DEM camera full-degree-of-freedom adjusting device

Abstract

The utility model relates to the technical field of mechanical degree-of-freedom adjustment, and discloses a DEM camera full-degree-of-freedom adjustment device which comprises a frame, the inner side of the frame is connected with a cross beam through a Z-axis linear module, the cross beam is provided with a Y-axis linear module, the output end of the Y-axis linear module is connected with an X-axis linear module, and the X-axis linear module is connected with a Z-axis linear module. The output end of the X-axis linear module is connected with a second connecting frame, and a support used for installing a camera body is arranged below the second connecting frame. And an angle adjusting mechanism capable of adjusting the angle deviation of the lens of the camera body is also arranged between the bracket and the second connecting frame. According to the device, the mode of vertical detection and automatic camera adjustment is adopted, the position and angle of the camera body do not need to be manually adjusted by a worker, the adjustment data of the camera body can be effectively managed, the digital level of a factory is improved, labor force is saved, and the occupied area is smaller.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical freedom degree adjustment, in particular to a full-freedom degree adjustment device for a DEM camera. Background Art

[0002] DEM is the abbreviation of Digital Elevation Model. With the continuous development of computer technology, visual inspection technology has also developed rapidly. It is a technology that uses image processing and machine learning to automatically detect and identify objects. It can be used to detect the shape, size, position, color, defects and other information of objects. It is widely used in industry, medical treatment and transportation. LCD screens need to pass quality inspection before leaving the factory, which includes the process of using visual inspection technology for inspection.

[0003] Existing visual inspection technologies for LCD screens include the following two technologies: one is to flip the LCD screen to a vertical state so that the camera is inspected directly in front of the screen. However, due to the long detection distance of the camera, the inspection equipment will occupy a large area. The second is vertical inspection technology, that is, the LCD screen is in a horizontal state, and the camera is inspected directly above the screen. Although this technology reduces the footprint, it requires workers to climb up to manually adjust the camera when cutting the machine, which not only poses a safety hazard and is inconvenient, but also the adjusted data cannot be effectively managed. Utility Model Content

[0004] The problem to be solved by the utility model is to provide a full-degree-of-freedom adjustment device for a DEM camera, which adjusts the position of a camera body relative to a product through the cooperation between an X-axis linear module, a Y-axis linear module, and a Z-axis linear module, and then adjusts the lens of the camera body to be parallel to a product detection plane through an angle adjustment mechanism, and uses a focusing mechanism to keep the detection field of view of the camera body clear; the device adopts a vertical detection and automatic camera adjustment method, and does not need to rely on manual adjustment of the position and angle of the camera body by staff, so that the data adjusted by the camera body can be effectively managed, thereby improving the digitalization level of the factory, saving labor, and having a smaller footprint.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A full-degree-of-freedom adjustment device for a DEM camera, comprising a frame, wherein the inner side of the frame is connected to a beam capable of lifting and lowering along the Z axis through a Z axis linear module, a Y axis linear module is installed on the beam, an output end of the Y axis linear module is connected to an X axis linear module capable of moving along the Y axis direction, an output end of the X axis linear module is connected to a second connecting frame capable of moving along the X axis direction, and a bracket for installing a camera body is arranged below the second connecting frame;

[0007] The bracket is provided with a focus adjustment mechanism capable of adjusting the focal length of the camera body, and an angle adjustment mechanism capable of adjusting the angle deviation of the lens of the camera body is also provided between the bracket and the second connecting frame.

[0008] In a preferred embodiment of the utility model, two Z-axis linear modules are relatively arranged, and two ends of the crossbeam are respectively connected to the output ends of the two Z-axis linear modules.

[0009] In a preferred embodiment of the utility model, the crossbeam is parallel to the X-axis direction, and one end of the crossbeam is fixedly connected to the output end of one of the Z-axis linear modules through a pad, and the other end of the crossbeam is slidably connected to the output end of another Z-axis linear module along the X-axis direction through a sliding assembly.

