Camera composite holder mechanism for inspection robot of two-for-one twister

Abstract

The utility model relates to a camera composite holder mechanism for a two-for-one twister inspection robot, which comprises a support frame vertically arranged, and the bottom of the support frame is connected with a movable chassis; a camera platform; the two transverse moving rods are vertically arranged and are in sliding connection with the supporting frame, and each transverse moving rod is driven by the transverse moving module to move in the width direction of the supporting frame; the middle of the first connecting rod is hinged to the end of the camera platform, and one end is connected with a camera assembly; one end of the second connecting rod is hinged to the other end of the first connecting rod; one end of the third connecting rod is hinged to the bottom of the camera platform, and the other end is hinged to the other end of the second connecting rod; the lifting of the camera is realized through the lifting of the lifting module, and the adjustment of the pitching angle of the camera is realized through the transverse movement of the transverse movement rod driven by the transverse movement module, that is, the device realizes rapid tracking, synchronous pitching adjustment and independent height lifting, and can realize rapid, efficient, stable and flexible lens tracking adjustment.

Description

Technical Field

[0001] This utility model relates to a robot for inspecting a twisting machine, and in particular to a camera-based gimbal mechanism for such a robot. Background Technology

[0002] In the textile manufacturing industry, the twisting machine, as the core equipment in the yarn twisting process, directly affects the yarn strength, elasticity, and product quality. Traditionally, the status of twisting machines in the textile industry relied primarily on manual inspection, with experienced operators periodically checking the equipment's condition (such as yarn breakage detection and yarn path anomaly identification). In modern textiles, twisting inspection robots are gradually replacing manual labor in completing workshop inspection tasks. These robots primarily determine yarn condition by photographing and monitoring the yarn with industrial cameras. However, in actual production, the height and position of the yarn are affected by the location of the twisting machine, leading to situations where the yarn exceeds the lens's range during inspection. This creates blind spots, potentially affecting the stable operation of the twisting machine, as well as the efficiency and product quality of the entire production line.

[0003] Existing twisting inspection robots detect yarns using either fixed multi-camera arrays or mechanically limited translational gimbals, but these solutions have the following drawbacks:

[0004] 1) Insufficient dynamic tracking capability:

[0005] Defects in degree-of-freedom coordination: Mechanical gimbals are mostly single-axis translational structures, lacking the ability to coordinate multiple degrees of freedom such as pitch and yaw, and cannot compensate for the Z-axis height changes caused by yarn tension fluctuations, resulting in defocusing of the detection field of view.

[0006] The mechanical structure cannot meet the requirements of the control algorithm:

[0007] 2) Limitations of fixed mechanical structures:

[0008] Rigid displacement range constraint: The physical travel of a mechanically limited gimbal is restricted by the length of the guide rail, making it unsuitable for situations where the yarn position in the recognition image shifts significantly due to process adjustments or equipment layout differences.

[0009] Lack of attitude adjustment dimension: Traditional gimbals only support single-axis translation (such as the X-axis) and lack rotational freedom (such as pitch angle adjustment). When the position of the yarn in the image is shifted, the mechanical structure cannot make pitch or other movements to match the position of the yarn, resulting in imaging distortion or local occlusion.

[0010] 3) Rigid body constraints on the field of view of fixed camera arrays

[0011] Fixed installation angle: The installation posture (pitch angle, yaw angle) of a multi-camera array is usually statically calibrated during deployment, and the field of view cannot be dynamically adjusted according to the yarn position.

[0012] Blind spots cannot be eliminated: Even with multiple cameras covering the area, there is still a "seam blind spot" at the intersection of the fields of view of adjacent cameras. When the yarn enters the blind spot due to vibration or process adjustment, the detection algorithm fails.

[0013] Redundant resource waste: To cover the potential offset range, an excessive number of cameras need to be deployed, increasing hardware costs, and high-density installation can easily cause heat dissipation and electromagnetic interference problems.

[0014] In summary, how to achieve fast, efficient, stable, and flexible tracking and adjustment of camera lenses has become an urgent problem for researchers in this field. Utility Model Content

[0015] The technical problem to be solved by this utility model is: how to achieve fast, efficient, stable and flexible tracking and adjustment of a camera lens;

[0016] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0017] This utility model relates to a camera-based composite gimbal mechanism for an inspection robot of a twisting machine, comprising: a mobile chassis; a support frame, vertically arranged, with its bottom connected to the mobile chassis; a camera platform adapted to move along the support frame in the height direction via a lifting module; two horizontal moving rods, vertically arranged and slidably connected to the support frame, each moving rod moving along the width direction of the support frame under the drive of the horizontal moving module; a first connecting rod, the middle of which is hinged to the end of the camera platform, and one end of which is connected to a camera assembly; a second connecting rod, one end of which is hinged to the other end of the first connecting rod; and a third connecting rod, one end of which is hinged to the bottom of the camera platform, and the other end of which is hinged to the other end of the second connecting rod; wherein the first connecting rod, the second connecting rod, the third connecting rod, and the camera platform constitute a parallelogram transmission structure, and the second and third connecting rods are slidably connected to the horizontal moving rods.

