, and the first rotation angle scale area is arranged on the outer side surface of the sleeve; one of the two sleeve annular bottom surfaces abuts against the first axis marking portion, and the other abuts against the first limiting member, and the first seat sleeve portion is limited between the first limiting member and the first axis marking portion.

6. The hinge with scale according to claim 4, characterized in that: A retaining spring groove is provided on the shaft portion of the first shaft, the first limiting member is a retaining spring, and the retaining spring is clamped on the retaining spring groove; The retaining spring is an E-type retaining spring, and the retaining spring groove is arranged along the circumferential direction of the first shaft portion.

7. The hinge with scale according to claim 5, characterized in that: The first rotation angle scale area includes a scale value area and two scale line areas, the scale value area is located at the center of the outer side of the sleeve; the two scale line areas are axially symmetrically distributed about the scale value area, and are respectively located on the side of the outer side of the sleeve abutting against the first limiter and the side of the first axis marking portion; the scale value area includes a plurality of scale value marks, and the plurality of scale value marks are arranged in the order of small to large or from large to small along the circumferential direction of the first seat sleeve portion; The multiple scale value marks include a center mark, and a forward mark and a reverse mark respectively arranged on both sides of the center mark; the forward marks are arranged from small to large along a first clockwise direction and the minimum value is closest to the center mark, and the reverse marks are arranged from large to small along a direction opposite to the first clockwise direction and the maximum value is closest to the center mark; the center mark is 0, the forward mark is greater than 0, and the reverse mark is less than 360; the forward mark is not greater than 90, and the reverse mark is not less than 270; The forward rotation marks include 30, 60 and 90, and the reverse rotation marks include 330, 300 and 270.

8. The hinge with scale according to claim 5, characterized in that: The first shaft marking portion is cylindrical, and the outer diameter of the first shaft marking portion is equal to the outer diameter of the first seat sleeve portion; The first directional mark includes two first markers and two second markers that are alternately distributed at equal intervals along the circumferential direction of the first axis marking portion, and the angle difference between adjacent first markers and second markers is 90 degrees; The first marker is in the shape of an arrow, and the second marker is in the shape of a triangle; The first shaft mounting portion, the first shaft portion, the first shaft marking portion and the first direction mark are an integrally formed structure, and the first seat sleeve portion, the first seat mounting portion and the first rotation angle scale area are an integrally formed structure.

9. The hinge with scale according to claim 8, characterized in that: The first shaft mounting portion is provided with a plurality of first shaft mounting holes for inserting the locking member, and the first seat mounting portion is provided with a plurality of first seat mounting holes for inserting the locking member, and both the first shaft mounting holes and the first seat mounting holes are through holes; the first shaft mounting portion is arranged perpendicular to the first seat mounting portion; The first shaft mounting portion includes two opposite first shaft mounting planes, and the first shaft mounting hole passes through the two first shaft mounting planes; the length direction of the first shaft mounting plane is parallel to the axial direction of the first shaft marking portion, the width direction of the first shaft mounting plane is parallel to the radial direction of the first shaft marking portion, and the width of the first shaft mounting plane is equal to the outer diameter of the first shaft marking portion; The first seat mounting portion includes two opposite first seat mounting planes, and the first seat mounting hole passes through the two first seat mounting planes; the length direction of the first seat mounting plane is parallel to the radial direction of the first seat sleeve portion, the width direction of the first seat mounting plane is parallel to the axial direction of the first seat sleeve portion, and the width of the first seat mounting portion is equal to the axial length of the first seat sleeve portion.

10. A robot, characterized in that: The hinge with scale according to any one of claims 1 to 9 further comprises a camera and a mounting bracket; The first hinge shaft is fixedly connected to the camera, and the first hinge seat is fixedly connected to the mounting bracket.

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