[0010] In a preferred embodiment of the utility model, the sliding assembly includes a slide rail parallel to the X-axis direction, and a slider is slidably installed on the slide rail; and one side of the slide rail is fixedly connected to the crossbeam, and one side of the slider is connected to the output end of the corresponding Z-axis linear module.

[0011] In a preferred embodiment of the utility model, the angle adjustment mechanism includes a Z-axis rotation component connected to the second connecting frame, the output end of the Z-axis rotation component is connected to an α-axis swing component capable of rotating around the Z-axis, the output end of the α-axis swing component is connected to a β-axis swing component, and the output end of the β-axis swing component is connected to the bracket.

[0012] In a preferred embodiment of the utility model, the Z-axis rotation assembly includes a Z-axis rotation module fixedly mounted on the second connecting frame, the output end of the Z-axis rotation module is connected to an α-axis mounting plate capable of rotating around the Z-axis, and the α-axis swing assembly is connected to the α-axis mounting plate.

[0013] In a preferred embodiment of the utility model, the α-axis swing assembly includes an α-axis swing module fixedly mounted on the α-axis mounting plate, the output end of the α-axis swing module is connected to the α-axis adjustment plate, and the β-axis swing assembly is connected to the α-axis adjustment plate.

[0014] In a preferred embodiment of the utility model, the β-axis swing assembly includes a β-axis mounting plate fixedly mounted on the α-axis adjustment plate, a β-axis swing module is fixedly mounted on the β-axis mounting plate, an output end of the β-axis swing module is connected to the β-axis adjustment plate, and the β-axis adjustment plate is fixedly connected to the bracket.

[0015] In a preferred embodiment of the utility model, the focus adjustment mechanism includes a drive motor disposed on one side of the camera body, and an output end of the drive motor is equipped with a belt transmission component capable of driving the zoom ring of the camera body to rotate.

[0016] Beneficial Effects

[0017] (1) In the utility model, the height of the camera body can be adjusted by the Z-axis linear module so that the product is within its field of view. The camera body is driven to move in the horizontal plane by the X-axis linear module and the Y-axis linear module so that it can be aligned with the center position of the product. The angle deviation of the camera body lens is adjusted by the angle adjustment mechanism so that the lens is parallel to the detection plane of the product and aligned with the center position of the product. Finally, the focusing mechanism is used to ensure that the field of view of the camera body is clear. The device adopts vertical detection and automatic adjustment of the camera, without relying on the staff to manually adjust the position and angle of the camera body, so that the data of the camera body adjustment can be effectively managed, which improves the digitalization level of the factory, saves labor, and has a smaller footprint.

[0018] (2) In the present invention, two Z-axis linear modules are provided to jointly drive the lifting and lowering of the beam along the Z-axis direction, thereby ensuring the stability of the lifting and lowering of the beam and preventing the beam from tilting and bending due to gravity, thereby ensuring the position accuracy of the movement of the camera body.

[0019] (3) In the present invention, the crossbeam is connected to the corresponding Z-axis linear module by fixing one end and floating the other end along the X-axis direction, which can reduce the processing accuracy and installation requirements of the crossbeam and simplify the debugging process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the utility model;

[0021] Figure 2 This is a schematic diagram of the installation structure of the crossbeam and the Y-axis linear module of the utility model;

[0022] Figure 3 This is a schematic diagram of the installation structure of the Y-axis linear module and the X-axis linear module of the utility model;

[0023] Figure 4 It is a schematic diagram of the installation structure of the Z-axis bracket and the Y-axis bracket of the utility model;

[0024] Figure 5 It is a structural schematic diagram of the angle adjustment mechanism of the utility model;

[0025] Figure 6 This is a schematic diagram of the structure of the utility model in which the cushion block is connected with the Z-axis linear module and the crossbeam;

[0026] Figure 7 It is a schematic diagram of the connection structure between the sliding assembly and the crossbeam of the utility model;

