Collaborative robot and visual shooting system thereof

Abstract

The utility model relates to a collaborative robot and a visual shooting system thereof. The visual shooting system comprises: a housing; the camera mounting plate is positioned in the shell and is fixedly connected with the shell; the camera part is fixedly mounted on the camera mounting plate, and a lens hole is formed in one side of the camera part; one end of the lens is located in the lens hole, and the lens can move relative to the lens hole in the first direction; the lens sleeve sleeves and is fixed on the periphery of the lens and is positioned outside the lens hole; the focusing mechanism comprises a mounting frame, a worm, a worm gear and a knob, the mounting frame is fixedly connected with the camera mounting plate, the worm gear is rotatably mounted on the mounting frame around the axis in the first direction, the worm gear is in threaded transmission fit with the lens sleeve, one end of the knob is coaxially connected with the worm, and the other end of the knob extends out of the shell. The worm gear is directly in threaded connection with the lens sleeve, thereby reducing the transmission gap. When the collaborative robot vibrates, the risk that the lens slightly rotates or shakes is reduced, and the focusing effect is improved.

Description

Technical Field

[0001] This application relates to the field of robotic equipment technology, and in particular to a collaborative robot and its vision imaging system. Background Technology

[0002] Collaborative robots require guidance from a vision-based imaging system during operation. This system typically includes a housing, camera module, lens, and focusing mechanism. For different application scenarios, such as the size and distance of the object being photographed, the focusing mechanism adjusts the lens's focal length to achieve dynamic focusing based on requirements.

[0003] In related technologies, focusing mechanisms often involve numerous transmission components, requiring multiple components to sequentially drive the lens for focusing, which easily accumulates significant transmission backlash. When a collaborative robot is handling a material or vibrates during operation, this accumulated backlash can cause slight rotation or wobbling of the lens, affecting focusing performance. For example, in CN116619448A, the focusing mechanism uses a worm gear driving a worm wheel, which in turn drives a rotating shaft. This shaft then drives a first gear coaxially connected to the worm gear, which in turn drives a second gear connected to the lens housing, thus causing the lens to extend or retract. The presence of a rotating shaft and two gears between the worm gear and the lens housing easily leads to accumulated transmission backlash. Utility Model Content

[0004] Therefore, it is necessary to address the technical problem that the focusing mechanism of the vision shooting system in the relevant technology has many transmission components, which easily leads to the accumulation of a large amount of transmission backlash, and to provide a collaborative robot and its vision shooting system.

[0005] A visual imaging system for collaborative robots, comprising:

[0006] case;

[0007] A camera mounting plate is located inside the housing and is fixedly connected to the housing;

[0008] A camera component, which is fixedly mounted on the camera mounting plate, has a lens hole on one side;

[0009] A lens, one end of which is located inside the lens aperture, and the lens is movable relative to the lens aperture in a first direction along the axial direction of the lens aperture;

[0010] A lens cover, which is fitted and fixed to the outer periphery of the lens and located outside the lens aperture;

[0011] The focusing mechanism includes a mounting bracket, a worm gear, a worm wheel, and a knob. The mounting bracket is fixedly connected to the camera mounting plate. The worm wheel is rotatably mounted on the mounting bracket about an axis in a first direction. The worm gear is rotatably mounted on the mounting bracket about an axis in a second direction. The worm gear meshes with the worm wheel, and the worm wheel is threadedly engaged with the lens sleeve. One end of the knob is coaxially connected to the worm gear, and the other end of the knob extends out of the housing. The second direction is perpendicular to the first direction.

[0012] In one embodiment, the outer peripheral surface of the lens is threadedly engaged with the wall of the lens hole.

[0013] In one embodiment, the inner surface of the lens cover has a first stepped surface facing the camera component along the first direction; one end of the camera component near the lens cover along the first direction is used to block the first stepped surface.