[0018] Furthermore, a first slider is provided at the second and third connecting rods, and a first slide rail is provided on the side wall of the transverse rod to cooperate with the first slider, and the first slide rail is vertically arranged.

[0019] Furthermore, the lifting module includes: a vertically arranged support rod, the bottom of which is connected to the movable chassis; a lifting motor, which is arranged at the top of the support rod; a lifting screw, which is arranged vertically, and its end is connected to the rotating end of the lifting motor; and a lifting nut, which is arranged in the middle of the camera platform and connected to the lifting screw.

[0020] Furthermore, the transverse module includes: horizontal slide rails disposed at the top and bottom of the support frame; horizontal sliders disposed at the bottom and top of the transverse rod, the horizontal sliders being slidably connected to the corresponding horizontal slide rails; a rack disposed at the top of the support frame; and a transverse motor disposed at the top of the transverse rod, the output end of which is provided with a gear meshing with the rack.

[0021] Furthermore, the camera assembly includes: a ring-shaped light source; a camera disposed at the center of the light source; wherein the camera is connected to the end of the first connecting rod via a camera bracket, and the light source is connected to the end of the first connecting rod via a light source bracket.

[0022] Furthermore, the camera platform is configured as two, one above the other, and each camera platform is raised and lowered by a corresponding lifting module.

[0023] The beneficial effects of this utility model are as follows: This utility model is a camera composite gimbal mechanism for a double twisting machine inspection robot. The camera is raised and lowered by the lifting module, and the camera pitch angle is adjusted by the lateral movement of the lateral movement rod driven by the lateral movement module. This mechanism can realize synchronous pitch and independent lifting functions. That is, this device realizes fast tracking, synchronous pitch adjustment, and independent height adjustment, and can achieve fast, efficient, stable and flexible lens tracking adjustment. Attached Figure Description

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] Figure 1 This is a front view of the present invention;

[0026] Figure 2 This is a partial top view of the present invention;

[0027] Figure 3 This is a partial three-dimensional view of the top of this utility model. Detailed Implementation

[0028] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0029] Figure 1-3As shown, this embodiment provides a camera-based gimbal mechanism for a double twisting machine inspection robot. The bottom of this mechanism is a movable chassis 1, which can move the mechanism to any position. A support frame 2 is vertically arranged on the movable chassis 1. The camera platform 3 can be raised and lowered under the drive of the lifting module, that is, it can be raised and lowered along the height direction of the support frame 2. Camera components 4 are arranged on both sides of the camera platform 3. In this way, the camera components 4 can be adjusted in the height direction through the lifting module.

[0030] Two horizontal sliding rods 5 are vertically slidably mounted on the support frame 2. The two horizontal sliding rods 5 move along the width direction of the support frame 2 under the drive of the corresponding horizontal sliding module, that is, the horizontal sliding rods 5 can move in the left and right directions. The first connecting rod 6, the second connecting rod 7, the third connecting rod 8 and part of the camera platform 3 form a parallelogram transmission structure. The camera assembly 4 is fixed to the end of the first connecting rod 6. When the horizontal sliding rod 5 moves outward, it pushes the second connecting rod 7 to move outward. At this time, the first connecting rod 6 together with the camera assembly 4 adjusts the pitch angle.

[0031] Figure 2-3 As shown, in order to ensure that the parallelogram transmission does not interfere with the lifting motion, the hinge joints of the second link 7 and the third link 8 are slidably connected to the transverse rod 5, so that the camera assembly 4 in this mechanism can be adjusted synchronously for lifting and tilting angles.

[0032] Figure 1-3 As shown, in some possible implementations, in order to illustrate how the hinge of the second link 7 and the third link 8 is slidably connected to the transverse rod 5, the present invention adopts a first slider 9 provided at the second link 7 and the third link 8, and the side wall of the transverse rod 5 is provided with a first slide rail 10 that cooperates with the first slider 9, and the first slide rail 10 is vertically arranged.

[0033] In this embodiment, a first slider 9 is provided at the second link 7 and the third link 8, a first slide rail 10 is provided on the left side wall of the left transverse rod 5, and a first slide rail 10 is also provided on the right side wall of the right transverse rod 5. The first slider 9 at the hinge of the second link 7 and the third link 8 is slidably connected to the corresponding first slide rail 10. The above arrangement can realize the functions of synchronous lifting and lowering of the camera assembly 4 and pitch angle adjustment.

[0034] Figure 1-3 As shown, in some possible implementations, to illustrate the specific structure of the lifting module, the lifting module of this utility model includes: a vertically arranged support rod 11, the bottom of which is connected to the movable chassis 1; a lifting motor 12, which is arranged at the top of the support rod 11; a lifting screw 13, which is vertically arranged, and its end is connected to the rotating end of the lifting motor 12; and a lifting nut 14, which is arranged in the middle of the camera platform 3 and connected to the lifting screw 13.

