Six-degree-of-freedom adjusting device and optical-mechanical system

Abstract

The utility model relates to the technical field of optics, in particular to a six-degree-of-freedom adjusting device and an optical-mechanical system, and the six-degree-of-freedom adjusting device comprises a first connecting assembly, a second connecting assembly, a third connecting assembly and a fourth connecting assembly which are sequentially connected, the connecting angle of the second connecting assembly relative to the first connecting assembly around the first axis is adjustable; the connecting angle of the third connecting assembly relative to the second connecting assembly around the second axis is adjustable. The fourth connecting assembly is used for mounting a camera, and the connecting angle of the fourth connecting assembly relative to the third connecting assembly around a third axis is adjustable; the extension direction of the first axis, the extension direction of the second axis and the extension direction of the third axis are perpendicular to each other. When the angle and the position of the camera on a certain axis need to be adjusted, bad interference on the angles and the positions of the camera on other axes is avoided, so that the angle adjustment of the camera is facilitated, and the angle adjustment efficiency of the camera is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to optical technology field especially relates to a six degree of freedom's adjusting device and optical machine system. BACKGROUND

[0002] In the optical machine system, the camera is usually set to carry out corresponding visual identification, in order to improve the adaptability of camera, the optical machine system usually still has the related six degree of freedom's adjusting device to adjust the angle of camera.

[0003] The angle adjustment of camera usually includes adjusting its angle on X axis, Y axis and Z axis, wherein, adjusting the angle of camera on X axis refers to adjusting the angle of its rotation around X axis, adjusting the angle of camera on Y refers to adjusting the angle of its rotation around Y, adjusting the angle of camera on Z refers to adjusting the angle of its rotation around Z.

[0004] However, in the prior art, when adjusting the angle of camera on one axis, it is easy to produce adverse interference to the angle of camera on other axis, and further cause the angle adjustment of camera to be complicated and time-consuming. SUMMARY

[0005] The utility model wants to solve the technical problem in prior art, when adjusting the angle of camera on one axis, it is easy to produce adverse interference to the angle of camera on other axis, and provide a six degree of freedom's adjusting device and optical machine system.

[0006] To solve the above technical problem, on the one hand, the utility model embodiment provides a six degree of freedom's adjusting device, including first connecting component, second connecting component, third connecting component and fourth connecting component connected in sequence;

[0007] The connecting angle of second connecting component around first axis relative to first connecting component is adjustable;

[0008] The connecting angle of third connecting component around second axis relative to second connecting component is adjustable;

[0009] Fourth connecting component is used for installing camera, and the connecting angle of fourth connecting component around third axis relative to third connecting component is adjustable;

[0010] The extension direction of first axis, the extension direction of second axis and the extension direction of third axis are perpendicular to each other.

[0011] Optionally, first connecting component includes first connecting piece, second connecting piece and first guide block;

[0012] First connecting piece and second connecting piece are connected;

[0013] The second connecting member is located between the first connecting member and the second connecting assembly along the extension direction of the first axis;

[0014] The second connecting assembly is rotationally connected to the second connecting member about the first axis;

[0015] The second connecting member is movable relative to the first connecting member along the extension direction of the second axis, so that the connecting position of the second connecting member on the first connecting member is adjustable;

[0016] One of the first connecting member and the second connecting member is connected to the first guide block, and the other is provided with a first guide slot, the first guide block and the first guide slot are matched to guide the movement of the second connecting member relative to the first connecting member.

[0017] Optionally, the first connecting assembly further comprises a third connecting member and a second guide block;

[0018] The third connecting member is located between the second connecting member and the second connecting assembly along the extension direction of the first axis;

[0019] The second connecting member is connected to the second connecting assembly through the third connecting member;

[0020] The connecting position of the third connecting member on the second connecting member is adjustable along the extension direction of the third axis;

[0021] One of the second connecting member and the third connecting member is connected to the second guide block, and the other is provided with a second guide slot, the second guide block and the second guide slot are matched to guide the movement of the third connecting member relative to the second connecting member.

[0022] Optionally, the first connecting assembly further comprises a first adjusting unit and a second adjusting unit;

[0023] The first adjusting unit connects the first connecting member and the second connecting member, and is used for adjusting the position of the second connecting member relative to the first connecting member along the extension direction of the second axis;

[0024] The second adjusting unit connects the second connecting member and the third connecting member, and is used for adjusting the position of the third connecting member relative to the second connecting member along the extension direction of the third axis.

[0025] Optionally, the first adjusting unit comprises a first connecting seat and a first adjusting member; the first connecting seat is connected to the first connecting member, the first adjusting member connects the first connecting seat and the second connecting member, and is threadedly matched with the second connecting member; the first adjusting member can rotate about its axis relative to the first connecting seat to adjust the depth of the threadedly matched first adjusting member and the second connecting member; the axis of the first adjusting member is parallel to the extension direction of the second axis;

[0026] and / or,

[0027] The second adjusting unit comprises a second connecting seat and a second adjusting member; the second connecting seat is connected to the second connecting member, the second adjusting member connects the second connecting seat and the second connecting member, and is threadedly matched with the second connecting member; the second adjusting member can rotate about its axis relative to the second connecting seat to adjust the depth of the threadedly matched second adjusting member and the second connecting member; the axis of the second adjusting member is parallel to the extension direction of the third axis.

[0028] Optionally, the second connecting assembly comprises a fourth connecting member, a fifth connecting member and a sixth connecting member;

[0029] The fourth connecting member is connected to the first connecting assembly, and can rotate about the first axis relative to the first connecting assembly;

[0030] The fifth connecting member and the sixth connecting member are arranged on the fourth connecting member along the extension direction of the second axis;

[0031] The third connecting assembly is arranged between the fifth connecting member and the sixth connecting member, and rotates the fifth connecting member and the sixth connecting member about the second axis, respectively.

