Multi-degree-of-freedom binocular stereoscopic vision mechanism

Abstract

The utility model provides a multi-degree-of-freedom binocular stereoscopic vision mechanism, which belongs to the technical field of vision equipment and comprises a bottom plate, a support is fixedly connected to the upper end face of the bottom plate, a first bearing is fixedly connected to the center of the upper end face of the support, and a rotating pipe is fixedly connected to the inner side wall of an inner ring of the first bearing. The rotating pipe penetrates through the support and extends to the lower portion of the support, an adjusting structure used for driving the rotating pipe to adjust the direction is arranged on the support, a spline shaft is connected into the rotating pipe in a sliding mode, a height adjusting structure used for adjusting the height of the spline shaft is arranged on the support, and a mounting plate is arranged on the upper side of the spline shaft. According to the binocular stereoscopic vision mechanism, the pitching angle of the binocular stereoscopic vision mechanism is automatically adjusted through the arranged angle adjusting structure, the freedom degree of the binocular stereoscopic vision mechanism is remarkably improved, flexibility and applicability are higher, and the problem that in the prior art, the pitching angle of the binocular stereoscopic vision mechanism is inconvenient to adjust is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to visual equipment technical field, specifically, relate to a kind of binocular stereo vision mechanism of multiple degrees of freedom. BACKGROUND

[0002] With the continuous development of computer vision technology, binocular stereo vision technology is widely used in robot navigation, three-dimensional reconstruction, object recognition and positioning and other fields because it can simulate human binocular vision and realize accurate perception of three-dimensional space information.

[0003] After searching, in the prior art, patent application number CN202022110368.7 discloses a kind of binocular stereo vision mechanism of multiple degrees of freedom, including rotating sleeve, positioning screw, fixed sleeve, telescopic strut, moving sleeve, stroke strut, moving wheel and fixed cavity, rotating sleeve is fixed in the lower end surface of support table, positioning screw is installed in guide sleeve, fixed sleeve is fixed on the upper end surface of base, telescopic strut is installed in fixed sleeve, the upper end of telescopic strut is set in rotating sleeve, the design reaches the purpose of adjusting device height and rotating display part according to actual situation, and further improve the display effect of the device, moving sleeve is installed in fixed cavity annular side, stroke strut is set in pressing sleeve, moving wheel is installed in the lower end of stroke strut, fixed cavity lower end is fixed in base, but still has the following defects:

[0004] (1) the binocular stereo vision mechanism in prior art is inconvenient to adjust the pitch angle, resulting in poor flexibility of freedom;

[0005] (2) the binocular stereo vision mechanism in prior art is manually adjusted when adjusting height and direction, and the degree of automation is poor, and the operation is inconvenient.

[0006] Therefore, we improve it and propose a kind of binocular stereo vision mechanism of multiple degrees of freedom. CONTENT OF UTILITY MODEL

[0007] The utility model aims at: for the problem of inconvenient adjustment of the pitch angle of binocular stereo vision mechanism and poor degree of automation of adjustment.

[0008] In order to realize the above-mentioned utility model purposes, the utility model provides the following technical solutions:

[0009] Binocular stereo vision mechanism of multiple degrees of freedom is used to improve the above-mentioned problems.

[0010] The utility model is specifically as follows:

[0011] The utility model provides a kind of stereoscopic vision body, including bottom plate, the upper end surface of the bottom plate is fixedly connected with support, the upper end surface center of the support is fixedly connected with first bearing, the inner wall of the inner circle of first bearing is fixedly connected with rotating pipe, the rotating pipe penetrates support and extends to its lower part, adjusting structure for driving rotating pipe to carry out direction adjustment is equipped on the support, spline shaft is slidably connected in the rotating pipe, height adjusting structure for adjusting the height of spline shaft is equipped on the support, the upper side of the spline shaft is equipped with mounting plate, the lower side of the mounting plate is equipped with angle adjusting structure for adjusting the pitch angle thereof, and stereoscopic vision body is installed on the mounting plate.

[0012] As the preferred technical scheme of the utility model, the adjusting structure includes a first worm wheel fixed on the rotating pipe, the lower end surface of the support is fixedly connected with two connecting plates, the first worm wheel is meshingly connected with a first worm gear rotatably connected between the two connecting plates, one end of the first worm gear is fixedly connected with a driven bevel gear, the lower end surface of the support is fixedly connected with a connecting plate, the connecting plate is fixedly connected with a first motor, and the driving end of the first motor penetrates the connecting plate and is fixedly connected with a driving bevel gear meshingly connected with the driven bevel gear.

