Robot camera mounting device and robot

Abstract

The embodiment of the utility model provides a robot camera mounting device and a robot, the mounting device comprises a first cover shell and a second cover shell, the first cover shell is in butt joint with the second cover shell, a first flange is arranged in a mounting cavity, the first cover shell or the second cover shell is provided with an avoiding hole, and the first flange is in butt joint with the second cover shell. The flange connecting face of the first flange is located in the receding hole, and the mechanical arm stretches into the receding hole to be connected with the flange connecting face. A camera is further arranged in the mounting cavity, the camera is used for collecting external image information, a collecting hole is formed in the first housing or the second housing, and a camera head of the camera is located in the collecting hole. The first flange and the camera are both arranged in the mounting cavity and connected with the tail end of the mechanical arm through the first flange, the whole mechanism is high in integration, simple and small, the camera is mounted at the tail end of the mechanical arm, a camera support does not need to be arranged, the camera is perfectly fused with a product, the camera is not exposed, the attractiveness is good, and the camera is protected against damage caused by external force.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and in particular, to a robot camera mounting device and a robot. Background Art

[0002] Depth cameras are also called three-dimensional cameras. They detect the depth of field of the shooting space, so as to accurately know the distance of each point in the image from the camera. Depth cameras are also widely used in some automated rehabilitation products. They collect patient body information and obtain the location of the patient's lesion through depth cameras, so as to achieve accurate treatment.

[0003] However, due to the differences in products, there are various ways to install depth cameras, and the installation locations are also very different. The existing installation method often uses the original mounting holes of the camera to connect the camera to the robotic arm through bolts. This installation method directly installs the depth camera nakedly on the product. The depth camera is not protected and is easily damaged. Summary of the invention

[0004] In view of this, the purpose of the embodiments of the present application is to provide a robot camera installation device and a robot to solve the technical problem of the existing camera installation method that the camera is exposed to the outside without protection after installation and is easily damaged.

[0005] In a first aspect, an embodiment of the present application provides a robot camera mounting device, wherein the robot camera mounting device is used to be installed on a robotic arm of the robot, and the mounting device includes: a first cover shell and a second cover shell, the first cover shell and the second cover shell are docked to form an installation cavity, a first flange is arranged in the installation cavity, the first cover shell or the second cover shell is provided with an avoidance hole, the flange connection surface of the first flange is located in the avoidance hole, the robotic arm extends into the avoidance hole and is connected with the flange connection surface; a camera is also arranged in the installation cavity, the camera is used to collect external image information, the first cover shell or the second cover shell is provided with a collection hole, and the camera head of the camera is located in the collection hole.

[0006] The above-mentioned robot camera installation device, wherein the first cover shell and the second cover shell are connected to each other up and down, the second cover shell includes a base plate and multiple enclosures, the base plate is opposite to the first cover shell, the multiple enclosures are arranged in sequence along the edge of the base plate, and the top end of each enclosure is connected to the first cover shell to form the installation cavity.

[0007] The above-mentioned robot camera mounting device, wherein the avoidance hole is arranged on the first cover shell, the first flange includes a first flange body and a first connecting piece, the first connecting piece is arranged on the outer peripheral side of the first flange body and is located in the avoidance hole; the robotic arm is provided with a second flange, and the robot drives the second flange to extend into the avoidance hole and connect with the first connecting piece.

[0008] The above-mentioned robot camera mounting device, wherein the second flange includes a second flange main body and a second connecting member, the second connecting member is arranged on the outer peripheral side of the second flange main body, the first flange main body is directly opposite to the second flange main body, and the first connecting member is directly opposite to the second connecting member; the top surface of the first connecting member and the top surface of the first flange main body are provided with a first preset height difference, the bottom surface of the second connecting member and the bottom surface of the second flange main body are provided with a second preset height difference, and the second flange extends into the avoidance hole so that the first flange main body is in contact with the second flange main body, and the first connecting member is in contact with the second connecting member.