[0032] Optionally, the third connecting assembly comprises a seventh connecting member and an eighth connecting member;

[0033] The seventh connecting member is connected to the second connecting assembly, and can rotate about the second axis relative to the second connecting assembly;

[0034] The eighth connecting member connects the fourth connecting assembly, and the fourth connecting assembly can rotate about the third axis relative to the eighth connecting member;

[0035] The third connecting assembly further comprises a third adjusting unit, the third adjusting unit connects the seventh connecting member and the eighth connecting member, and is used for adjusting the position of the eighth connecting member along the extension direction of the first axis relative to the seventh connecting member.

[0036] Optionally, the fourth connecting component is provided with a first mounting hole penetrating the fourth connecting component along the extension direction of the third axis;

[0037] The third connecting component is provided with a second mounting hole penetrating the third connecting component along the extension direction of the third axis;

[0038] The second mounting hole and the first mounting hole are in communication to form a mounting cavity for accommodating the camera;

[0039] The fourth connecting component is provided with a plurality of arc-shaped protrusions on one of the surface of the fourth connecting component close to the third connecting component and the surface of the third connecting component close to the fourth connecting component, and a plurality of arc-shaped grooves on the other;

[0040] The arc-shaped protrusions have first arc-shaped surfaces, and the arc-shaped grooves have second arc-shaped surfaces;

[0041] The first arc-shaped surfaces of the arc-shaped protrusions are located on a first circumferential surface, and the axis of the first circumferential surface is the third axis;

[0042] The second arc-shaped surfaces of the arc-shaped grooves are located on a second circumferential surface, and the axis of the second circumferential surface is the third axis;

[0043] Each of the arc-shaped grooves is in communication with the mounting cavity;

[0044] The arc-shaped protrusions and the arc-shaped grooves are one-to-one correspondingly inserted, and the first arc-shaped surface of each arc-shaped protrusion and the second arc-shaped surface of the arc-shaped groove corresponding thereto are attached.

[0045] Optionally, the six-degree-of-freedom adjusting device further comprises a first adjusting component for adjusting the angle of rotation of the second connecting component around the first axis; the first adjusting component comprises a first adjusting member and a second adjusting member; one of the first connecting component and the second connecting component is threadedly connected with the first adjusting member and the second adjusting member, and the other is respectively abutted on the first adjusting member and the second adjusting member on the opposite sides thereof; the depth of the threadedly connected first adjusting member and second adjusting member with the first connecting component or the second connecting component is adjustable to drive the second connecting component to rotate around the first axis;

[0046] and / or,

[0047] The six-degree-of-freedom adjusting device further comprises a second adjusting assembly for adjusting the angle of rotation of the third connecting assembly around the second axis; the second adjusting assembly comprises a third adjusting member and a fourth adjusting member; one of the second connecting assembly and the third connecting assembly is threadedly connected with the third adjusting member and the fourth adjusting member, and the other is respectively abutted against the third adjusting member and the fourth adjusting member on two opposite sides; the third adjusting member and the fourth adjusting member are threadedly connected with the second connecting assembly or the third connecting assembly at an adjustable depth to drive the third connecting assembly to rotate around the second axis.

[0048] and / or,

[0049] The six-degree-of-freedom adjusting device further comprises a third adjusting assembly for adjusting the angle of rotation of the fourth connecting assembly around the second axis; the third adjusting assembly comprises a fifth adjusting member and a sixth adjusting member; the fifth adjusting member and the sixth adjusting member are threadedly connected with the second connecting assembly and can be respectively abutted against two opposite sides of the second connecting assembly; the fifth adjusting member and the sixth adjusting member are threadedly connected with the third connecting assembly or the fourth connecting assembly at an adjustable depth to drive the fourth connecting assembly to rotate around the third axis.

[0050] In another aspect, the utility model further provides a light machine system, including camera and above-mentioned six-degree-of-freedom adjusting device, camera is installed on fourth connecting assembly.

[0051] The first connecting assembly can be used as a reference part, which can be installed on a corresponding support object or directly installed on the ground. When the angle of the camera on the first axis needs to be adjusted, only the second connecting assembly needs to be driven to rotate around the first axis relative to the first connecting assembly. When the angle of the camera on the second axis needs to be adjusted, only the third connecting assembly needs to be driven to rotate around the second axis relative to the third connecting assembly. When the angle of the camera on the third axis needs to be adjusted, only the fourth connecting assembly needs to be driven to rotate around the third axis relative to the third connecting assembly. In this embodiment, when the angle of the camera on a certain axis needs to be adjusted, it does not produce adverse interference on the angle of the camera on other axes, thereby facilitating the angle adjustment of the camera and improving the angle adjustment efficiency of the camera.

[0052] In addition, the first adjusting unit can improve the position adjustment precision of the camera in the extension direction of the second axis, the second adjusting unit can improve the position adjustment precision of the camera in the extension direction of the third axis, and the third adjusting unit can improve the position adjustment precision of the camera in the extension direction of the first axis. Combined with the above-mentioned first connecting assembly, second connecting assembly and third connecting assembly, the position and angle of the camera are adjusted from six degrees of freedom. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 is a use state schematic diagram of the six-degree-of-freedom adjusting device provided by an embodiment of the present application;

[0054] Figure 2 is a first side view schematic diagram of the whole six-degree-of-freedom adjusting device provided by an embodiment of the present application;

[0055] Figure 3 is a second side view schematic diagram of the whole six-degree-of-freedom adjusting device provided by an embodiment of the present application;

[0056] Figure 4 is an explosion schematic diagram of the first connecting assembly and the second connecting assembly of the six-degree-of-freedom adjusting device provided by an embodiment of the present application;

[0057] Figure 5 is an explosion schematic diagram of the eighth connecting piece and the ninth connecting piece of the six-degree-of-freedom adjusting device provided by an embodiment of the present application;

[0058] Figure 6 is an explosion schematic diagram of the third connecting assembly and the fourth connecting assembly of the six-degree-of-freedom adjusting device provided by an embodiment of the present application.