[0013] As the preferred technical scheme of the utility model, the height adjusting structure includes an assembly frame fixed on the lower end surface of the support, a threaded rod rotatably connected between the assembly frame and the support, a second motor fixedly connected to the lower end surface of the assembly frame, the driving end of the second motor fixedly connected to the bottom end of the threaded rod, an adjusting plate threadedly connected to the threaded rod, a guide rod slidably connected in the adjusting plate, the upper and lower ends of the guide rod fixedly connected with the support and the assembly frame respectively, a second bearing fixedly connected to the upper end surface of the adjusting plate, and the inner wall of the inner circle of the second bearing fixedly connected with the bottom end of the spline shaft.

[0014] As the preferred technical scheme of the utility model, the angle adjusting structure includes a fixed plate fixed to the top end of the spline shaft, two vertical plates symmetrically and fixedly connected to the upper end surface of the fixed plate, a rotating shaft rotatably connected between the two vertical plates, a connecting frame fixedly connected to the rotating shaft, the upper end surface of the connecting frame fixedly connected with the lower end surface of the mounting plate, a second worm wheel fixedly connected to the center of the rotating shaft, two connecting blocks symmetrically and fixedly connected to the upper end surface of the fixed plate, a second worm gear rotatably connected between the two connecting blocks and meshingly connected with the second worm wheel, a third motor fixedly connected to the upper end surface of the fixed plate, and the driving end of the third motor fixedly connected with the shaft end of the second worm gear.

[0015] As the preferred technical scheme of the utility model, the lower end surface of the bottom plate is fixedly connected with an anti-skid pad, and the bottom surface of the anti-skid pad is provided with anti-skid lines.

[0016] As the utility model discloses preferred technical scheme, the inside of the pipe is provided with the slot that matches with the convex stripe on the spline shaft.

[0017] Compared with the prior art, the utility model has the beneficial effects of:

[0018] In the scheme of the utility model,

[0019] 1. By setting the angle adjusting structure, the elevation angle of the binocular stereo vision mechanism is automatically adjusted, the freedom degree, flexibility and applicability of the binocular stereo vision mechanism are significantly improved, the problem that the elevation angle is inconvenient to adjust in the prior art is solved.

[0020] 2. By setting the adjusting structure and the height adjusting structure, the direction and height of the binocular stereo vision mechanism are automatically adjusted, the automation degree is higher, the operation is more convenient, and the problem of poor automation degree in the prior art is solved. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 The utility model provides whole structure schematic view;

[0022] Figure 2 The utility model provides bottom structure schematic view;

[0023] Figure 3 The utility model provides front view structure schematic view;

[0024] Figure 4 The utility model provides Figure 2 The utility model provides the close-up view of A in the middle;

[0025] Figure 5 The utility model provides angle adjusting structure schematic view;

[0026] Figure 6 The utility model provides rear side structure schematic view.

[0027] Indicated in the drawing:

[0028] 1, bottom plate; 2, support; 3, first bearing; 4, rotating pipe; 5, adjusting structure; 501, first worm gear; 502, connecting plate; 503, first worm; 504, driven bevel gear; 505, link plate; 506, first motor; 507, driving bevel gear; 6, spline shaft; 7, height adjusting structure; 701, assembly frame; 702, threaded rod; 703, second motor; 704, height adjusting plate; 705, guide rod; 706, second bearing; 8, mounting plate; 9, angle adjusting structure; 901, fixed plate; 902, vertical plate; 903, rotating shaft; 904, link frame; 905, second worm gear; 906, connecting block; 907, second worm; 908, third motor; 10, stereoscopic vision body; 11, non-slip pad. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments.

[0030] As Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 indicated, the present embodiment proposes a multi-degree-of-freedom binocular stereovision mechanism, which comprises a bottom plate 1, the upper end surface of the bottom plate 1 is fixedly connected with a support 2, the upper end surface center of the support 2 is fixedly connected with a first bearing 3, the inner side wall of the inner ring of the first bearing 3 is fixedly connected with a rotating pipe 4, the rotating pipe 4 penetrates through the support 2 and extends to the lower part thereof, the support 2 is provided with an adjusting structure 5 for driving the rotating pipe 4 to adjust the direction, the rotating pipe 4 is slidingly connected with a spline shaft 6, the support 2 is provided with a height adjusting structure 7 for adjusting the height of the spline shaft 6, the upper side of the spline shaft 6 is provided with a mounting plate 8, the lower side of the mounting plate 8 is provided with an angle adjusting structure 9 for adjusting the pitch angle thereof, and the mounting plate 8 is installed with a stereoscopic vision body 10; the multi-degree-of-freedom adjustment of the stereoscopic vision body 10 is realized, so that the mechanism can flexibly adapt to different application scenarios, and the accuracy and flexibility of the vision measurement are improved.