[0009] The above-mentioned robot camera mounting device, wherein the first connecting member includes a first connecting ring, which is arranged along the outer peripheral side of the first flange body, or the first connecting member includes a plurality of first connecting blocks, which are arranged at equal angles along the outer peripheral side of the first flange body; the second connecting member includes a second connecting ring, which is arranged along the outer peripheral side of the second flange body, or the second connecting member includes a plurality of second connecting blocks, which are arranged at equal angles along the outer peripheral side of the second flange body.

[0010] In the above-mentioned robot camera installation device, a third connecting member is also provided in the installation cavity, and the upper and lower ends of the third connecting member are respectively connected to the bottom plate and the first connecting member.

[0011] The above-mentioned robot camera mounting device, wherein a first limiting rib plate and a second limiting rib plate are also arranged in the mounting cavity, the first limiting rib plate and the second limiting rib plate are respectively connected to the bottom plate, the end of the camera away from the camera head is limitedly connected to the first limiting rib plate, and the two sides of the camera are respectively limitedly connected to the second limiting rib plate and the enclosure plate.

[0012] The above-mentioned robot camera mounting device, wherein the collection hole is arranged on the enclosure, the first cover is provided with a first threaded hole, the camera is provided with a second threaded hole, the axis of the first threaded hole coincides with the second threaded hole, and the camera is connected to the first cover by a first bolt.

[0013] The above-mentioned robot camera mounting device, wherein the edge of the first cover shell is provided with a plurality of third threaded holes, the top end of the enclosure plate is provided with a plurality of fourth threaded holes, the number of the third threaded holes is the same as that of the fourth threaded holes and corresponds one to one, and the first cover shell is connected to the enclosure plate by a second bolt.

[0014] In a second aspect, an embodiment of the present application further provides a robot, wherein the robot includes a robotic arm, and a second flange is provided on the robotic arm, and the second flange is connected to the first flange of the above-mentioned mounting device.

[0015] The robot camera installation device and robot provided in the embodiment of the present application, the first flange and the camera are both arranged in the installation cavity, connected to the end of the robot arm through the first flange, the overall mechanism has strong integration and is simple and compact, installed at the end of the robot arm, no external camera bracket is required, and it is perfectly integrated with the product. The camera is not exposed and has good aesthetics, protecting the camera from damage caused by external forces.

[0016] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 The overall structure diagram of a robot camera installation device provided in an embodiment of the present application is shown.

[0019] Figure 2 In the embodiment of the present application, Figure 1 sectional view of

[0020] Figure 3 In the embodiment of the present application, Figure 1 A top view of

[0021] Figure 4 The present application embodiment is shown Figure 1 A top view after removing the first cover;

[0022] Figure 5 A top view of an implementation of the first flange or the second flange in an embodiment of the present application is shown;

[0023] Figure 6A top view of another implementation of the first flange or the second flange in an embodiment of the present application is shown.

[0024] Reference numerals

[0025] 11. Installation cavity; 12. Avoidance hole; 13. Collection hole; 2. First cover shell; 3. Second cover shell; 31. Bottom plate; 32. Enclosure; 4. First flange; 41. First flange body; 411. Weight reduction hole; 42. First connecting piece; 5. Camera; 51. Camera head; 71. Third connecting piece; 72. First limiting rib plate; 73. Second limiting rib plate; 8. Threaded hole. DETAILED DESCRIPTION

[0026] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0027] Existing installation methods often use the original mounting holes of the camera to connect the camera to the robotic arm through bolts. This installation method directly installs the depth camera on the product in a naked state. The depth camera is not protected and is easily damaged. The robot camera installation device and robot provided in the embodiment of the present application, the first flange and the camera are both arranged in the installation cavity, and are connected to the end of the robotic arm through the first flange. The overall mechanism is highly integrated and simple and compact. It is installed at the end of the robotic arm without the need for an external camera bracket, and is perfectly integrated with the product. The camera is not exposed and has good aesthetics, which protects the camera from damage caused by external forces.