[0014] In one embodiment, the focusing mechanism further includes a cover plate located on the side of the worm gear facing away from the camera component along the first direction, and the cover plate is fixedly connected to the worm gear;

[0015] The worm gear has a through hole extending circumferentially; the cover plate protrudes radially inward from the inner circumferential surface of the worm gear;

[0016] The outer surface of the lens cover has a second stepped surface facing away from the camera component along the first direction, and the second stepped surface is opposite to the portion of the cover plate that protrudes from the inner circumferential surface of the worm gear;

[0017] The portion of the cover plate that protrudes from the inner circumferential surface of the worm gear is used to stop the second step surface.

[0018] In one embodiment, the worm gear includes a toothed section and a connecting section; the toothed section and the connecting section are connected, and the connecting section is located on the side of the toothed section away from the camera component; the toothed section meshes with the worm; the inner circumferential surface of the connecting section is threadedly connected to the outer circumferential surface of the lens sleeve.

[0019] In one embodiment, the mounting bracket includes a support sleeve and two support platforms, the two support platforms being fixedly connected to the two ends of the support sleeve along a third direction;

[0020] Two support platforms are fixedly connected to the camera mounting plate at one end along the first direction; the worm gear is rotatably mounted on the support sleeve, and the worm is rotatably mounted on one of the support platforms; the first direction and the second direction are respectively perpendicular to the third direction.

[0021] In one embodiment, the outer peripheral surface of the worm gear and the inner peripheral surface of the support sleeve are rotatably connected by a bearing.

[0022] In one embodiment, the inner surface of the support sleeve has a third stepped surface facing the camera component along the first direction, and the end of the bearing away from the camera component is supported on the third stepped surface.

[0023] In one embodiment, the outer surface of the lens has a fourth stepped surface, the fourth stepped surface facing the camera component along the first direction, and the end of the lens sleeve away from the camera component abuts against or is spaced from the fourth stepped surface.

[0024] A collaborative robot, characterized in that it includes a visual imaging system as described in any one of the above embodiments.

[0025] In the aforementioned collaborative robot and its vision imaging system, a knob can be rotated to adjust the lens focus, causing the worm gear to rotate synchronously. Since the worm gear meshes with a worm wheel, its rotation drives the worm wheel to rotate. Because the worm wheel is rotatably mounted on the mounting bracket around an axis in a first direction, it can rotate around this axis but cannot move along that direction. Therefore, when the worm gear rotates, it drives the worm wheel to rotate, which in turn drives the lens sleeve to move along the first direction via a threaded transmission. This means the lens, which is fixedly connected to the lens sleeve, moves along the first direction, thereby adjusting the lens focus. Thus, in the vision imaging system of this embodiment, the worm wheel is directly threaded to the lens sleeve, eliminating the need for gears and shafts between the worm wheel and the lens sleeve, thereby reducing transmission backlash. This reduces the risk of slight lens rotation or shaking during handling or operation of the collaborative robot, improving focusing performance.

[0026] Moreover, since there is no need to install gears and shafts between the worm gear and the lens cover, the structure of the focusing mechanism is simplified, the assembly difficulty is reduced, and the material and production costs are lower, resulting in good economic benefits. Attached Figure Description

[0027] Figure 1 This is a partial cross-sectional view of a vision imaging system according to one embodiment.

[0028] Figure 2 This is a partial sectional view of the connection structure of a camera component, lens, and focusing mechanism according to one embodiment.

[0029] Figure 3 for Figure 2 A schematic diagram of the lens cover structure.

[0030] Figure 4 for Figure 3 Another perspective view from the lens cover.

[0031] Figure 5for Figure 2 A schematic diagram of the worm gear structure.

[0032] Figure 6 for Figure 2 A schematic diagram of the structure of the lens.

[0033] Figure 7 This is a schematic diagram of the mounting bracket in one embodiment.