[0059] The reference signs in the specification are as follows:

[0060] 11, first connecting piece; 111, first guide groove; 112, first guide block; 12, second connecting piece; 121, second guide groove; 122, first guide hole; 123, first fixing bolt; 124, second connecting seat; 13, third connecting piece; 131, second guide hole; 132, second fixing bolt; 133, second guide block; 134, first notch; 135, second notch; 136, first shaft hole; 137, second adjusting piece; 14, first adjusting piece; 141, stud; 142, nut; 143, convex ring; 15, first connecting seat; 151, mounting groove; 16, first angle adjusting piece; 17, second angle adjusting piece; 21, fourth connecting piece; 211, first convex part; 212, second convex part; 213, third guide hole; 214, third fixing bolt; 215, second shaft hole; 22, fifth connecting piece; 221, adjusting hole; 23, sixth connecting piece; 31, seventh connecting piece; 311, convex block; 312, first through hole; 32, eighth connecting piece; 321, fourth guide hole; 322, fourth fixing bolt; 323, second through hole; 324, arc-shaped groove; 325, third convex part; 33, second mounting hole; 35, third connecting seat; 36, third adjusting piece; 37, third angle adjusting piece; 38, fourth angle adjusting piece; 41, ninth connecting piece; 411, first mounting hole; 412, arc-shaped protrusion; 413, third notch; 414, fifth angle adjusting piece; 415, sixth angle adjusting piece; 42, tenth connecting piece; 51, first rotating shaft; 52, second rotating shaft; 61, adjusting guide hole; 62, adjusting bolt; 9, camera. DETAILED DESCRIPTION

[0061] In order to make the technical problems, technical solutions and beneficial effects solved by the utility model clearer and more apparent, the utility model will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the utility model and do not limit the utility model.

[0062] Figures 1 to 6 The utility model embodiment provides a kind of six degrees of freedom adjusting device, including sequentially connected first connecting assembly, second connecting assembly, third connecting assembly and fourth connecting assembly;The connecting angle of second connecting assembly around first axis is adjustable relative to first connecting assembly;The connecting angle of third connecting assembly around second axis is adjustable relative to second connecting assembly;Fourth connecting assembly is used to install camera 9, and the connecting angle of fourth connecting assembly around third axis is adjustable relative to third connecting assembly;The extension direction of first axis, the extension direction of second axis and the extension direction of third axis are perpendicular two by two.

[0063] In the embodiment, the six-degree-of-freedom adjusting device can perform six-degree-of-freedom adjustment, that is, the six-degree-of-freedom adjusting device can adjust the connection angle of the camera on the first axis (first degree of freedom) through the second connecting assembly relative to the first connecting assembly, adjust the connection angle of the camera on the second axis (second degree of freedom) through the second connecting assembly and the third connecting assembly, and adjust the connection angle of the camera on the third axis (third degree of freedom) through the third connecting assembly and the fourth connecting assembly, and further perform translation on the first axis, the second axis, and the third axis through the first adjusting unit, the second adjusting unit, and the third adjusting unit to be described later, thereby realizing six-degree-of-freedom adjustment. Details of how to adjust will be described later.

[0064] In Figure 1 In the direction shown, the first axis is parallel to the X-axis direction, the second axis is parallel to the Y-axis direction, and the third axis is parallel to the Z-axis direction. In addition, after assembly, the optical axis of the camera can be a straight line parallel to the Z-axis. In use, the first connecting assembly can serve as a reference part, which can be mounted on a corresponding support object or can be directly mounted on the ground. When it is necessary to adjust the angle of the camera on the first axis, it is only necessary to drive the second connecting assembly to rotate relative to the first connecting assembly about the first axis; when it is necessary to adjust the angle of the camera on the second axis, it is only necessary to drive the third connecting assembly to rotate relative to the third connecting assembly about the second axis; and when it is necessary to adjust the angle of the camera on the third axis, it is only necessary to drive the fourth connecting assembly to rotate relative to the third connecting assembly about the third axis. That is, in the embodiment, when it is necessary to adjust the angle of the camera on a certain axis, no adverse interference is caused to the angle of the camera on other axes, thereby facilitating the angle adjustment of the camera and being conducive to improving the angle adjustment efficiency of the camera.

[0065] Thus, the angle adjustment of the embodiment on the first degree of freedom, the second degree of freedom, and the third degree of freedom does not interfere with each other.

[0066] It should be understood that in other examples, the first axis, the second axis, and the third axis can also be other axes parallel to the X-axis, the Y-axis, and the Z-axis, respectively. As an example, the first connecting assembly includes a first connecting piece 11 and a second connecting piece 12; the first connecting piece 11 and the second connecting piece 12 are connected; along the extension direction of the first axis, the second connecting piece 12 is located between the first connecting piece 11 and the second connecting assembly; the second connecting assembly is rotatably connected to the second connecting piece 12 about the first axis; and along the extension direction of the second axis, the second connecting piece can move relative to the first connecting piece, so that the connection position of the second connecting piece on the first connecting piece is adjustable. That is, in the embodiment, through the arrangement of the first connecting assembly, the position adjustment of the camera along the extension direction of the second axis can also be realized, thereby improving the adaptability of the camera to different shooting scenes.

[0067] In addition, connecting the second connecting assembly on the side of the second connecting member away from the first connecting member can make the adjustment parts of the six-degree-of-freedom adjustment device clear in hierarchy and avoid the second connecting assembly from interfering with the position adjustment of the camera along the extension direction of the second axis.

[0068] In an embodiment, the first connecting member 11 is in a plate structure, which can be in a cuboid shape or the like. In addition, the second connecting member 11 can also be in a plate structure, which can also be in a cuboid shape or the like.

[0069] In an embodiment, the first connecting member 11 is provided with a first threaded hole, the second connecting member 12 is provided with a first guide hole 122, the first guide hole 122 is in a strip shape, the length direction of the first guide hole 122 is the same as the extension direction of the second axis, and a first fixing bolt 123 is arranged in the first threaded hole, the first fixing bolt 123 is arranged in the first guide hole 122 and screwed into the first threaded hole, and the locking and loosening of the first connecting member 11 and the second connecting member 12 can be realized by adjusting the depth of the first fixing bolt 123 screwed into the first threaded hole.