[0028] refer to Figures 1 to 6As shown, a robot camera mounting device provided in an embodiment of the present application is used to be installed on the robot arm of the robot, and the mounting device includes: a first cover shell 2 and a second cover shell 3, the first cover shell 2 and the second cover shell 3 are connected to form an installation cavity 11, a first flange 4 is arranged in the installation cavity 11, the first cover shell 2 or the second cover shell 3 is provided with an avoidance hole 12, the flange connection surface of the first flange 4 is located in the avoidance hole 12, the robot arm extends into the avoidance hole 12 and is connected with the flange connection surface; a camera 5 is also arranged in the installation cavity 11, the camera 5 is used to collect external image information, the first cover shell 2 or the second cover shell 3 is provided with a collection hole 13, and the camera head 51 of the camera 5 is located in the collection hole 13.

[0029] In combination with the above-mentioned embodiment, the first housing 2 and the second housing 3 are arranged oppositely, and the first housing 2 and the second housing 3 are buckled together to form an installation cavity 11. The first flange 4 and the camera 5 are respectively installed in the installation cavity 11, the first flange 4 is located in the middle of the installation cavity 11, and the camera 5 is located at the edge side of the installation cavity 11. The first housing 2 and the second housing 3 can be arranged oppositely up and down, and the avoidance hole 12 is opened in the middle position of the first housing 2, the avoidance hole 12 passes through the first housing 2, and the minimum inner diameter of the avoidance hole 12 is greater than the maximum outer diameter of the first flange 4, so that the top end of the first flange 4 can be extended into the avoidance hole 12, and the top surface of the first flange 4 is a flange connection surface. The second flange is installed at the bottom end of the robot's mechanical arm, the shape of the second flange is adapted to the shape of the first flange 4, and the maximum outer diameter of the bottom end of the second flange is smaller than the inner diameter of the avoidance hole 12, and the second flange can be extended into the avoidance hole 12 through the mechanical arm, thereby realizing the docking of the first flange 4 and the second flange.

[0030] The first housing 2 and the second housing 3 can also be arranged relative to each other left and right or front and back. When the first housing 2 and the second housing 3 are arranged relative to each other up and down, the camera 5 is installed horizontally in the installation cavity 11. When the first housing 2 and the second housing 3 are arranged relative to each other left and right or front and back, the camera 5 is installed vertically in the installation cavity 11. The acquisition hole 13 can be set on the first housing 2 or the second housing 3, but the axial direction of the acquisition hole 13 is different. When the first housing 2 and the second housing 3 are arranged relative to each other up and down, the axis of the acquisition hole 13 is arranged in the horizontal direction. When the first housing 2 and the second housing 3 are arranged relative to each other left and right or front and back, the axis of the acquisition hole 13 is arranged in the vertical direction. The camera 5 can be a depth camera, and the camera head 51 of the camera 5 is installed in the acquisition hole 13, so as to collect external image information, such as the patient's lesion location, disease type, etc.

[0031] After the camera 5 collects external image information, the robot's control device, such as a PLC or a host computer, obtains the location information of the lesion or the type of disease of the patient, and then drives the robotic arm to move according to a pre-set path or treatment method, and finally drives the massage head through the robotic arm to perform precise massage treatment on the patient.

[0032] The robot camera installation device provided in the embodiment of the present application, the first cover shell 2 and the second cover shell 3 are connected to each other up and down, the second cover shell 3 includes a bottom plate 31 and a plurality of enclosure panels 32, the bottom plate 31 is opposite to the first cover shell 2, the plurality of enclosure panels 32 are arranged in sequence along the edge of the bottom plate 31, and the top end of each enclosure panel 32 is connected to the first cover shell 2 to form the installation cavity 11.