[0034] Explanation of reference numerals in the attached figures:

[0035] ZZ', First direction; XX', Second direction; YY', Third direction;

[0036] 100. Housing; 110. Light source protective plate;

[0037] 200. Camera mounting plate;

[0038] 300. Camera parts; 301. Lens aperture;

[0039] 400. Lens; 410. Fourth step surface;

[0040] 500. Lens cover; 511. First step surface; 512. Second step surface;

[0041] 610. Mounting bracket; 611. Support sleeve; 611a. Third step surface; 612. Support platform; 612a. Worm mounting hole; 620. Worm; 630. Worm wheel; 631. Gear tooth section; 632. Connecting section; 640. Cover plate; 650. Fastener; 660. Bearing;

[0042] 700. Light source. Detailed Implementation

[0043] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0044] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0045] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0046] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0047] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0048] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0049] Please refer to Figure 1 Combination Figure 2 One embodiment of this application provides a visual imaging system for a collaborative robot. The visual imaging system includes: a housing 100, a camera mounting plate 200, a camera component 300, a lens 400, and a focusing mechanism.

[0050] The camera mounting plate 200 is located inside the housing 100 and is fixedly connected to the housing 100.

[0051] Both the camera component 300 and the lens 400 are located within the housing 100. The camera component 300 is fixedly mounted on the camera mounting plate 200. A lens hole 301 is provided on one side of the camera component 300.

[0052] One end of the lens 400 is located inside the lens hole 301, and the other end extends out of the lens hole 301. The lens 400 can move relative to the lens hole 301 along a first direction ZZ'. The first direction ZZ' is along the axial direction of the lens hole 301, that is, along the axial direction of the lens 400.

[0053] The lens sleeve 500 is fitted and fixed to the outer periphery of the lens 400 and located outside the lens hole 301. That is, the lens sleeve 500 is fitted on the part of the lens 400 that is outside the lens hole 301.

[0054] The focusing mechanism includes a mounting bracket 610, a worm gear 620, a worm wheel 630, and a knob. The mounting bracket 610 is fixedly connected to the camera mounting plate 200. The worm wheel 630 is rotatably mounted on the mounting bracket 610 about an axis in a first direction ZZ'. The worm gear 620 is rotatably mounted on the mounting bracket 610 about an axis in a second direction XX'. The worm gear 620 meshes with the worm wheel 630, and the worm wheel 630 is threadedly connected to the lens sleeve 500. One end of the knob is coaxially connected to the worm gear 620, and the other end extends out of the housing 100. Specifically, the worm wheel 630 has an internal thread, and the lens sleeve 500 has an external thread. The internal thread connects with the external thread, thereby achieving a threaded connection between the two. The second direction XX' is perpendicular to the first direction ZZ'.

[0055] In the aforementioned visual imaging system, when adjusting the focal length of the lens 400, a knob can be rotated, which in turn drives the worm gear 620 to rotate synchronously. Since the worm gear 620 meshes with the worm wheel 630, the rotation of the worm gear 620 drives the worm wheel 630 to rotate. Because the worm wheel 630 is rotatably mounted on the mounting bracket 610 around the axis of the first direction ZZ', it can rotate around the axis of the first direction ZZ' but cannot move along the first direction ZZ'. Therefore, when the worm gear 620 rotates, driving the worm wheel 630 to rotate, the worm wheel 630 can drive the lens sleeve 500 to move along the first direction ZZ' via threaded transmission, that is, drive the lens 400, which is fixedly connected to the lens sleeve 500, to move along the first direction ZZ', thereby driving the lens 400 to adjust its focal length. Thus, in the visual imaging system of this embodiment, the worm wheel 630 is directly threadedly connected to the lens sleeve 500, eliminating the need for gears and shafts or other transmission components between the worm wheel 630 and the lens sleeve 500, thereby reducing transmission clearance. When a collaborative robot is handling or vibrating during operation, the risk of slight lens rotation or shaking is reduced, thus improving focusing performance.

[0056] Moreover, since there is no need to install gears and shafts between the worm gear 630 and the lens sleeve 500, the structure of the focusing mechanism is simplified, the assembly difficulty is reduced, and the material and production costs are lower, resulting in good economic benefits.

[0057] In one embodiment, the outer peripheral surface of the lens 400 is threadedly connected to the wall of the lens hole 301. Specifically, the outer peripheral surface of the lens 400 has an external thread, and the wall of the lens hole 301 has an internal thread. The internal thread connects with the external thread, thereby achieving a threaded connection between the two.

