Clamping structure of visual assembly at front end of mechanical arm

Abstract

The utility model discloses a clamping structure for a visual assembly at the front end of a mechanical arm, and the clamping structure comprises a camera installation plate, a first side face of the camera installation plate is provided with an installation hole, and a camera can be installed on the first side face of the camera installation plate through the installation hole and an installation part; the camera pressing plate is a C-shaped plate, the two end parts of the C-shaped plate are fixed on the first side surface of the camera mounting plate, and the arched part of the C-shaped plate covers the camera so as to support and protect the camera; the number of the light source mounting plates is two, and connecting holes used for being connected with the camera mounting plate are formed in the first plate surfaces of the light source mounting plates; the protective cover mounting plate is a U-shaped plate, and one side face of the protective cover mounting plate is fixedly connected to the second side face of the light source mounting plate through a connecting piece and a connecting hole in the second side face of the light source mounting plate; the clamping cover is of a cuboid structure, a cylindrical containing space is arranged in the clamping cover, and the clamping cover is provided with a circular opening matched with the circular-ring-shaped section of the visual collecting part.

Description

TECHNICAL FIELD

[0001] The utility model relates to the clamping structure that provides clamping and protection function for visual assembly, especially relates to a clamping structure of mechanical arm front end visual assembly. BACKGROUND

[0002] With the technical progress and development of modern industry and the improvement of automation technology, the automation degree of factory is gradually improved, so that the production efficiency is greatly improved, thereby reduce the cost. With the continuous development of visual detection industry, the automation level of factory is further improved. Visual detection is a kind of detection method based on image processing and computer vision technology, which realizes the extraction and measurement of object size, position, shape, color and other characteristics by image acquisition, processing and analysis to target object, and then detects and judges the defects, abnormalities and quality of object. And in visual detection, light source and industrial camera are used most frequently, and are also the hardware basis of visual detection. But in actual application, the complex working environment, the on-site environment light, the installation mode of camera and light source, the hardware protection and other factors need to be considered, which will lead to the use of light source and industrial camera without constraint, which will lead to random wiring, and the connection between industrial camera and power supply is also relatively arbitrary. In addition, industrial camera and power supply need to be disassembled and assembled according to different use occasions, how to combine and connect the light source and camera together while giving certain clamping protection, and can be disassembled and reassembled after providing clamping structure, is the technical problem to be solved at present. CONTENT OF THE UTILITY MODEL

[0003] Therefore, the utility model provides a kind of clamping structure of mechanical arm front end visual assembly, at least can solve the foregoing technical problem.

[0004] According to the first aspect of the utility model, a kind of clamping structure of mechanical arm front end visual assembly is provided, including camera mounting plate, camera pressing plate, light source mounting plate, visual acquisition part, protection cover mounting plate and clamping cover, wherein:

[0005] Camera mounting plate, its first side is provided with mounting hole, camera can be installed in the first side of the camera mounting plate by mounting hole and mounting piece;

[0006] Camera pressing plate, it is C-shaped plate, and the two ends of C-shaped are fixed to the first side of camera mounting plate, and the arc part of C-shaped is covered camera, to support and protect camera;

[0007] The light source mounting plate is provided with two, on the first plate surface of the light source mounting plate, a connecting hole for connecting the camera mounting plate is opened; the first side surface of the light source mounting plate is provided with a connecting hole for connecting the visual acquisition part, and the second side surface of the light source mounting plate is provided with a connecting hole connected with the protective cover mounting plate; the second side surface and the third side surface of the camera mounting plate are fixed to the first plate surface of the light source mounting plate respectively; wherein, the first side surface and the second side surface of the light source mounting plate are opposite, and the second side surface and the third side surface of the camera mounting plate are opposite;

[0008] The protective cover mounting plate is a U-shaped plate, one side surface thereof is fixedly connected to the second side surface of the light source mounting plate through a connecting piece and a connecting hole on the second side surface of the light source mounting plate;