[0027] Figure 8 It is a structural schematic diagram of the focusing mechanism of the utility model;

[0028] Among them, 1. frame; 2. Z-axis linear module; 3. crossbeam; 4. Y-axis linear module; 41. first connecting frame; 5. X-axis linear module; 51. second connecting frame; 6. camera body; 61. zoom ring; 7. angle adjustment mechanism; 71. Z-axis rotation module; 72. α-axis mounting plate; 73. α-axis swing module; 74. α-axis adjustment plate; 75. β-axis mounting plate; 76. β-axis swing module; 77. β-axis adjustment plate; 78. bracket; 8. focusing mechanism; 81. drive motor; 82. pulley; 83. synchronous belt; 91. connecting plate; 92. slide rail; 93. slider; 94. limit column; 95. pad. DETAILED DESCRIPTION

[0029] The present invention will now be further described in detail in conjunction with the accompanying drawings and embodiments. These drawings are simplified schematic diagrams that only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0030] Embodiment 1

[0031] like Figure 1-Figure 4 As shown, a full-degree-of-freedom adjustment device for a DEM camera includes a frame 1 and a Z-axis linear module 2 installed on the inner side of the frame 1, the output end of the Z-axis linear module 2 is connected to a beam 3 parallel to the X-axis direction, a Y-axis linear module 4 parallel to the Y-axis direction is installed on the beam 3, the output end of the Y-axis linear module 4 is connected to an X-axis linear module 5 parallel to the X-axis direction through a first connecting frame 41, the output end of the X-axis linear module 5 is connected to a camera body 6 through an angle adjustment mechanism 7, and a focusing mechanism 8 is provided on one side of the camera body 6.

[0032] Under the action of the Z-axis linear module 2, the beam 3 can be lifted and moved along the Z-axis direction; under the joint action of the beam 3 and the Y-axis linear module 4, the X-axis linear module 5 can be moved horizontally along the Z-axis direction and the Y-axis direction; and the X-axis linear module 5 can output horizontal displacement along the X-axis direction, so under the joint action of the Z-axis linear module 2, the Y-axis linear module 4 and the X-axis linear module 5, the camera body 6 can move freely inside the frame 1 along the X, Y and Z-axis directions.

[0033] In order to facilitate the assembly of various components, the X-axis linear module 5 is installed on the output end of the Y-axis linear module 4 through the first connecting frame 41, the angle adjustment mechanism 7 is installed on the output end of the X-axis linear module 5 through the second connecting frame 51, and the camera body 6 is connected to the angle adjustment mechanism 7 through the bracket 78.

[0034] Among them, the Z-axis linear module 2, the Y-axis linear module 4 and the X-axis linear module 5 all adopt existing linear modules, such as a servo motor driven screw nut structure, so that their output ends can output linear motion; and the angle adjustment mechanism 7 is used to adjust the lens angle deviation of the camera body 6 so that the lens is parallel to the detection plane of the product and aligned with the center position of the product; the focusing mechanism 8 is used to adjust the focal length of the camera body 6 so that the field of view of the camera body 6 is clear.

[0035] Specifically, the device adopts vertical detection and automatic adjustment of the camera, eliminating the need for staff to manually adjust the position and angle of the camera body 6, so that the data adjusted by the camera body 6 can be effectively managed, thereby improving the factory's digitalization level, saving labor, and having a smaller footprint.

[0036] Furthermore, a zoom ring 61 is generally provided on the lens of the camera body 6, and the focal length of the camera body 6 can be adjusted by rotating the zoom ring 61, thereby adjusting the clarity of the field of view.