[0058] When the worm gear 630 rotates, it drives the lens sleeve 500 to rotate around the axis of the first direction ZZ' via threaded transmission, while the lens sleeve 500 moves along the first direction ZZ'. During this process, the lens 400 and the lens sleeve 500 move synchronously (i.e., synchronously rotate and synchronously move along the first direction ZZ'). During the rotation and movement of the lens 400 along the first direction ZZ', since the outer peripheral surface of the lens 400 is threadedly connected to the wall of the lens hole 301, the movement of the lens 400 can be further constrained, making the focusing process of the lens 400 stable. At the same time, the screw rotation between the lens 400 and the wall of the lens hole 301 allows the lens 400 to move along the first direction ZZ' without affecting the focusing of the lens 400.

[0059] Understandably, the external thread of lens 400, the internal thread of the hole wall of lens hole 301, the internal thread of worm gear 630, and the external thread of lens sleeve 500 all have the same direction of rotation and the same pitch.

[0060] In other embodiments, the lens 400 and the lens hole 301 may also be connected without threads, as long as the lens hole 301 allows the lens 400 to move along the first direction ZZ'.

[0061] Please refer to Figure 2 and Figure 3 In one embodiment, the inner surface of the lens sleeve 500 has a first stepped surface 511 facing the camera component 300 along a first direction ZZ'. One end of the camera component 300 near the lens sleeve 500 along the first direction ZZ' serves to stop the first stepped surface 511. Understandably, the first stepped surface 511 surrounds the lens sleeve 500 circumferentially, forming a ring.

[0062] During the focusing process of lens 400, when lens sleeve 500 moves towards camera component 300 and reaches camera component 300, and the first step surface 511 abuts against the end of camera component 300 near the first step surface 511 along the first direction ZZ', that is, the end of camera component 300 near lens sleeve 500 along the first direction ZZ' stops the first step surface 511, thereby limiting the extreme position of lens 400 when focusing in the direction of entering lens hole 301.

[0063] Please refer to Figure 1 and Figure 2 In one embodiment, the focusing mechanism further includes a cover plate 640, which is located on the side of the worm gear 630 facing away from the camera component 300 along the first direction ZZ', and the cover plate 640 is fixedly connected to the worm gear 630. Specifically, the cover plate 640 and the worm gear 630 can be fixedly connected by a fastener 650. The fastener 650 can be, for example, a bolt. The worm gear 630 has a through hole extending axially, that is, the worm gear 630 is a hollow structure. The cover plate 640 protrudes radially inward from the inner circumferential surface of the worm gear 630. The portion of the cover plate 640 protruding from the inner circumferential surface of the worm gear 630 forms an annular boss relative to the worm gear 630.

[0064] refer to Figure 4 Combination Figure 2 The outer surface of the lens cover 500 has a second stepped surface 512 facing away from the camera component 300 along the first direction ZZ'. The second stepped surface 512 is opposite to the portion of the cover plate 640 that protrudes from the worm gear 630, that is, the second stepped surface 512 is opposite to the aforementioned annular boss. Understandably, the second stepped surface 512 surrounds the lens cover 500 in a ring shape.

[0065] The portion of the cover plate 640 that protrudes from the worm gear 630 (i.e., the aforementioned annular boss) is used to stop the second step surface 512.

[0066] During the focusing process of lens 400, when lens sleeve 500 moves away from camera component 300 to cover plate 640, and the second step surface 512 abuts against the part of cover plate 640 protruding from the inner circumferential surface of worm gear 630 (i.e. the aforementioned annular boss), the part of cover plate 640 protruding from worm gear 630 (i.e. the aforementioned annular boss) stops the second step surface 512, thereby limiting the extreme position of lens 400 when focusing away from camera component 300.