[0009] The visual acquisition part is a circular ring structure, one side surface thereof is mounted to the first side surface of the light source mounting plate through a connecting hole on the first side surface of the light source mounting plate, so that the lens of the camera is located in the middle part of the circular ring structure of the visual acquisition part, and the normal line of the lens of the camera is parallel to the central axis of the visual acquisition part;

[0010] The clamping cover is a cuboid structure, and a cylindrical accommodation space is arranged in the clamping cover, the accommodation space is exposed on the first end surface of the clamping cover, and has a circular opening matched with the circular ring cross section of the visual acquisition part; the accommodation space can accommodate the structure formed by connecting the camera mounting plate, the camera pressing plate, the light source mounting plate, the visual acquisition part, the protective cover mounting plate and the clamping cover together, and the circular opening is consistent with the center of the circular ring cross section of the visual acquisition part.

[0011] In some exemplary embodiments, the clamping structure further comprises:

[0012] The first side surface and the second side surface of the visual assembly connecting plate are respectively provided with connecting holes, and the first side surface and the second side surface of the visual assembly connecting plate are respectively connected to the first plate side surface of the light source mounting plate through the connecting holes; the third side surface of the visual assembly connecting plate is provided with a connecting hole connected with the working mechanical arm.

[0013] In some exemplary embodiments, the light source mounting plate is further provided with a hollow structure, and the hollow structure can be used for arranging light source wires or cable wires.

[0014] In some exemplary embodiments, the C-shaped arcuate part of the camera pressing plate is further provided with a mounting hole, and the corresponding position of the camera is provided with a mounting hole; the C-shaped arcuate part is inserted into the mounting hole through a mounting piece, so as to fixedly connect the camera to the camera pressing plate.

[0015] In some exemplary embodiments, the first plate surface of the light source mounting plate is further provided with at least two connecting holes, and the industrial light source is fixedly connected through the at least two connecting holes.

[0016] In some exemplary embodiments, the non-connection area of the visual assembly connecting plate is provided with a hollow structure.

[0017] The clamping structure of the mechanical arm front end visual assembly according to the embodiment of the application can be quickly installed and disassembled, greatly improving the detection efficiency. The camera mounting plate supports the installation of multiple industrial cameras with different specifications, increases the focal length of the captured pictures during detection, has strong applicability and versatility, and is more widely and flexibly used in scenarios. Moreover, the design of the embodiment of the application makes the camera position in the center of the industrial light source, which can avoid blocking the light source during actual use and ensure that the visual assembly has sufficient and good light during work. The non-cooperating component is processed by subtractive processing during design, which reduces the weight of the entire structure, ensures portability, and also maximizes the bearing requirements of the mechanical arm. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0019] Figure 1 The implementation structure schematic diagram of the camera mounting plate of the embodiment of the present application is shown;

[0020] Figure 2 The implementation structure schematic diagram of the camera pressing plate of the embodiment of the present application is shown;

[0021] Figure 3 The partial structure schematic diagram of the camera mounting structure of the embodiment of the present application is shown;

[0022] Figure 4 The implementation structure schematic diagram of the light source mounting plate of the embodiment of the present application is shown;

[0023] Figure 5 The partial structure schematic diagram of the camera mounting structure of the embodiment of the present application is shown;

[0024] Figure 6 The implementation structure schematic diagram of the protection cover mounting plate of the embodiment of the present application is shown;

[0025] Figure 7 The implementation structure schematic diagram of the visual assembly connecting plate of the embodiment of the present application is shown;

[0026] Figure 8 The partial structure schematic diagram of the camera mounting structure of the embodiment of the present application is shown;

[0027] Figure 9 An implementation structure schematic diagram of a camera protection cover of the embodiment of the present application is shown.

[0028] Figure 10 An implementation structure schematic diagram of a camera protection cover of the embodiment of the present application is shown. DETAILED DESCRIPTION

[0029] The exemplary embodiments will be described in detail herein below with reference to the drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present disclosure. Instead, they are merely examples of apparatuses and methods consistent with some aspects of the present disclosure.