[0070] In the embodiment, when the first connecting member 11 and the second connecting member 12 are locked together, the two cannot move relative to each other; when the first connecting member 11 and the second connecting member 12 are loosened, the second connecting member 12 can move linearly relative to the first connecting member 11 along the extension direction of the second axis.

[0071] In addition, when the second connecting member 12 can move linearly relative to the first connecting member 11 along the extension direction of the second axis, the first fixing bolt 123 can be kept in the first guide hole 122 at all times.

[0072] In addition, a plurality of first threaded holes, first guide holes 122 and first fixing bolts 123 are respectively arranged, and the first threaded holes, the first guide holes 122 and the first fixing bolts 123 are one-to-one corresponding. The first fixing bolt 123 is arranged in the corresponding first guide hole 122 and is screwed into the corresponding first threaded hole. In the embodiment, “a plurality of” means more than or equal to two, and the meaning of “a plurality of” is the same in each embodiment, which will not be described hereinafter. Figure 4 In the embodiment, four first threaded holes, four first guide holes 122 and four first fixing bolts 123 are respectively arranged to connect the second connecting member 12 to the first connecting member 11 from four corners of the second connecting member 12.

[0073] In an embodiment, the first connecting assembly further comprises a first guide block 112, one of the first connecting member 11 and the second connecting member 12 is connected with the first guide block 112, and the other is provided with a first guide groove 111, the first guide block 112 cooperates with the first guide groove 111 to guide the movement of the second connecting member 12 relative to the first connecting member 11.

[0074] Specifically, in the embodiment, the first guide groove 111 is arranged on the first connecting member 11, the first guide block 112 is connected with the second connecting member 12, the first guide block 112 is located in the first guide groove 111, the first guide groove 111 extends along the extension direction of the second axis, and the extension length of the first guide groove 111 is greater than the length of the first guide block 112 in the extension direction of the second axis, so that the first guide block 112 can slide in the first guide groove 111 along the extension direction of the second axis, thereby realizing the cooperation between the first guide block 112 and the first guide groove 111 to guide the movement of the second connecting member 12 relative to the first connecting member 11.

[0075] In the embodiment, the first guide block 112 and the second connecting member 12 can be fixedly connected through a bolt.

[0076] Referring to Figure 2 and Figure 3 , as an example, the first connecting assembly further comprises a third connecting member 13, which is located between the second connecting member 12 and the second connecting assembly in the extension direction of the first axis; and the second connecting member 12 connects the second connecting assembly through the third connecting member 13. In the embodiment, the second connecting assembly is rotationally connected with the second connecting member 12 through the third connecting member 13.

[0077] Referring to Figure 3 and Figure 4 , and the specific connection mode of the third connecting member 13 and the second connecting member 12 in the embodiment is as follows: a second threaded hole is arranged on the second connecting member 12, a second guide hole 131 is arranged on the third connecting member 13, a second fixing bolt 132 is arranged on the second threaded hole, the extension direction of the second guide hole 131 is the same as the extension direction of the third axis, the second fixing bolt 132 is screwed into the second threaded hole after passing through the second guide hole 131 on the third connecting member 13, and the second fixing bolt 132 slides along the extension direction of the second guide hole 131 on the third connecting member 13 under the action of an external force, so that the third connecting member 13 and the second connecting member 12 are connected, and the third connecting member 13 can slide relative to the second connecting member 12 in the extension direction of the third axis, thereby realizing the adjustable connection position of the third connecting member 13 on the second connecting member 12 in the extension direction of the third axis.

[0078] The first connecting assembly further comprises a second guide block 133, one of the second connecting member 12 and the third connecting member 13 is connected with the second guide block 133, and the other is provided with a second guide groove 121; the second guide block 133 cooperates with the second guide groove 121 to guide the movement of the third connecting member 13 relative to the second connecting member 12.

[0079] Specifically, the second guide groove 121 is arranged on the second connecting member 12 in the embodiment, the second guide block 133 and the third connecting member 13 are fixed, the second guide block 133 is located in the second guide groove 121, the extending direction of the second guide groove 121 is the same as the extending direction of the third axis, and the extending length of the second guide groove 121 is greater than the length of the second guide block 133 in the extending direction of the third axis, so that the second guide block 133 slides in the second guide groove 121 in the extending direction of the third axis, thereby realizing the cooperation between the second guide block 133 and the second guide groove 121 to guide the movement of the third connecting member 13 relative to the second connecting member 12.

[0080] As an example, the first connecting assembly further comprises a first adjusting unit and a second adjusting unit; the first adjusting unit is connected between the first connecting member 11 and the second connecting member 12, and is used for adjusting the position of the second connecting member 12 relative to the first connecting member 11 in the extending direction of the second axis.

[0081] Specifically, the first adjusting unit comprises a first connecting seat 15 and a first adjusting member 14; the first connecting seat 15 is fixedly connected to the first connecting member 11, and the first adjusting member 14 is connected between the first connecting seat 15 and the second connecting member 12 and is threadedly connected with the second connecting member 12. The first adjusting member 14 can rotate relative to the first connecting seat 15 about the axis thereof to adjust the depth of the thread connection between the first adjusting member 14 and the second connecting member 12; the axis of the first adjusting member 14 is parallel to the extending direction of the second axis. In this way, the accuracy of the position adjustment of the camera in the extending direction of the second axis can be improved. The first adjusting unit can drive the translation of the camera in the extending direction of the second axis, thereby adjusting the position of the camera from the fourth degree of freedom.