[0067] Please refer to Figure 5 In one embodiment, the worm gear 630 includes a toothed section 631 and a connecting section 632. The toothed section 631 and the connecting section 632 are connected. The toothed section 631 and the connecting section 632 may be an integrally formed structure. The connecting section 632 is located on the side of the toothed section 631 away from the camera component 300. The outer periphery of the toothed section 631 has the teeth of the worm gear for meshing with the worm 620. The inner peripheral surface of the connecting section 632 is threadedly connected to the outer peripheral surface of the lens sleeve 500. That is, the inner peripheral surface of the connecting section 632 has internal threads.

[0068] In one embodiment, the cover plate 640 is located on the side of the connecting segment 632 away from the toothed segment 631 and is fixedly connected to the connecting segment 632 by fasteners 650. The cover plate 640 protrudes from the inner circumferential surface of the connecting segment 632.

[0069] Please refer to Figure 6 In one embodiment, the outer surface of the lens 400 has a fourth stepped surface 410, which surrounds the lens 400 in a ring shape. The fourth stepped surface 410 faces the camera component 300 along a first direction ZZ'. One end of the lens sleeve 500 away from the camera component 300 abuts against the fourth stepped surface 410, or there is a gap between the end of the lens sleeve 500 away from the camera component 300 and the fourth stepped surface 410.

[0070] When actually assembling the lens 400 and lens sleeve 500, they can be fixed together using bolts or adhesive. The focusing range varies depending on the distance between the end of the lens sleeve 500 furthest from the camera component 300 and the fourth stepped surface 410. Therefore, when assembling the lens 400 and lens sleeve 500, the distance between the end of the lens sleeve 500 furthest from the camera component 300 and the fourth stepped surface 410 can be set according to the required focusing range. Specifically, the end of the lens sleeve 500 furthest from the camera component 300 can be in contact with the fourth stepped surface 410, or there can be a gap between the end of the lens sleeve 500 furthest from the camera component 300 and the fourth stepped surface 410; the size of the gap can be set according to the required focusing range.

[0071] Please refer to Figure 7In one embodiment, the mounting bracket 610 includes a support sleeve 611 and two support platforms 612, which are respectively fixedly connected to both ends of the support sleeve 611 along a third direction YY'. One end of each support platform 612 along a first direction ZZ' is fixedly connected to a camera mounting plate 200. A worm gear 630 is rotatably mounted on the support sleeve 611, and a worm 620 is rotatably mounted on one of the support platforms 612. The second direction XX' and the first direction ZZ' are perpendicular to the third direction YY'.

[0072] The worm gear 620's axial direction is along the second direction XX'. Please refer to... Figure 7 One of the support platforms 612 is provided with two worm gear mounting holes 612a, and the two ends of the worm gear 620 are rotatably connected to the support platform 612 through the two worm gear mounting holes 612a.

[0073] Please refer to Figure 1 and Figure 2 In one embodiment, the outer peripheral surface of the worm gear 630 and the inner peripheral surface of the support sleeve 611 are rotatably connected by a bearing 660.

[0074] Specifically, the worm gear 630 includes a toothed section 631 and a connecting section 632. The toothed section 631 and the connecting section 632 are connected. The toothed section 631 and the connecting section 632 can be integrally formed. The connecting section 632 is located on the side of the toothed section 631 away from the camera component 300. The outer peripheral surface of the connecting section 632 is rotatably connected to the inner peripheral surface of the support sleeve 611 through a bearing 660. That is, the worm gear 630 is rotatably connected to the bearing 660 through the connecting section 632, thereby facilitating the smooth rotation of the worm gear 630 relative to the support sleeve 611.

[0075] Please refer to Figure 7 In one embodiment, the inner surface of the support sleeve 611 has a third stepped surface 611a facing the camera component 300 along the first direction ZZ', and the bearing 660 is supported on the third stepped surface 611a. Understandably, the third stepped surface 611a extends circumferentially along the support sleeve 611 and is annular.

[0076] Specifically, the end of the bearing 660 away from the camera component 300 is supported on the third step surface 611a, so that the support sleeve 611 can support the bearing 660 and the worm gear 630 through the third step surface 611a.