[0031] As Figure 1 and Figure 4As shown, in a preferred embodiment, based on the above method, the adjustment structure 5 further includes a first worm gear 501 fixed on the rotating tube 4, two connecting pieces 502 fixedly connected to the lower end face of the bracket 2, a first worm 503 rotatably connected between the two connecting pieces 502 and meshing with the first worm gear 501, a driven bevel gear 504 fixedly connected to one end of the first worm 503, a connecting plate 505 fixedly connected to the lower end face of the bracket 2, a first motor 506 fixedly connected to the connecting plate 505, and a driving bevel gear 507 meshing with the driven bevel gear 504 through the driving end of the first motor 506. The first motor 506 drives the driving bevel gear 507 to rotate, thereby driving the driven bevel gear 504 and the first worm 503 to rotate. The rotation of the first worm 503 drives the first worm gear 501 and the rotating tube 4 to rotate. The rotation of the rotating tube 4 can drive the spline shaft 6 and the mounting plate 8 to rotate, thereby realizing directional adjustment.

[0032] like Figure 1 and Figure 3 As shown, in a preferred embodiment, based on the above method, the height adjustment structure 7 further includes an assembly frame 701 fixed to the lower end face of the bracket 2. A threaded rod 702 is rotatably connected between the assembly frame 701 and the bracket 2. A second motor 703 is fixedly connected to the lower end face of the assembly frame 701. The driving end of the second motor 703 is fixedly connected to the bottom end of the threaded rod 702. A height adjustment plate 704 is threadedly connected to the threaded rod 702. A guide rod 705 is slidably connected inside the height adjustment plate 704. The upper and lower ends of the guide rod 705 are fixedly connected to the bracket 2 and the assembly frame 701, respectively. A second bearing 706 is fixedly connected to the upper end face of the height adjustment plate 704. The inner sidewall of the inner ring of the second bearing 706 is fixedly connected to the bottom end of the spline shaft 6. By driving the threaded rod 702 to rotate through the second motor 703, the height adjustment plate 704 is moved up and down, thereby adjusting the height of the spline shaft 6 and the mounting plate 8, so that the mechanism can adjust the working height of the stereoscopic vision body 10 as needed.

[0033] like Figure 3 and Figure 5As shown, in a preferred embodiment, based on the above method, the angle adjustment structure 9 further includes a fixing plate 901 fixed to the top of the spline shaft 6. The upper surface of the fixing plate 901 is symmetrically connected to two vertical plates 902. A rotating shaft 903 is rotatably connected between the two vertical plates 902. A connecting bracket 904 is fixedly connected to the rotating shaft 903. The upper surface of the connecting bracket 904 is fixedly connected to the lower surface of the mounting plate 8. A second worm gear 905 is fixedly connected to the center of the rotating shaft 903. The upper surface of the fixing plate 901 is symmetrically connected to two connecting... Block 906, with a second worm 907 rotatably connected between the two connecting blocks 906 and meshing with the second worm gear 905, and a third motor 908 fixedly connected to the upper end face of the fixing plate 901, the drive end of the third motor 908 being fixedly connected to the shaft end of the second worm 907; the third motor 908 drives the second worm 907 to rotate, which in turn drives the second worm gear 905 and the rotating shaft 903 to rotate, thereby driving the connecting frame 904 and the mounting plate 8 to rotate, which can adjust the pitch angle of the stereo vision body 10 as needed, further improving the flexibility and accuracy of measurement.

[0034] like Figure 1 and Figure 2 As shown, in a preferred embodiment, based on the above method, an anti-slip pad 11 is fixedly connected to the lower end face of the base plate 1, and the bottom surface of the anti-slip pad 11 is provided with anti-slip texture; this can increase the friction between the mechanism and the ground, prevent the mechanism from sliding or shifting during operation, and improve the stability of the mechanism during operation.

[0035] like Figure 1 and Figure 2 As shown, in a preferred embodiment, based on the above method, the inside of the rotating tube 4 is provided with a slot that matches the protrusion on the spline shaft 6; this ensures that the spline shaft 6 slides stably inside the rotating tube 4, and the rotation of the rotating tube 4 can also drive the spline shaft 6 to rotate.

[0036] Specifically, the multi-degree-of-freedom binocular stereo vision mechanism in use: the threaded rod 702 is driven to rotate by the second motor 703, the height of the mounting plate 8 and the spline shaft 6 is adjusted by driving the height adjustment plate 704 to move up and down, and then the stereo vision body 10 is adjusted to an appropriate height; when the direction needs to be adjusted, the driving bevel gear 507 is driven to rotate by the first motor 506, the driven bevel gear 504 and the first worm 503 are driven to rotate, the first worm 503 drives the first worm gear 501 and the rotating tube 4 to rotate, the rotating tube 4 drives the spline shaft 6 and the mounting plate 8 to rotate, the direction adjustment is realized, when the pitch angle needs to be adjusted, the driving end of the third motor 908 is fixedly connected with the shaft end of the second worm 907; the second worm 907 is driven to rotate by the third motor 908, the second worm gear 905 and the rotating shaft 903 are driven to rotate, the connecting frame 904 and the mounting plate 8 are driven to rotate, and the pitch angle of the stereo vision body 10 is automatically adjusted, so that the degree of freedom and the automation of the mechanism are significantly improved.