[0035] In this embodiment, the support rod 11 is located outside the support frame 2. The bottom of the support rod 11 is connected to the movable chassis 1. A lifting motor 12 is provided on the top side wall of the support rod 11. The output end of the lifting motor 12 is connected to the lifting screw 13. A lifting nut 14 is provided on the lifting screw 13. The lifting nut 14 is connected to the camera platform 3. When the lifting motor 12 is started, the lifting screw 13 rotates, driving the lifting nut 14 and the camera platform 3 to move up and down synchronously, realizing the lifting and adjustment of the camera assembly 4.

[0036] Figure 1-3 As shown, in some possible implementations, to illustrate the specific structure of the transverse module, the present invention uses a transverse module comprising: horizontal slide rails 15 disposed at the top and bottom of the support frame 2; horizontal sliders 16 disposed at the bottom and top of the transverse rod 5, the horizontal sliders 16 being slidably connected to the corresponding horizontal slide rails 15; a rack 17 disposed at the top of the support frame 2; and a transverse motor 18 disposed on one side of the top of the transverse rod 5, the output end of which is provided with a gear 19 meshing with the rack 17.

[0037] In this embodiment, horizontal sliders 16 are provided on the top and bottom sidewalls of the transverse rod 5, and horizontal slide rails 15 are provided on the top and bottom sidewalls of the support frame 2. The horizontal sliders 16 and horizontal slide rails 15 are connected to each other, thus realizing the left and right transverse movement of the transverse rod 5. A transverse motor 18 is also provided on the top sidewall of the transverse rod 5. A horizontal gear 19 is provided at the output end of the transverse motor 18, and a rack 17 is provided on the top sidewall of the support frame 2. The gear 19 meshes with the rack 17. When the transverse motor 18 rotates forward and backward, the transverse rod 5 moves left and right.

[0038] Figure 1-3 As shown, in some possible implementations, in order to illustrate the specific structure of the camera assembly, the present invention uses a camera assembly comprising: a ring-shaped light source 41; a camera 42 disposed at the center of the light source 41; wherein, the camera 42 is connected to the end of the first connecting rod 6 via a camera bracket, and the light source is connected to the end of the first connecting rod 6 via a light source bracket;

[0039] In this embodiment, the camera and the light source rotate synchronously, and the light source enables the camera to capture a clearer image.

[0040] Figure 1 As shown, in some possible implementations, the camera platform 3 is configured as two, one above the other, with each camera platform 3 raised and lowered by a corresponding lifting module.

[0041] In this embodiment, there are two camera platforms 3, and two lifting motors 12 are also provided. The two camera components 4 at the same height are raised and lowered by the corresponding lifting motors 12, and the two camera components 4 on the same side are adjusted synchronously by the horizontal lever 5.

[0042] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A camera-based composite gimbal mechanism for an inspection robot of a twisting machine, characterized in that, include: Mobile chassis; A support frame, which is vertically arranged, has its bottom connected to the mobile chassis; A camera platform adapted to move along the support frame in the height direction via a lifting module; Two horizontal sliding rods are vertically arranged and slidably connected to the support frame. Each horizontal sliding rod moves along the width direction of the support frame under the drive of the horizontal sliding module. The first link has its middle part hinged to the end of the camera platform, and one end of it is connected to a camera assembly. The second link has one end hinged to the other end of the first link; The third link has one end hinged to the bottom of the camera platform and the other end hinged to the other end of the second link; wherein the first link, the second link, the third link, and the camera platform form a parallelogram transmission structure, and the second link and the third link are slidably connected to the transverse rod.

2. The camera-based composite gimbal mechanism for a robot inspecting a twisting machine according to claim 1, characterized in that, The second and third connecting rods are provided with first sliders, and the side wall of the transverse rod is provided with a first slide rail that cooperates with the first slider. The first slide rail is vertically arranged.

3. The camera-based composite gimbal mechanism for a robot inspecting a twisting machine according to claim 1, characterized in that, The lifting module includes: A vertically installed support rod, the bottom of which is connected to the movable chassis; A lifting motor is located at the top of the support rod; The lifting screw is vertically arranged, and its end is connected to the rotating end of the lifting motor; A lifting screw nut is located in the middle of the camera platform and is connected to the lifting screw.

4. The camera-based composite gimbal mechanism for a robot inspecting a twisting machine according to claim 1, characterized in that, The lateral movement module includes: Horizontal slide rails are installed at the top and bottom of the support frame; Horizontal sliders are provided at the bottom and top of the horizontal sliding bar, and the horizontal sliders are slidably connected to the corresponding horizontal slide rails. A rack is disposed on top of the support frame; A transverse motor is mounted on the top of the transverse rod, and its output end is provided with a gear that meshes with the rack.

5. A camera-based composite gimbal mechanism for a robot inspecting a twisting machine according to claim 1, characterized in that, The camera assembly includes: A ring-shaped light source; A camera is positioned at the center of the light source; The camera is connected to the end of the first connecting rod via a camera bracket, and the light source is connected to the end of the first connecting rod via a light source bracket.

6. The camera-based composite gimbal mechanism for a double twisting machine inspection robot according to claim 1, characterized in that, The camera platform is configured as two, one above the other, and each camera platform is raised and lowered by a corresponding lifting module.

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