[0082] As shown in Figure 4 the first connecting seat 15 is provided with a mounting groove 151, the first adjusting member 14 is arranged in the mounting groove 151, the first adjusting member 14 comprises a stud 141, a nut 142 and a convex ring 143, the nut 142 is arranged at one end of the stud 141, the convex ring 143 is fixed on the stud 141 around the outer wall of the stud 141, the convex ring 143 and the nut 142 are arranged at two sides of the mounting groove 151, the stud 141 between the convex ring 143 and the nut 142 is arranged in the mounting groove 151, and the end of the stud 141 away from the nut 142 is threadedly connected with the second connecting member 12. The first adjusting member 14 can rotate relative to the first connecting seat 15 about the axis thereof to adjust the depth of the thread connection between the first adjusting member 14 and the second connecting member 12; the axis of the first adjusting member 14 is parallel to the extending direction of the second axis.

[0083] As an example, the second adjusting unit connects the second connecting member 12 and the third connecting member 13, and is used to adjust the position of the third connecting member 13 relative to the second connecting member 12 in the extending direction of the third axis. Specifically, the second adjusting unit comprises a second connecting seat 124 connected to the second connecting member 12 and a second adjusting member 137 connected to the second connecting seat 124 and the second connecting member 12 and threadedly engaged with the second connecting member 12; the second adjusting member 137 is capable of rotating about its own axis relative to the second connecting seat 124 to adjust the depth of the thread engagement between the second adjusting member 137 and the second connecting member 12; the axis of the second adjusting member 137 is parallel to the extending direction of the third axis. The adjustment principle of the second adjusting unit is the same as that of the first adjusting unit, which will not be described herein. The second adjusting unit is capable of driving the translation of the camera in the extending direction of the third axis, thereby adjusting the position of the camera from the fifth degree of freedom.

[0084] As an example, the second connecting assembly comprises a fourth connecting member 21, a fifth connecting member 22 and a sixth connecting member 23; the fourth connecting member 21 is connected to the first connecting assembly and is capable of rotating about the first axis relative to the first connecting assembly; the fifth connecting member 22 and the sixth connecting member 23 are arranged on the fourth connecting member 21 along the extending direction of the second axis; the third connecting assembly is arranged between the fifth connecting member 22 and the sixth connecting member 23 and is connected to the fifth connecting member 22 and the sixth connecting member 23 about the second axis, respectively.

[0085] In this embodiment, the fourth connecting member 21, the fifth connecting member 22 and the sixth connecting member 23 are all plate-shaped; the third connecting member 13 is provided with a first shaft hole 136, and the fourth connecting member 21 is provided with a second shaft hole 215; the fourth connecting member 21 and the third connecting member 13 are connected by a first rotating shaft 51, one end of the first rotating shaft 51 is located in the first shaft hole 136, and the other end of the first rotating shaft 51 is located in the second shaft hole 215, so that the fourth connecting member 21 and the third connecting member 13 rotate about the first rotating shaft 51, and at this time, the central axis of the first rotating shaft 51 is coaxial with the first axis. The fifth connecting member 22 and the sixth connecting member 23 are arranged on opposite sides of the fourth connecting member 21. The third connecting assembly and the fifth connecting member 22 are connected by a second rotating shaft 52, and the third connecting assembly and the sixth connecting member 23 are also connected by a second rotating shaft 52, that is, the second rotating shaft 52 is provided with two, one of which realizes the rotating connection between the third connecting assembly and the fifth connecting member 22, and the other of which realizes the rotating connection between the third connecting assembly and the sixth connecting member 23.

[0086] As an example, the six-degree-of-freedom adjustment device further comprises a first adjustment assembly for adjusting the angle of rotation of the second connecting assembly about the first axis; the first adjustment assembly comprises a first angle adjustment member 16 and a second angle adjustment member 17; one of the first connecting assembly and the second connecting assembly is threadedly engaged with the first angle adjustment member 16 and the second angle adjustment member 17, and the other of the first connecting assembly and the second connecting assembly abuts the first angle adjustment member 16 and the second angle adjustment member 17 on opposite sides, respectively; the first angle adjustment member 16 and the second angle adjustment member 17 are threadedly engaged with the first connecting assembly or the second connecting assembly to an adjustable depth, so as to drive the second connecting assembly to rotate about the first axis.

[0087] Specifically, opposite sides of the third connecting member 13 are provided with a first notch 134 and a second notch 135, respectively, and the fourth connecting member 21 is provided with a first protrusion 211 and a second protrusion 212 on opposite sides, respectively, wherein the first protrusion 211 is located in the first notch 134, and the second protrusion 212 is located in the second notch 135. One of the other two sides of the third connecting member 13 is provided with two angle threaded holes, one of which is connected to the first notch 134, and the other of which is connected to the second notch 135, and a second angle adjustment member 17 is arranged in each angle threaded hole. The first angle adjustment member 16 and the second angle adjustment member 17 are both bolts, the first angle adjustment member 16 abuts against the first protrusion 211, and the second angle adjustment member 17 abuts against the second protrusion 212.

[0088] When adjusting the angle, the first angle adjustment member 16 is tightened in the forward direction to make the first protrusion 211 rotate about the first axis, while the second angle adjustment member 17 is loosened in the reverse direction to leave a rotation space for the second protrusion 212. When the rotation angle is appropriate, the forward tightening of the first angle adjustment member 16 is stopped, and the second angle adjustment member 17 is tightened in the forward direction until the second angle adjustment member 17 abuts against the second protrusion 212. At this time, the first angle adjustment member 16 and the second angle adjustment member 17 respectively clamp the fourth connecting member 21 in the counterclockwise and clockwise directions, respectively, to limit the rotation of the fourth connecting member 21. Conversely, the first protrusion 211 and the second protrusion 212 can be controlled to rotate in the above opposite directions.

[0089] In the embodiment, the fourth connecting member 21 is provided with a third guide hole 213, the third connecting member 13 is provided with a third threaded hole, and the third threaded hole is provided with a third fixing bolt 214, the third fixing bolt 214 is arranged in the third guide hole 213 and screwed into the third threaded hole, and when the fourth connecting member 21 rotates relative to the third connecting member 13, the third fixing bolt 214 slides in the third guide hole 213. The third fixing bolt 214, the third guide hole 213 and the third threaded hole are respectively provided with a plurality of ones, each third fixing bolt 214, each third guide hole 213 and each third threaded hole correspond to each other, and the plurality of third fixing bolts 214 are arranged around the first axis.