[0037] All the technical features in the embodiment can be freely combined according to actual needs.

[0038] The above embodiment is a preferred implementation scheme of the utility model, and the utility model can also be implemented in other ways, and any obvious replacement without departing from the technical scheme concept is within the protection scope of the utility model.

Claims

1. A multi-degree of freedom binocular stereo vision mechanism comprising a base plate (1), characterized in that, The upper end surface of the bottom plate (1) is fixedly connected with a support (2), the upper end surface center of the support (2) is fixedly connected with a first bearing (3), the inner circle inboard wall of the first bearing (3) is fixedly connected with a rotating pipe (4), the rotating pipe (4) penetrates through the support (2) and extends to the lower part thereof, the support (2) is provided with an adjusting structure (5) for driving the rotating pipe (4) to adjust the direction, the rotating pipe (4) is slidably connected with a spline shaft (6), the support (2) is provided with a height adjusting structure (7) for adjusting the height of the spline shaft (6), the upper side of the spline shaft (6) is provided with a mounting plate (8), the lower side of the mounting plate (8) is provided with an angle adjusting structure (9) for adjusting the pitch angle thereof, and the mounting plate (8) is installed with a stereoscopic vision body (10).

2. The multi-degree-of-freedom binocular stereo vision mechanism of claim 1, wherein, The adjusting structure (5) comprises a first worm wheel (501) fixed on the rotating pipe (4), the lower end surface of the support (2) is fixedly connected with two connecting plates (502), the two connecting plates (502) are rotatably connected with a first worm (503) engaged with the first worm wheel (501), one end of the first worm (503) is fixedly connected with a driven bevel gear (504), the lower end surface of the support (2) is fixedly connected with an adapter plate (505), the adapter plate (505) is fixedly connected with a first motor (506), and the driving end of the first motor (506) penetrates through the adapter plate (505) and is fixedly connected with a driving bevel gear (507) engaged with the driven bevel gear (504).

3. The multi-degree-of-freedom binocular stereo vision mechanism of claim 1, wherein, The height adjusting structure (7) comprises an assembly frame (701) fixed on the lower end surface of the support (2), a threaded rod (702) rotatably connected between the assembly frame (701) and the support (2), a second motor (703) fixedly connected to the lower end surface of the assembly frame (701), the driving end of the second motor (703) fixedly connected with the bottom end of the threaded rod (702), a height adjusting plate (704) threadedly connected on the threaded rod (702), a guide rod (705) slidably connected in the height adjusting plate (704), the upper and lower ends of the guide rod (705) fixedly connected with the support (2) and the assembly frame (701) respectively, a second bearing (706) fixedly connected to the upper end surface of the height adjusting plate (704), and the inner circle inboard wall of the second bearing (706) fixedly connected with the bottom end of the spline shaft (6).

4. The multi-degree-of-freedom binocular stereo vision mechanism of claim 1, wherein, The angle adjusting structure (9) comprises a fixed plate (901) fixed at the top end of the spline shaft (6), the upper end face of the fixed plate (901) is symmetrically and fixedly connected with two vertical plates (902), the two vertical plates (902) are rotationally connected with a rotating shaft (903), the rotating shaft (903) is fixedly connected with a connecting frame (904), the upper end face of the connecting frame (904) is fixedly connected with the lower end face of the mounting plate (8), the center of the rotating shaft (903) is fixedly connected with a second worm wheel (905), the upper end face of the fixed plate (901) is symmetrically and fixedly connected with two connecting blocks (906), the two connecting blocks (906) are rotationally connected with a second worm (907) meshingly connected with the second worm wheel (905), the upper end face of the fixed plate (901) is fixedly connected with a third motor (908), and the driving end of the third motor (908) is fixedly connected with the shaft end of the second worm (907).

5. The multi-degree-of-freedom binocular stereo vision mechanism of claim 1, wherein, The lower end face of the bottom plate (1) is fixedly connected with a non-slip pad (11), and the bottom face of the non-slip pad (11) is provided with non-slip lines.

6. The multi-degree-of-freedom binocular stereo vision mechanism of claim 1, wherein, The inside of the rotating pipe (4) is provided with a slot matched with the upper convex strip of the spline shaft (6).

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