[0033] In combination with the above embodiment, the first cover shell 2 and the second cover shell 3 are butt-jointed up and down, the first cover shell 2 is plate-shaped as a whole, and the second cover shell 3 includes a bottom plate 31 and a plurality of surrounding panels 32, the bottom plate 31 is arranged opposite to the first cover shell 2, and the plurality of surrounding panels 32 are arranged along the edge position of the top surface of the bottom plate 31 and adjacent to each other in a circle, so that the bottom plate 31 and the plurality of surrounding panels 32 together form a semi-enclosed structure with an open top, and the top end of each surrounding panel 32 is connected to the bottom of the first cover shell 2, so that the installation cavity 11 is formed by the first cover shell 2 and the second cover shell 3, so that the installation device is box-shaped as a whole.

[0034] The robot camera mounting device provided in the embodiment of the present application, the avoidance hole 12 is arranged on the first cover shell 2, the first flange 4 includes a first flange body 41 and a first connecting member 42, the first connecting member 42 is arranged on the outer peripheral side of the first flange body 41, and is located in the avoidance hole 12; the robotic arm is provided with a second flange, and the robot drives the second flange to extend into the avoidance hole 12 and connect with the first connecting member 42.

[0035] In combination with the above-mentioned embodiment, the bottom plates 31 of the first cover shell 2 and the second cover shell 3 are arranged opposite to each other up and down, and the avoidance hole 12 can be arranged on the first cover shell 2, so that the second flange of the robot arm can extend from top to bottom into the avoidance hole 12, thereby connecting the first flange 4 with the second flange, and thus installing the mounting device on the robot arm. A weight-reducing hole 411 is arranged in the middle of the first flange body 41, thereby reducing the weight of the first flange 4 and reducing the load borne by the robot arm.

[0036] The robot camera mounting device provided in this embodiment, the second flange includes a second flange body and a second connecting piece, the second connecting piece is arranged on the outer peripheral side of the second flange body, the first flange body 41 is opposite to the second flange body, and the first connecting piece 42 is opposite to the second connecting piece; the top surface of the first connecting piece 42 and the top surface of the first flange body 41 are provided with a first preset height difference, the bottom surface of the second connecting piece and the bottom surface of the second flange body are provided with a second preset height difference, the second flange extends into the avoidance hole 12 so that the first flange body 41 is in contact with the second flange body, and the first connecting piece 42 is in contact with the second connecting piece.

[0037] In combination with the above-mentioned embodiment, the cross section of the first flange 4 along the central axis of the first flange 4 is in the shape of a step, and the cross section of the second flange along the central axis of the second flange is in the shape of an inverted step. The shapes of the first flange 4 and the second flange match, thereby realizing the connection between the first flange 4 and the second flange. The first flange 4 includes a first flange body 41 and a first connecting member 42. The first connecting member 42 is arranged on the outer peripheral side of the first flange body 41, and the top surface of the first connecting member 42 is lower than the top surface of the first flange body 41 by a first preset height difference, so that the cross section of the first flange 4 along the axis direction of the first flange 4 is in the shape of a step. The second flange includes a second flange body and a second connecting member. The second connecting member is arranged on the outer peripheral side of the second flange body, and the bottom surface of the second connecting member is lower than the bottom surface of the second flange body by a second preset height difference, so that the cross section of the second flange along the axis direction of the second flange is in the shape of an inverted step, and the first preset height difference is the same as the second preset height difference.

[0038] The first connecting member 42 may include a first connecting ring, which is annular and arranged on the outer peripheral side of the first flange body 41. The top of the first connecting member 42 is provided with multiple threaded holes 8 at equal angles along the axis of the first flange 4, so that it is threadedly connected to the second flange through bolts.

[0039] The first connecting member 42 may include a plurality of first connecting blocks, which are arranged on the outer peripheral wall of the first flange body 41 and are arranged at equal angles along the axis of the first flange 4. A threaded hole 8 is provided at the top of each first connecting block 42 so as to be connected to the second flange by bolts.

[0040] Similarly, the second connecting member may include a second connecting ring, which is annular and arranged on the outer peripheral side of the second flange body. The top of the second connecting member is provided with multiple threaded holes 8 at equal angles along the axis of the second flange, so that it is threadedly connected to the first flange through bolts.