[0090] As an example, the third connecting assembly includes a seventh connecting member 31 and an eighth connecting member 32; the seventh connecting member 31 is connected with the second connecting assembly and can rotate relative to the second connecting assembly around the second axis. As described above, one side of the seventh connecting member 31 is connected with the fifth connecting member 22 through the first rotating shaft 51, and the other side of the seventh connecting member 31 is connected with the sixth connecting member 23 through the second rotating shaft 52, the first rotating shaft 51 and the second rotating shaft 52 are coaxial, and the first rotating shaft 51 and the second rotating shaft 52 are arranged on opposite sides of the seventh connecting member 31.

[0091] The third connecting assembly further includes a third adjusting unit, the third adjusting unit connects the seventh connecting member 31 and the eighth connecting member 32, and is used for adjusting the position of the eighth connecting member 32 relative to the seventh connecting member 31 along the extension direction of the first axis.

[0092] Specifically, the third adjusting unit includes a third connecting seat 35 and a third adjusting member 36; the third connecting seat 35 is connected to the seventh connecting member 31, the third adjusting member 36 connects the third connecting seat 35 and the eighth connecting member 32, and is threadedly matched with the eighth connecting member 32; the third adjusting member 36 can rotate relative to the third connecting seat 35 around its own axis to adjust the depth of the threadedly matched third adjusting member 36 and the eighth connecting member 32; the axis of the third adjusting member 36 is parallel to the extension direction of the first axis. The third adjusting unit can drive the camera to translate along the extension direction of the first axis, thereby adjusting the camera from the sixth degree of freedom.

[0093] The principle of the third adjusting unit for adjusting the displacement of the eighth connecting member 32 relative to the seventh connecting member 31 along the extension direction of the first axis is the same as that of the first adjusting unit, which will not be described herein.

[0094] The threadedly connected third adjusting member 36 and the eighth connecting member 32 and the fixedly connected third adjusting member 36 and the seventh connecting member 31 can realize the connection of the seventh connecting member 31 and the eighth connecting member 32.

[0095] The six-degree-of-freedom adjusting device further comprises a second adjusting assembly for adjusting the angle of rotation of the third connecting assembly about the second axis; the second adjusting assembly comprises a third angle adjusting member 37 and a fourth angle adjusting member 38; one of the second connecting assembly and the third connecting assembly is threadedly connected with the third angle adjusting member 37 and the fourth angle adjusting member 38, and the other of the second connecting assembly and the third connecting assembly abuts against the third angle adjusting member 37 and the fourth angle adjusting member 38 at opposite sides; the third angle adjusting member 37 and the fourth angle adjusting member 38 are threadedly connected with the second connecting assembly or the third connecting assembly at an adjustable depth, so as to drive the third connecting assembly to rotate about the second axis.

[0096] The fifth connecting member 22 is provided with an adjusting hole 221, the seventh connecting member 31 is provided with a protruding block 311, the protruding block 311 extends into the adjusting hole 221, the adjusting hole 221 is provided with adjusting screw holes at two sides along the third axis, the two adjusting screw holes are connected with the adjusting hole 221, the third angle adjusting member 37 is arranged in one of the adjusting screw holes, and the fourth angle adjusting member 38 is arranged in the other adjusting screw hole. The sixth connecting member 23 is provided with an adjusting guide hole 61, wherein an adjusting bolt 62 is arranged in the adjusting guide hole 61, the adjusting bolt 62 extends into the adjusting guide hole 61 and is threadedly connected with the seventh connecting member 31. The third angle adjusting member 37 is tightened in the direction close to the adjusting hole 221, the fourth angle adjusting member 38 is rotated in the direction away from the adjusting hole 221, the third angle adjusting member 37 drives the protruding block 311 to rotate, the fourth angle adjusting member 38 leaves a space for the rotation of the protruding block 311, and when the third connecting assembly rotates about the second axis relative to the second connecting assembly, the adjusting bolt 62 rotates in the adjusting guide hole 61 along with the first connecting member 11.

[0097] When the rotation angle of the third connecting assembly is appropriate, the rotation of the third angle adjusting member 37 is stopped, and the fourth angle adjusting member 38 is reversely rotated, so that the third angle adjusting member 37 and the fourth angle adjusting member 38 clamp the protruding block 311. Conversely, the third angle adjusting member 37 is loosened and the fourth angle adjusting member 38 is tightened, so that the protruding block 311 is rotated in the direction opposite to the above direction.

[0098] In the embodiment, the eighth connecting member 32 is provided with a fourth guide hole 321, the seventh connecting member 31 is provided with a fourth screw hole, the fourth screw hole is provided with a fourth fixing bolt 322, the fourth fixing bolt 322 extends through the fourth guide hole 321 and is threadedly connected with the fourth screw hole. The fourth guide hole 321 extends along the extension direction of the first axis, so that when the eighth connecting member 32 slides relative to the seventh connecting member 31, the fourth fixing bolt 322 can slide in the fourth guide hole 321 along the extension direction of the first axis. In the embodiment, the fourth fixing bolt 322, the fourth guide hole 321 and the fourth screw hole are used to connect the seventh connecting member 31 and the eighth connecting member 32.

[0099] The eighth connecting piece 32 in the embodiment is connected with the fourth connecting assembly, and the fourth connecting assembly can rotate relative to the eighth connecting piece 32 about the third axis.

[0100] Referring to Figure 5 and Figure 6 As an example, the fourth connecting assembly is provided with a first mounting hole 411 penetrating the fourth connecting assembly along the extension direction of the third axis. Specifically, the fourth connecting assembly in the embodiment includes a ninth connecting piece 41 and two tenth connecting pieces 42. The ninth connecting piece 41 is plate-shaped and is provided with the first mounting hole 411 penetrating the thickness direction thereof. The two tenth connecting pieces 42 are arranged on opposite sides of the ninth connecting piece 41, and the camera 9 is arranged between the two tenth connecting pieces 42 and is fixed to the two tenth connecting pieces 42 by bolts.