[0037] Specifically, the focusing mechanism 8 includes a driving motor 81 arranged on one side of the camera body 6, and the output end of the driving motor 81 is equipped with a belt transmission assembly that can drive the zoom ring 61 of the camera body 6 to rotate; the belt transmission assembly includes a pulley 82 installed on the output shaft of the driving motor 81, and a synchronous belt 83 is fitted on the pulley 82, and the end of the synchronous belt 83 opposite to the pulley 82 is fitted on the zoom ring 61. The driving motor 81 drives the synchronous belt 83 to rotate by driving the pulley 82 to rotate, thereby achieving the purpose of rotating the zoom ring 61 to adjust the focal length, and the driving motor 81 adopts a servo motor to ensure rotation accuracy.

[0038] like Figure 2-Figure 5As shown, the angle adjustment mechanism 7 includes a Z-axis rotation assembly connected to the second connecting frame 51, the output end of the Z-axis rotation assembly is connected to an α-axis swing assembly capable of rotating around the Z-axis, the output end of the α-axis swing assembly is connected to a β-axis swing assembly, and the output end of the β-axis swing assembly is connected to the bracket 78.

[0039] The Z-axis rotating assembly is connected to the output end of the X-axis linear module 5 through the second connecting frame 51, serving as the rotating axis of the device; the α-axis swing assembly and the β-axis swing assembly are sequentially installed below the Z-axis rotating assembly, serving as the two swing axes of the device.

[0040] The Z-axis rotating assembly includes a Z-axis rotating module 71 fixedly mounted on the second connecting frame 51 . The output end of the Z-axis rotating module 71 is connected to an α-axis mounting plate 72 that can rotate around the Z-axis, and the α-axis swinging assembly is connected to the α-axis mounting plate 72 .

[0041] The α-axis swing assembly includes an α-axis swing module 73 fixedly mounted on the α-axis mounting plate 72 . The output end of the α-axis swing module 73 is connected to the α-axis adjustment plate 74 , and the β-axis swing assembly is connected to the α-axis adjustment plate 74 .

[0042] The β-axis swing assembly includes a β-axis mounting plate 75 fixedly mounted on the α-axis adjustment plate 74 , a β-axis swing module 76 fixedly mounted on the β-axis mounting plate 75 , an output end of the β-axis swing module 76 is connected to a β-axis adjustment plate 77 , and the β-axis adjustment plate 77 is fixedly connected to a bracket 78 .

[0043] Specifically, the α-axis mounting plate 72, the α-axis adjustment plate 74, the β-axis mounting plate 75 and the β-axis adjustment plate 77 are connected in sequence from top to bottom along the Z-axis direction; the α-axis mounting plate 72 is rotationally connected to the α-axis adjustment plate 74, the β-axis mounting plate 75 and the β-axis adjustment plate 77 are also rotationally connected, and the β-axis mounting plate 75 and the α-axis adjustment plate 74 are fixedly connected; the α-axis swing module 73 is fixedly installed on one side of the α-axis mounting plate 72, and its output end is fixedly connected to the α-axis adjustment plate 74; similarly, the β-axis swing module 76 is fixedly installed on one side of the β-axis mounting plate 75, and its output end is fixedly connected to the β-axis adjustment plate 77, and the α-axis swing module 73 and the β-axis swing module 76 are perpendicular to each other.

[0044] The α-axis swing module 73 and the β-axis swing module 76 both use existing servo motors, and the Z-axis rotating assembly includes a servo motor. The output end of the servo motor is also connected to a reversing reducer, so that the installation space can be reasonably allocated.

[0045] The α-axis swing module 73 can drive the α-axis adjustment plate 74 to swing relative to the α-axis mounting plate 72 along the X-axis direction, and the β-axis swing module 76 can drive the β-axis adjustment plate 77 to swing relative to the β-axis mounting plate 75 along the Y-axis direction, and the α-axis mounting plate 72 is fixedly connected to the output end of the Z-axis rotation module 71 and can rotate around the Z-axis direction; based on this, the coordination between the α-axis swing assembly and the β-axis swing assembly can ensure that the lens and the product's detection plane are parallel to each other, and the Z-axis rotation assembly can make the lens's field of view aligned with the center position of the product.