[0030] The essence of the technical solutions of the embodiments of the present application will be described in detail below with reference to the drawings.

[0031] Figure 1 An implementation structure schematic diagram of a camera mounting plate of the embodiment of the present application is shown, Figure 2 An implementation structure schematic diagram of a camera mounting plate of the embodiment of the present application is shown, Figure 4 An implementation structure schematic diagram of a camera mounting plate of the embodiment of the present application is shown, Figure 6 An implementation structure schematic diagram of a camera mounting plate of the embodiment of the present application is shown, Figure 7 An implementation structure schematic diagram of a camera mounting plate of the embodiment of the present application is shown, Figure 3 An implementation structure schematic diagram of a camera mounting plate of the embodiment of the present application is shown, Figure 5 An implementation structure schematic diagram of a camera mounting plate of the embodiment of the present application is shown, Figure 10 An implementation structure schematic diagram of a camera mounting plate of the embodiment of the present application is shown, as shown in the foregoing view, the clamping structure of the front-end vision assembly of the mechanical arm of the embodiment of the present application includes a camera mounting plate 10, a camera pressing plate 20, a light source mounting plate 30, a vision acquisition part 60, a protection cover mounting plate 40 and a clamping cover 70, wherein:

[0032] As shown, the camera mounting plate 10 is provided with a mounting hole 11 on the first side surface, and a camera 90 can be mounted on the first side surface of the camera mounting plate 10 through the mounting hole 11 and a mounting member. The mounting member herein can be a bolt, a screw or the like, and the mounting hole 11 can be a threaded hole. The embodiment of the present application does not limit the implementation manner. The first side surface of the camera mounting plate 10 is further provided with a fixing connection part 12 for fixing and connecting the camera pressing plate 20. Figure 1

[0033] As shown, the camera mounting plate 10 is provided with a mounting hole 11 on the first side surface, and a camera 90 can be mounted on the first side surface of the camera mounting plate 10 through the mounting hole 11 and a mounting member. The mounting member herein can be a bolt, a screw or the like, and the mounting hole 11 can be a threaded hole. The embodiment of the present application does not limit the implementation manner. The first side surface of the camera mounting plate 10 is further provided with a fixing connection part 12 for fixing and connecting the camera pressing plate 20. Figure 2 ​As shown, the camera pressing plate 20 is a C-shaped plate, the two ends of the C-shaped plate are fixed to the first side of the camera mounting plate, and the arched part of the C-shaped plate covers the camera 90 to support and protect the camera 90. Specifically, the two ends of the C-shaped plate 20 are provided with connecting holes 21, and the first side of the camera mounting plate 10 is provided with corresponding connecting holes 12, and the camera pressing plate 20 can be fixedly connected to the camera mounting plate 20 by connecting members such as bolts or screws, and the mounting structure is as shown in Figure 3 As shown.

[0034] As shown in Figure 4 , Figure 5 As shown, the light source mounting plate 30 is provided with two light source mounting plates 30, and the first plate surface of the light source mounting plate 30 is provided with connecting holes 31 for connecting the camera mounting plate; the first side of the light source mounting plate 30 is provided with connecting holes 34 for connecting the visual acquisition part 60, and the second side of the light source mounting plate 30 is provided with connecting holes (not shown in the figure) for connecting the protective cover mounting plate; the second side and the third side of the camera mounting plate 10 are respectively fixed to the first plate surface of the light source mounting plate 30; wherein the first side and the second side of the light source mounting plate 30 are opposite, and the second side and the third side of the camera mounting plate 10 are opposite. As shown in Figure 1 The second side and the third side of the camera mounting plate 10 are also provided with connecting holes 13, and the second side and the third side of the camera mounting plate 10 are respectively fixed to the first plate surface of the two light source mounting plates 30 through the connecting holes 13 and the connecting holes 31 on the first plate surface of the light source mounting plate 30, as shown in Figure 5 As shown.