[0101] The third connecting assembly is provided with a second mounting hole 33 penetrating the third connecting assembly along the extension direction of the third axis. Specifically, the seventh connecting piece 31 is provided with a first through hole 312, and the eighth connecting piece 32 is provided with a second through hole 323. The first through hole 312 and the second through hole 323 are communicated to jointly form the second mounting hole 33. The second mounting hole 33 is communicated with the first mounting hole 411 to form a mounting cavity for accommodating the camera 9. A part of the camera 9 can be inserted into and fixed in the first mounting hole 411 only, without being inserted into the second mounting hole 33. Alternatively, the camera 9 is inserted into and fixed in both the first mounting hole 411 and the second mounting hole 33. Alternatively, the camera 9 is inserted into and fixed in the second mounting hole 33 only, without being inserted into the first mounting hole 411.

[0102] One of the surface of the fourth connecting assembly close to the third connecting assembly and the surface of the third connecting assembly close to the fourth connecting assembly is provided with a plurality of arc-shaped protrusions 412, and the other is provided with a plurality of arc-shaped grooves 324. Specifically, the ninth connecting piece 41 is provided with four arc-shaped protrusions 412, and the eighth connecting piece 32 is provided with four arc-shaped grooves 324. The arc-shaped protrusions 412 have first arc-shaped surfaces, and the arc-shaped grooves 324 have second arc-shaped surfaces. The first arc-shaped surfaces of the arc-shaped protrusions 412 are located on a first circumferential surface, and the axis of the first circumferential surface is the third axis. The four arc-shaped protrusions 412 are uniformly arranged around the third axis. The second arc-shaped surfaces of the arc-shaped grooves 324 are located on a second circumferential surface, and the axis of the second circumferential surface is the third axis. The four arc-shaped grooves 324 are uniformly arranged around the third axis. Each of the arc-shaped grooves 324 is communicated with a cavity. The arc-shaped protrusions 412 and the arc-shaped grooves 324 are one-to-one correspondingly inserted into each other, and the first arc-shaped surface of each of the arc-shaped protrusions 412 and the second arc-shaped surface of the arc-shaped groove 324 corresponding to the arc-shaped protrusion 412 are attached to each other.

[0103] The arc-shaped protrusion 412 and the arc-shaped groove 324 are matched in the embodiment, so that the fourth connecting assembly can be guided and limited when rotating relative to the third connecting assembly around the third axis, and the rotation center of the fourth connecting assembly is always the third axis.

[0104] The six-degree-of-freedom adjusting device further comprises a third adjusting assembly for adjusting the angle of the fourth connecting assembly rotating around the second axis; the third adjusting assembly comprises a fifth angle adjusting member 414 and a sixth angle adjusting member 415; the fifth angle adjusting member and the sixth angle adjusting member are both threadedly matched with the second connecting assembly and can respectively abut against two opposite sides of the second connecting assembly; the fifth angle adjusting member and the sixth angle adjusting member are both threadedly matched with the third connecting assembly or the fourth connecting assembly in a depth-adjustable manner, so that the fourth connecting assembly can rotate around the third axis.

[0105] The ninth connecting member 41 is provided with a third gap 413, and the eighth connecting member 32 is provided with a third protruding part 325; the third protruding part 325 is located in the third gap 413, and the surfaces of the third protruding part 325 are spaced apart from the inner walls of the third gap 413; the fifth angle adjusting member 414 and the sixth angle adjusting member 415 respectively pass in from two opposite sides of the third gap 413, and the fifth angle adjusting member 414 and the sixth angle adjusting member 415 are respectively threadedly connected with the ninth connecting member 41; the fifth angle adjusting member and the sixth angle adjusting member respectively abut against two opposite sides of the third protruding part 325.

[0106] During adjustment, one of the fifth angle adjusting member and the sixth angle adjusting member is screwed, and the other is loosened, so as to drive the third protruding part 325 to rotate, thereby realizing the rotation of the eighth connecting member 32 relative to the seventh connecting member 31.

[0107] On the other hand, the utility model further provides a light machine system, including a camera 9 and the six-degree-of-freedom adjusting device, and the camera 9 is installed on the fourth connecting assembly.

[0108] The technical features of the above-described embodiments can be combined in any manner, and to make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, however, as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present disclosure.

[0109] The above merely describes preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement, and improvement within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A six-degree-of-freedom adjustment device, characterized in that, It includes a first connecting component, a second connecting component, a third connecting component, and a fourth connecting component connected in sequence; The connection angle of the second connecting component relative to the first connecting component about the first axis is adjustable; The connection angle of the third connecting component relative to the second connecting component about the second axis is adjustable; The fourth connecting component is used to mount the camera, and the connection angle of the fourth connecting component relative to the third connecting component about the third axis is adjustable; The extension directions of the first axis, the second axis, and the third axis are perpendicular to each other.

2. The six-degree-of-freedom adjustment device according to claim 1, characterized in that, The first connection component includes a first connector and a second connector; The first connector and the second connector are connected; Along the extending direction of the first axis, the second connector is located between the first connector and the second connecting assembly; The second connecting component is rotatably connected to the second connecting member about the first axis; Along the extension direction of the second axis, the second connector can move relative to the first connector, making the connection position of the second connector on the first connector adjustable; The first connecting component further includes a first guide block, one of the first connector and the second connector is connected to the first guide block, and the other is provided with a first guide groove. The first guide block cooperates with the first guide groove to guide the movement of the second connector relative to the first connector.