[0046] Embodiment 2

[0047] On the basis of the first embodiment, the device adopts a dual Z-axis design, that is, two Z-axis linear modules 2 are arranged opposite to each other, and the two ends of the beam 3 are respectively connected to the output ends of the two Z-axis linear modules 2 .

[0048] By setting two Z-axis linear modules 2 to jointly drive the lifting and lowering of the beam 3 along the Z-axis direction, the stability of the lifting and lowering of the beam 3 can be ensured, and the beam 3 can be prevented from tilting and bending due to gravity, thereby ensuring the position accuracy of the movement of the camera body 6; if only one Z-axis linear module 2 is set, the loads borne by the two ends of the beam 3 will be different, and the end with a larger load will sink and bend over time.

[0049] like Figure 1 , Figure 6-Figure 7 As shown, due to the machining and installation errors of the frame 1 and the two Z-axis linear modules 2 during installation, one end of the beam 3 is fixed and the other end is allowed to slide along the X-axis direction, that is, a single-head floating structure is formed to reduce the corresponding machining accuracy and installation requirements.

[0050] Due to the limitations of the existing technology, the two Z-axis linear modules 2 will inevitably be out of sync when working. If the beam 3 adopts a structure with fixed ends, the height difference generated at this time will cause the output end of the Z-axis linear module 2 to be subjected to a large radial force, affecting its output effect; severe cases may cause damage to the equipment, thereby affecting the position accuracy of the camera body 6, resulting in inaccurate visual inspection results of the product; and the use of a single-head floating structure The beam 3 can avoid the above situation, that is, the height difference generated in the Z-axis direction can be compensated by the movement of the beam 3 in the X-axis direction, thereby avoiding the beam 3 from getting stuck between the two Z-axis linear modules 2.

[0051] At the same time, since the relative distance between the two Z-axis linear modules 2 is constant, if the crossbeam 3 adopts a structure with both ends fixed, the requirements for its processing accuracy will be higher, especially in the length direction; while the single-head floating structure can reduce its processing accuracy and installation requirements, and reduce the cost of the equipment.

[0052] Specifically, the beam 3 is parallel to the X-axis direction, and one end of the beam 3 is fixedly connected to the output end of one of the Z-axis linear modules 2 through a pad 95, and the other end of the beam 3 is slidably connected to the output end of another Z-axis linear module 2 along the X-axis direction through a sliding assembly.

[0053] A spacer block 95 is installed between the output end of the Z-axis linear module 2 at one end of the beam 3 to fix this end of the beam 3, and the other end of the beam 3 is a floating side, which is connected to the output end of another Z-axis linear module 2 through a sliding component, and the spacer block 95 can also ensure the accuracy of the beam 3 parallel to the X-axis direction.

[0054] As described above, the sliding assembly includes a slide rail 92 parallel to the X-axis direction, and a slider 93 is slidably mounted on the slide rail 92; and one side of the slide rail 92 is fixedly connected to the beam 3, and one side of the slider 93 is connected to the output end of the corresponding Z-axis linear module 2.

[0055] For the convenience of installation, the pad 95 and the slide rail 92 are fixedly connected to the beam 3 through the connecting plate 91; with the cooperation of the slider 93 and the slide rail 92, the beam 3 can have space to move along the X-axis direction, which can not only reduce the processing accuracy of the beam 3, but also make debugging easier.

[0056] In addition, the floating side of the beam 3 is connected to the Z-axis linear module 2 through two relatively parallel sliding components. Limiting columns 94 are provided at both ends of each slide rail 92 to limit the distance that the beam 3 moves along the X-axis direction to prevent the floating side of the beam 3 from detaching from the Z-axis linear module 2.

[0057] Embodiment 3

[0058] This device is mainly used to detect LCD screens of different sizes. The product is placed inside the frame 1 and below the camera body 6. When the camera body 6 detects the product, the center of the camera body 6 needs to be at the center of the LCD screen. The center positions of LCD screens of different sizes are different, and this device can meet the detection requirements of LCD screens of different sizes.