[0041] The second connecting member may include a plurality of second connecting blocks, which are arranged on the outer peripheral wall of the second flange body and at equal angles along the axis of the second flange. A threaded hole 8 is provided at the top of each second connecting block so as to be connected to the first flange by bolts.

[0042] The installation cavity provided in the embodiment of the present application is also provided with a third connecting member 71, and the upper and lower ends of the third connecting member 71 are respectively connected to the bottom plate 31 and the first connecting member 42. The installation cavity 11 is also provided with a first limiting rib plate 72 and a second limiting rib plate 73, and the first limiting rib plate 72 and the second limiting rib plate 73 are respectively connected to the bottom plate 31, and the end of the camera 5 away from the camera head 51 is limitedly connected to the first limiting rib plate 72, and the two sides of the camera 5 are respectively limitedly connected to the second limiting rib plate 73 and the enclosure 32. The collection hole 13 is provided on the enclosure 32, the first cover 2 is provided with a first threaded hole, and the camera 5 is provided with a second threaded hole, the axis of the first threaded hole coincides with the second threaded hole, and the camera is connected to the first cover 2 by a first bolt. A plurality of third threaded holes are arranged on the edge of the first cover shell 2, and a plurality of fourth threaded holes are arranged on the top of the enclosure plate 32. The number of the third threaded holes is the same as that of the fourth threaded holes and they correspond one to one. The first cover shell 2 is connected to the enclosure plate 32 by a second bolt.

[0043] In combination with the above-mentioned embodiment, the third connecting member 71 is arranged in the installation cavity 11. The third connecting member 71 is cylindrical in shape as a whole. The bottom of the third connecting member 71 is connected to the bottom plate 31, and the top is connected to the bottom of the first connecting member 42 of the first flange 4, so as to support the first flange 4. Two first limiting ribs 72 are provided, and the two first limiting ribs 72 and the second limiting ribs 73 form an inner bracket. The end of the camera 5 away from the camera head 51 contacts the two first limiting ribs 72 respectively, and the two sides of the camera 5 contact the second limiting ribs 73 and the enclosure 32 respectively, so as to limit the camera 5 and install it in the inner bracket, so as to realize the positioning installation of the camera 5. After the camera 5 is positioned and installed, it is threadedly connected to the first cover 2 by bolts.

[0044] The installation process of the embodiment of the present application is as follows:

[0045] The first flange 4 is installed in the middle of the bottom plate 31 through the third connecting piece 71. After the first flange 4 is installed, it is necessary to level the first flange 4 so that the plane at the top of the first flange 4 is parallel to the horizontal plane. The camera 5 is placed on the second housing 3 so that the camera head 51 of the camera 5 is directly opposite to the collection hole 13 on the enclosure 32, and then the camera 5 is pushed in a direction away from the collection hole 13 until the camera 5 is limited by the two first limiting ribs 72 and the second limiting ribs 73, and the camera 5 is also in close contact with the inner arm of the enclosure 32, thereby achieving the initial positioning of the camera 5.

[0046] After the first flange 4 and the camera 5 are preliminarily installed, the first housing 2 is buckled onto the second housing 3, and the top surface of the first flange 4 needs to be located in the avoidance hole 12. The threaded holes 8 on the camera 5 are opposite to the corresponding threaded holes 8 on the first housing 2, and finally the first housing 2 and the second housing 3 are connected by bolts, and the camera 5 and the first housing 2 are fixedly connected together by bolts to prevent the camera 5 from shaking.

[0047] Based on the same concept, a robot with a robot camera installation device is also provided in the embodiment of the present application. Since the principle of solving the problem by the robot in the embodiment of the present application is similar to the above-mentioned robot camera installation device in the embodiment of the present application, the implementation of the robot can refer to the implementation of the robot camera installation device, and the repeated parts will not be repeated.

[0048] The robot of the embodiment of the present application includes a mechanical arm, a second flange is provided at the bottom end of the mechanical arm, and the second flange extends into the avoidance hole 12, so that the second flange is connected to the first flange 4. After the mounting device is mounted on the mechanical arm, the mounting device is driven by the mechanical arm to move, and the patient's disease information or lesion location is collected by the camera 5.