[0077] Please refer to Figure 1In one embodiment, the visual imaging system further includes a light source 700 and a light source shield 110. One end of the housing 100 has an opening, and the light source shield 110 is fixed to the opening. Light sources 700 are respectively disposed on both radially sides of the lens 400. The light sources 700 are fixedly connected to the light source shield 110. The light source shield 110 is light-transmitting, allowing the light emitted by the light source 700 to escape. The light source shield 110 can be made of a light-transmitting or semi-transmitting material. The light source 700 is used for illumination of the working area of ​​the visual imaging system.

[0078] This application also provides a collaborative robot, including the visual imaging system of any of the above embodiments.

[0079] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A visual imaging system for a collaborative robot, characterized in that, include: case; A camera mounting plate is located inside the housing and is fixedly connected to the housing; A camera component, which is fixedly mounted on the camera mounting plate, has a lens hole on one side; A lens, one end of which is located inside the lens aperture, and the lens is movable relative to the lens aperture in a first direction along the axial direction of the lens aperture; A lens cover, which is fitted and fixed to the outer periphery of the lens and located outside the lens aperture; The focusing mechanism includes a mounting bracket, a worm gear, a worm wheel, and a knob. The mounting bracket is fixedly connected to the camera mounting plate. The worm wheel is rotatably mounted on the mounting bracket about an axis in a first direction. The worm gear is rotatably mounted on the mounting bracket about an axis in a second direction. The worm gear meshes with the worm wheel, and the worm wheel is threadedly engaged with the lens sleeve. One end of the knob is coaxially connected to the worm gear, and the other end of the knob extends out of the housing. The second direction is perpendicular to the first direction.

2. The visual imaging system according to claim 1, characterized in that, The outer peripheral surface of the lens is threadedly engaged with the wall of the lens hole.

3. The visual imaging system according to claim 1, characterized in that, The inner surface of the lens cover has a first stepped surface facing the camera component along the first direction; one end of the camera component near the lens cover along the first direction is used to block the first stepped surface.

4. The visual imaging system according to claim 1, characterized in that, The focusing mechanism further includes a cover plate, which is located on the side of the worm gear facing away from the camera component along the first direction, and the cover plate is fixedly connected to the worm gear; The worm gear has a through hole extending circumferentially; the cover plate protrudes radially inward from the inner circumferential surface of the worm gear; The outer surface of the lens cover has a second stepped surface facing away from the camera component along the first direction, and the second stepped surface is opposite to the portion of the cover plate that protrudes from the inner circumferential surface of the worm gear; The portion of the cover plate that protrudes from the inner circumferential surface of the worm gear is used to stop the second step surface.

5. The visual imaging system according to claim 1, characterized in that, The worm gear includes a toothed section and a connecting section; the toothed section and the connecting section are connected, and the connecting section is located on the side of the toothed section away from the camera component; the toothed section meshes with the worm; the inner circumferential surface of the connecting section is threadedly connected to the outer circumferential surface of the lens sleeve.

6. The visual imaging system according to claim 1, characterized in that, The mounting frame includes a support sleeve and two support platforms, which are respectively fixedly connected to the two ends of the support sleeve in a third direction. Two support platforms are fixedly connected to the camera mounting plate at one end along the first direction; the worm gear is rotatably mounted on the support sleeve, and the worm is rotatably mounted on one of the support platforms; the first direction and the second direction are respectively perpendicular to the third direction.

7. The visual imaging system according to claim 6, characterized in that, The outer circumferential surface of the worm gear is rotatably connected to the inner circumferential surface of the support sleeve via a bearing.

8. The visual imaging system according to claim 7, characterized in that, The inner surface of the support sleeve has a third stepped surface facing the camera component along the first direction, and the end of the bearing away from the camera component is supported on the third stepped surface.

9. The visual imaging system according to claim 1, characterized in that, The outer surface of the lens has a fourth stepped surface, which faces the camera component along the first direction. The end of the lens sleeve away from the camera component abuts against or is spaced from the fourth stepped surface.

10. A collaborative robot, characterized in that, The visual imaging system included in any one of claims 1 to 9.

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