[0059] On the basis of the first and second embodiments, the present invention further proposes a method for adjusting a full-degree-of-freedom adjustment device of a DEM camera, comprising the following steps:

[0060] S1, field of view adjustment;

[0061] S2, visual field centering adjustment;

[0062] S3, plane angle deviation adjustment;

[0063] S4, visual field alignment adjustment;

[0064] S5. Adjust the clarity of vision.

[0065] When the camera body 6 is at a low position of the Z-axis linear module 2, since the field of view of the camera body 6 is fixed, it cannot fully detect a large-size LCD screen, and its field of view needs to be adjusted.

[0066] As in sub-step S11 of step S1, the Z-axis linear module 2 first drives the crossbeam 3 to move along the Z-axis direction, driving the camera body 6 to adjust its height until the product is within the field of view of the camera body 6. The dual Z-axis mechanism causes the crossbeam 3 to rise, thereby driving the camera body 6 to rise along the Z-axis direction, so that the display screen appears within the field of view of the camera body 6.

[0067] After the camera body 6 meets the height requirement, if the camera body 6 is not in the middle of the product, it is necessary to perform field of view centering adjustment.

[0068] As in sub-step S21 of step S2, the X-axis linear module 5 is driven to move along the Y-axis direction by the Y-axis linear module 4, and the second connecting frame 51 is driven to move along the Y-axis direction by the X-axis linear module 5 until the camera body 6 on the bracket 78 is roughly located at the center of the product.

[0069] Since the mechanism will produce deviations during the installation process, the relative position relationship between the components cannot be guaranteed, and there may be angle deviations. For example, the lens end face of the camera body 6 is not parallel to the detection plane of the product, and the deviation of the plane angle needs to be adjusted.

[0070] When the lens of the camera body 6 is in a non-parallel position relationship with respect to the detection plane of the product, such as sub-step S31 in step S3, the α-axis swing module 73 and the β-axis swing module 76 respectively drive the α-axis adjustment plate 74 and the β-axis adjustment plate 77 to swing around the X-axis and the Y-axis, that is, the α-axis swing module 73 can drive the α-axis adjustment plate 74 to rotate around the X-axis, and the β-axis swing module 76 can drive the β-axis adjustment plate 77 to rotate around the Y-axis until the lens is parallel to the detection plane of the product.

[0071] After compensating for the deviation of the plane angle through two swing axes, if the field of view of the lens deviates from the center position of the product, the field of view needs to be aligned and adjusted.

[0072] As in sub-step S41 of step S4, the α-axis mounting plate 72 is driven to rotate around the Z-axis through the Z-axis rotation module 71 until the field of view of the camera body 6 is aligned with the center position of the product; the position of the camera field of view in the XOY plane relative to the product surface is adjusted by the rotation axis, and finally the product is located in the center of the field of view and aligned.

[0073] After the position requirements for product inspection are met, if the field of view obtained by the camera body 6 is blurred, the clarity of the field of view needs to be adjusted.

[0074] As shown in sub-step S51 of step S5, the driving motor 81 rotates the zoom ring 61 of the camera body 6 through the synchronous belt 83 of the belt transmission assembly until the field of view of the camera body 6 is clear; this structure allows the camera to adjust the camera focal length without manual operation, ensuring a clear field of view, thereby meeting the requirements of product inspection.

[0075] In summary, this device has a smaller footprint and is suitable for the detection of 18-100 inch LCD screens. It can detect a wide range of product sizes and can flexibly adjust the position and field of view of the camera without manual adjustment, easily meeting the requirements of product detection. It can also effectively manage the adjusted data, improve the level of factory digitization, and save labor.

[0076] The above is based on the ideal embodiment of the utility model. Through the above description, relevant personnel can make various changes and modifications without deviating from the technical concept of the utility model. The technical scope of this utility model is not limited to the content in the specification, and the technical scope must be determined according to the scope of the claims.