[0035] Figure 6 The implementation structure schematic diagram of the protective cover mounting plate of the embodiment of the application is shown, as shown in Figure 6 , Figure 5 The protective cover mounting plate 40 is a U-shaped plate, and one side of the U-shaped plate is fixedly connected to the second side of the light source mounting plate 30 through connecting members and connecting holes on the second side of the light source mounting plate 30. The protective cover mounting plate 40 is provided with connecting holes 41 for connecting the light source mounting plate 30. As can be seen, the light source mounting plate 30 can be fixedly connected to the protective cover mounting plate 40 by bolts or screws.

[0036] The protective cover mounting plate 40 is also provided with a hollow structure 42 to reduce the overall weight.

[0037] Figure 8 The partial structure schematic diagram of the camera mounting structure of the embodiment of the application is shown, as shown in Figure 8As shown, the visual collection part 60 of the embodiment of the present application is a circular ring structure, one side of which is installed on the first side of the light source mounting plate 30 through the connecting hole 34 on the first side of the light source mounting plate 30, so that the lens of the camera 90 is located in the middle of the circular ring of the visual collection part 60, and the normal of the lens of the camera 90 is parallel to the central axis of the visual collection part 60.

[0038] Figure 9 FIG. 1 shows a schematic diagram of the structure of the camera protective cover according to an embodiment of the present application. Figure 9 As shown, the clamping cover 70 of the embodiment of the present application is a rectangular parallelepiped structure, and a cylindrical storage space 71 is provided therein. The storage space 70 is exposed at the first end surface of the clamping cover 70 and has a circular opening that matches the circular cross-section of the visual acquisition portion 60; the storage space 71 can at least accommodate a structure formed by connecting the camera mounting plate 10, the camera pressure plate 20, the light source mounting plate 30, the visual acquisition portion 60, the protective cover mounting plate 50 and the clamping cover 70 (i.e., Figure 8 The connecting structure shown in FIG5 is provided), and the circular opening is aligned with the center of the circular cross section of the visual collection portion 60 .

[0039] Figure 7 The schematic diagram of the structure of the visual component connection board of the embodiment of the present application is shown as follows: Figure 7 As shown, the clamping structure of the front-end vision component of the robot arm of the embodiment of the present application also includes a vision component connecting plate 50, and the first and second sides of the vision component connecting plate 50 are respectively provided with connection holes 53. The first and second sides of the vision component connecting plate 50 are respectively connected to the first board surface of the light source mounting plate 30 through the connection holes 53; the third side of the vision component connecting plate 50 is provided with a connection hole 52 for connecting to the working robot arm. Figure 8 As shown, the visual component connecting plate 50 can be connected to the connecting hole 32 on the first board surface of the light source mounting plate 30 through the connecting hole 53 and the connecting piece provided thereon, so that the visual component connecting plate 50 is fixedly connected between the two light source mounting plates 30.

[0040] like Figure 4 As shown, in order to reduce the overall weight of the clamping structure of the front-end visual component of the robotic arm of the embodiment of the present application, a hollow structure 33 is also provided on the light source mounting plate 30. The hollow structure 33 can be used for routing light source lines or cables, which greatly reduces its weight without affecting the overall strength of the light source mounting plate 30.

[0041] like Figure 2 As shown, the C-shaped arched portion of the camera pressure plate 20 is also provided with a mounting hole 22, and a mounting hole is provided at a corresponding position of the camera 90; the C-shaped arched portion is inserted into the mounting hole 22 through a mounting piece, thereby fixing the camera 90 to the camera pressure plate 20.

[0042] The first plate surface of the light source mounting plate 30 is also provided with at least two connecting holes, through which the industrial light source is fixedly connected.

[0043] As shown in Figure 7 The non-connecting area of the visual assembly connecting plate 50 is provided with a hollow structure 51 to reduce the overall weight.

[0044] The above components can be made of metal materials such as stainless steel and aluminum alloy.