[0049] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

Claims

1. A robot camera installation device, characterized in that: Used to be installed on the mechanical arm of the robot, the installation device includes: a first cover shell and a second cover shell, the first cover shell and the second cover shell are connected to form an installation cavity, a first flange is arranged in the installation cavity, the first cover shell or the second cover shell is provided with an avoidance hole, the flange connection surface of the first flange is located in the avoidance hole, the mechanical arm extends into the avoidance hole and is connected with the flange connection surface; a camera is also arranged in the installation cavity, the camera is used to collect external image information, the first cover shell or the second cover shell is provided with a collection hole, and the camera head of the camera is located in the collection hole.

2. The robot camera mounting device according to claim 1, characterized in that: The first cover shell is butted against the second cover shell up and down, and the second cover shell includes a base plate and a plurality of enclosure plates, the base plate is opposite to the first cover shell, the plurality of enclosure plates are arranged in sequence along the edge of the base plate, and the top end of each enclosure plate is connected to the first cover shell to form the installation cavity.

3. The robot camera mounting device according to claim 2, characterized in that: The avoidance hole is arranged on the first cover shell, the first flange includes a first flange body and a first connecting piece, the first connecting piece is arranged on the outer peripheral side of the first flange body and is located in the avoidance hole; the robotic arm is provided with a second flange, and the robot drives the second flange to extend into the avoidance hole and connect with the first connecting piece.

4. The robot camera mounting device according to claim 3, characterized in that: The second flange includes a second flange body and a second connecting piece, the second connecting piece is arranged on the outer peripheral side of the second flange body, the first flange body is opposite to the second flange body, and the first connecting piece is opposite to the second connecting piece; a first preset height difference is set between the top surface of the first connecting piece and the top surface of the first flange body, and a second preset height difference is set between the bottom surface of the second connecting piece and the bottom surface of the second flange body, and the second flange extends into the avoidance hole so that the first flange body is in contact with the second flange body, and the first connecting piece is in contact with the second connecting piece.

5. The robot camera mounting device according to claim 4, characterized in that: The first connecting member includes a first connecting ring, which is arranged along the outer circumference of the first flange body, or the first connecting member includes a plurality of first connecting blocks, which are arranged at equal angles along the outer circumference of the first flange body; the second connecting member includes a second connecting ring, which is arranged along the outer circumference of the second flange body, or the second connecting member includes a plurality of second connecting blocks, which are arranged at equal angles along the outer circumference of the second flange body.

6. The robot camera mounting device according to claim 4, characterized in that: A third connecting member is also provided in the installation cavity, and upper and lower ends of the third connecting member are respectively connected to the bottom plate and the first connecting member.

7. The robot camera mounting device according to claim 2, characterized in that: A first limiting rib plate and a second limiting rib plate are also provided in the installation cavity. The first limiting rib plate and the second limiting rib plate are respectively connected to the bottom plate. The end of the camera away from the camera head is limitedly connected to the first limiting rib plate, and the two sides of the camera are respectively limitedly connected to the second limiting rib plate and the enclosure plate.

8. The robot camera mounting device according to claim 7, characterized in that: The collection hole is arranged on the enclosure, the first cover is provided with a first threaded hole, the camera is provided with a second threaded hole, the axis of the first threaded hole coincides with the second threaded hole, and the camera is connected to the first cover by a first bolt.

9. The robot camera mounting device according to claim 2, characterized in that: A plurality of third threaded holes are arranged at the edge of the first cover shell, and a plurality of fourth threaded holes are arranged at the top end of the enclosure plate. The number of the third threaded holes is the same as that of the fourth threaded holes and corresponds one to one. The first cover shell is connected to the enclosure plate by a second bolt.

10. A robot, characterized in that: It comprises a mechanical arm, on which a second flange is arranged, and the second flange is connected to the first flange of the mounting device according to any one of claims 1 to 9.

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