Claims

1. A full-degree-of-freedom adjustment device for a DEM camera, characterized in that: The invention comprises a frame (1), wherein the inner side of the frame (1) is connected to a crossbeam (3) capable of being lifted and lowered along the Z axis via a Z axis linear module (2), a Y axis linear module (4) is mounted on the crossbeam (3), an output end of the Y axis linear module (4) is connected to an X axis linear module (5) capable of being moved along the Y axis direction, an output end of the X axis linear module (5) is connected to a second connecting frame (51) capable of being moved along the X axis direction, and a bracket (78) for mounting a camera body (6) is arranged below the second connecting frame (51); The bracket (78) is provided with a focus adjustment mechanism (8) capable of adjusting the focal length of the camera body (6), and an angle adjustment mechanism (7) capable of adjusting the angle deviation of the lens of the camera body (6) is also provided between the bracket (78) and the second connecting frame (51).

2. The full-degree-of-freedom adjustment device for a DEM camera according to claim 1, characterized in that: Two Z-axis linear modules (2) are arranged opposite to each other, and two ends of the crossbeam (3) are respectively connected to the output ends of the two Z-axis linear modules (2).

3. The full-degree-of-freedom adjustment device for a DEM camera according to claim 2, characterized in that: The crossbeam (3) is parallel to the X-axis direction, and one end of the crossbeam (3) is fixedly connected to the output end of one of the Z-axis linear modules (2) via a cushion block (95), and the other end of the crossbeam (3) is slidably connected to the output end of another Z-axis linear module (2) along the X-axis direction via a sliding assembly.

4. The full-degree-of-freedom adjustment device for a DEM camera according to claim 3, characterized in that: The sliding assembly comprises a sliding rail (92) parallel to the X-axis direction, and a sliding block (93) is slidably mounted on the sliding rail (92); one side of the sliding rail (92) is fixedly connected to the crossbeam (3), and one side of the sliding block (93) is connected to the output end of the corresponding Z-axis linear module (2).

5. The full-degree-of-freedom adjustment device for a DEM camera according to claim 1, characterized in that: The angle adjustment mechanism (7) comprises a Z-axis rotation component connected to the second connecting frame (51), the output end of the Z-axis rotation component is connected to an α-axis swing component that can rotate around the Z axis, the output end of the α-axis swing component is connected to a β-axis swing component, and the output end of the β-axis swing component is connected to the bracket (78).

6. The full-degree-of-freedom adjustment device for a DEM camera according to claim 5, characterized in that: The Z-axis rotation assembly comprises a Z-axis rotation module (71) fixedly mounted on the second connecting frame (51); an output end of the Z-axis rotation module (71) is connected to an α-axis mounting plate (72) capable of rotating about the Z-axis; and the α-axis swing assembly is connected to the α-axis mounting plate (72).

7. The full-degree-of-freedom adjustment device for a DEM camera according to claim 6, characterized in that: The α-axis swing assembly comprises an α-axis swing module (73) fixedly mounted on the α-axis mounting plate (72), an output end of the α-axis swing module (73) is connected to an α-axis adjustment plate (74), and the β-axis swing assembly is connected to the α-axis adjustment plate (74).

8. The full-degree-of-freedom adjustment device for a DEM camera according to claim 7, characterized in that: The β-axis swing assembly comprises a β-axis mounting plate (75) fixedly mounted on the α-axis adjustment plate (74); a β-axis swing module (76) is fixedly mounted on the β-axis mounting plate (75); an output end of the β-axis swing module (76) is connected to a β-axis adjustment plate (77); and the β-axis adjustment plate (77) is fixedly connected to the bracket (78).

9. The full-degree-of-freedom adjustment device for a DEM camera according to claim 1, characterized in that: The focusing mechanism (8) comprises a driving motor (81) arranged on one side of the camera body (6), and a belt transmission component capable of driving a zoom ring (61) of the camera body (6) to rotate is installed at the output end of the driving motor (81).

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