[0045] The clamping structure of the mechanical arm front-end visual assembly of the embodiment can quickly realize installation and disassembly, greatly improving the detection efficiency. The camera mounting plate supports the installation of multiple industrial cameras with different specifications, increases the focal length of the pictures that can be taken during detection, has strong applicability and versatility, and is more widely and flexibly used in use scenarios. Moreover, the design of the embodiment places the camera in the center of the industrial light source, which can avoid blocking the light source during actual use and ensure that the visual assembly has sufficient and good light during work. The design of the non-cooperating components is subtractively processed, which reduces the weight of the entire structure, ensures portability, and also maximizes the bearing requirements of the mechanical arm.

[0046] The above is only an embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A clamping structure for a front-end visual component of a robotic arm, characterized in that: The clamping structure includes a camera mounting plate, a camera pressure plate, a light source mounting plate, a visual acquisition portion, a protective cover mounting plate and a clamping cover, wherein: A camera mounting plate, wherein a first side surface of the camera mounting plate is provided with a mounting hole, and a camera can be mounted on the first side surface of the camera mounting plate through the mounting hole and a mounting member; The camera pressure plate is a C-shaped plate, with both ends of the C-shape fixed to the first side surface of the camera mounting plate, and the arched portion of the C-shape covering the camera to support and protect the camera; Two light source mounting plates are provided, wherein a connection hole for connecting to the camera mounting plate is provided on a first plate surface of the light source mounting plate; a connection hole for connecting to the visual acquisition unit is provided on a first side surface of the light source mounting plate, and a connection hole for connecting to the protective cover mounting plate is provided on a second side surface of the light source mounting plate; the second side surface and the third side surface of the camera mounting plate are respectively fixed to the first plate surface of the light source mounting plate; wherein the first side surface and the second side surface of the light source mounting plate are opposite to each other, and the second side surface and the third side surface of the camera mounting plate are opposite to each other; The protective cover mounting plate is a U-shaped plate, one side of which is fixedly connected to the second side of the light source mounting plate through a connecting member and a connecting hole on the second side of the light source mounting plate; The vision collection portion is a circular ring-shaped structure, one side of which is mounted on the first side of the light source mounting plate through a connection hole in the first side of the light source mounting plate, so that the camera lens is located in the middle of the circular ring of the vision collection portion, and the normal of the camera lens is parallel to the central axis of the vision collection portion; The clamping cover is a rectangular structure with a cylindrical storage space inside. The storage space is exposed at the first end face of the clamping cover and has a circular opening that matches the circular cross-section of the visual acquisition part. The storage space can at least accommodate a structure formed by connecting a camera mounting plate, a camera pressure plate, a light source mounting plate, a visual acquisition part, a protective cover mounting plate and the clamping cover, and make the circular opening consistent with the center of the circular cross-section of the visual acquisition part.

2. The clamping structure according to claim 1, characterized in that: The clamping structure further comprises: The visual component connecting plate has connecting holes on its first side and second side respectively, and the first side and second side of the visual component connecting plate are respectively connected to the first plate side of the light source mounting plate through the connecting holes; the third side of the visual component connecting plate is provided with a connecting hole for connecting to the operating robot arm.

3. The clamping structure according to claim 1, characterized in that: The light source mounting plate is further provided with a hollow structure, and the hollow structure can be used for routing light source lines or cable lines.

4. The clamping structure according to claim 1, characterized in that: The C-shaped arched portion of the camera pressure plate is also provided with a mounting hole, and a mounting hole is provided at a corresponding position of the camera; the C-shaped arched portion is inserted into the mounting hole through a mounting piece to fix the camera to the camera pressure plate.

5. The clamping structure according to claim 1, characterized in that: At least two connection holes are also formed on the first plate surface of the light source mounting plate, and the light source mounting plate is fixedly connected to the industrial light source through the at least two connection holes.

6. The clamping structure according to claim 2, characterized in that: A hollow structure is provided at the non-connection area of ​​the visual component connecting plate.

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