3. The six-degree-of-freedom adjustment device according to claim 2, characterized in that, The first connection component further includes a third connector; In the extending direction of the first axis, the third connector is located between the second connector and the second connecting assembly; The second connector is connected to the second connection assembly via the third connector; Along the extension direction of the third axis, the connection position of the third connector on the second connector is adjustable; The first connecting component further includes a second guide block, one of the second connector and the third connector is connected to the second guide block, and the other is provided with a second guide groove. The second guide block cooperates with the second guide groove to guide the movement of the third connector relative to the second connector.

4. The six-degree-of-freedom adjustment device according to claim 3, characterized in that, The first connection component further includes a first adjustment unit and a second adjustment unit; The first adjustment unit connects the first connector and the second connector, and is used to adjust the position of the second connector relative to the first connector in the extension direction of the second axis; The second adjustment unit connects the second connector and the third connector, and is used to adjust the position of the third connector relative to the second connector in the extension direction of the third axis.

5. The six-degree-of-freedom adjustment device according to claim 4, characterized in that, The first adjustment unit includes a first connecting seat and a first adjusting member; the first connecting seat is connected to the first connecting member, and the first adjusting member is connected to the first connecting seat and the second connecting member, and is threadedly engaged with the second connecting member; the first adjusting member can rotate relative to the first connecting seat about its own axis to adjust the depth of the threaded engagement between the first adjusting member and the second connecting member; the axis of the first adjusting member is parallel to the extension direction of the second axis. And / or, The second adjustment unit includes a second connecting seat and a second adjusting member; the second connecting seat is connected to the second connecting member, and the second adjusting member is connected to the second connecting seat and the second connecting member and is threadedly engaged with the second connecting member; the second adjusting member can rotate relative to the second connecting seat about its own axis to adjust the depth of the threaded engagement between the second adjusting member and the second connecting member; the axis of the second adjusting member is parallel to the extension direction of the third axis.

6. The six-degree-of-freedom adjustment device according to claim 1, characterized in that, The second connection component includes a fourth connector, a fifth connector, and a sixth connector; The fourth connector is connected to the first connector assembly and is capable of rotating relative to the first connector assembly about the first axis; The fifth connector and the sixth connector are spaced apart on the fourth connector along the extension direction of the second axis; The third connecting component is disposed between the fifth connecting member and the sixth connecting member, and rotatably connects the fifth connecting member and the sixth connecting member about the second axis.

7. The six-degree-of-freedom adjustment device according to claim 1, characterized in that, The third connection component includes a seventh connector and an eighth connector; The seventh connector is connected to the second connector assembly and is rotatable relative to the second connector assembly about the second axis; The eighth connector connects to the fourth connector assembly, and the fourth connector assembly is rotatable relative to the eighth connector about the third axis. The third connecting assembly further includes a third adjusting unit, which connects the seventh connecting member and the eighth connecting member, and is used to adjust the position of the eighth connecting member relative to the seventh connecting member along the extension direction of the first axis.

8. The six-degree-of-freedom adjustment device according to claim 1, characterized in that, The fourth connecting component is provided with a first mounting hole, which extends through the fourth connecting component along the extension direction of the third axis. The third connecting component is provided with a second mounting hole, which extends through the third connecting component along the extension direction of the third axis. The second mounting hole communicates with the first mounting hole to form a mounting cavity for accommodating the camera; The fourth connecting component has multiple arc-shaped protrusions on one of the surfaces of the fourth connecting component near the third connecting component and the third connecting component near the fourth connecting component, and the other has multiple arc-shaped grooves. The arc-shaped protrusion has a first arc-shaped surface, and the arc-shaped groove has a second arc-shaped surface; The first arc-shaped surface of each of the arc-shaped protrusions is located on the first circumferential surface, and the axis of the first circumference is the third axis. The second arc-shaped surface of each of the arc-shaped grooves is located on the second circumferential surface, and the axis of the second circumference is the third axis. Each of the aforementioned arc-shaped grooves is connected to the receiving cavity; The arc-shaped protrusions are inserted into the arc-shaped grooves one by one, and the first arc-shaped surface of each arc-shaped protrusion and the second arc-shaped surface of the corresponding arc-shaped groove are in contact.

9. The six-degree-of-freedom adjustment device according to claim 1, characterized in that, The six-degree-of-freedom adjustment device further includes a first adjustment component for adjusting the angle of rotation of the second connecting component around the first axis; the first adjustment component includes a first angle adjustment member and a second angle adjustment member; one of the first connecting component and the second connecting component is threadedly engaged with the first angle adjustment member and the second angle adjustment member, and the opposite sides of the other component respectively abut against the first angle adjustment member and the second angle adjustment member; the depth of thread engagement between the first angle adjustment member and the second angle adjustment member and the first connecting component or the second connecting component is adjustable to drive the second connecting component to rotate around the first axis; And / or, The six-degree-of-freedom adjustment device further includes a second adjustment component for adjusting the angle of rotation of the third connecting component around the second axis; the second adjustment component includes a third angle adjustment element and a fourth angle adjustment element; one of the second connecting component and the third connecting component is threadedly engaged with the third angle adjustment element and the fourth angle adjustment element, and the opposite sides of the other component respectively abut against the third angle adjustment element and the fourth angle adjustment element; the depth of thread engagement between the third angle adjustment element and the fourth angle adjustment element and the second connecting component or the third connecting component is adjustable to drive the third connecting component to rotate around the second axis; And / or, The six-degree-of-freedom adjustment device further includes a third adjustment component for adjusting the angle of rotation of the fourth connecting component around the second axis; the third adjustment component includes a fifth angle adjustment member and a sixth angle adjustment member; both the fifth angle adjustment member and the sixth angle adjustment member are threadedly engaged with the second connecting component and can respectively abut against opposite sides of the second connecting component; the depth of the threaded engagement of the fifth angle adjustment member and the sixth angle adjustment member with the third connecting component or the fourth connecting component is adjustable, so that the fourth connecting component can rotate around the third axis.

10. An optomechanical system, characterized in that, It includes a camera and a six-degree-of-freedom adjustment device as described in any one of claims 1 to 9, wherein the camera is mounted on the fourth connection assembly.

Images