Photographing mechanism, gripping device, and material moving apparatus

Abstract

The application provides a shooting mechanism, a clamping device and a material moving equipment. The shooting mechanism comprises a shooting member, a first protective shell, a protective cover and a driving assembly. The shooting member comprises a body and a lens. The lens is connected to one side of the body. The first protective shell is internally provided with a first accommodating cavity. The lens is accommodated in the first accommodating cavity. One side of the first protective shell is provided with a first opening communicating with the first accommodating cavity. The protective cover is rotatably connected to the first protective shell and is matched with the first opening in opening and closing. The driving assembly is arranged on the first protective shell and is used for driving the protective cover to rotate to close or open the first opening. Through the shooting mechanism, the clamping device and the material moving equipment, the protection of the shooting member can be strengthened, the probability that the lens is polluted by dust and oil from the outside is reduced, the definition and accuracy of the photos taken by the shooting member are improved, and the accuracy and efficiency of the material moving equipment in obtaining and carrying the materials are improved.

Description

Technical Field

[0001] This application relates to the technical field of shooting equipment, and in particular to a shooting mechanism, a clamping device, and a material transfer device. Background Technology

[0002] In automated production processes, grippers connected to robotic arms are typically used to grasp and move products. To improve the accuracy of gripper gripping, cameras can be mounted on the grippers to photograph the product. The robotic arm can then drive the grippers to rotate and / or move based on the product's angle and position in the photograph, enabling accurate gripping. However, as the production process continues, cameras can become contaminated with dust and oil. This dust and oil contamination of the camera lens can affect the clarity and accuracy of the photographs, thus impacting the gripper's gripping accuracy. Utility Model Content

[0003] In view of the above, it is necessary to provide a shooting mechanism, a clamping device, and a material transfer device that can enhance the isolation of dust and oil stains from the photographed parts in order to solve the above-mentioned defects.

[0004] In a first aspect, embodiments of this application provide a shooting mechanism, comprising: a shooting component, including a body and a lens, the lens being connected to one side of the body; a first protective shell, the first protective shell having a first receiving cavity, the lens being received in the first receiving cavity, and one side of the first protective shell having a first opening communicating with the first receiving cavity; a protective cover, rotatably connected to the first protective shell and appropriately matched with the first opening; and a driving assembly disposed on the first protective shell, the driving assembly being used to drive the protective cover to rotate to close or open the first opening.

[0005] Optionally, the shooting mechanism further includes: an elastic element connected to the protective cover and connected to or abutting against the first protective shell, the elastic element being used to drive the protective cover to rotate to close the first opening.

[0006] Optionally, a second receiving cavity is formed inside the first protective shell, the second receiving cavity being spaced apart from the first receiving cavity. A second opening is also formed on the side of the first protective shell where the first opening is formed, the second opening communicating with the second receiving cavity. The protective cover is appropriately matched with the second opening. A connecting block is provided on the side of the protective cover facing the second opening. The connecting block enters the second receiving cavity through the second opening. The connecting block is connected to or abuts against the driving component. The driving component is used to drive the connecting block to rotate, so that the connecting block is at least partially moved out of the second receiving cavity, and the protective cover rotates synchronously.

[0007] Optionally, the drive assembly includes: a pusher that abuts against the connecting block and is at least partially housed in the second receiving cavity; and an opening / closing drive that is disposed on the first protective shell and connected to the pusher, wherein the opening / closing drive is used to drive the pusher to move along a preset direction, so that the pusher pushes the connecting block to rotate.

[0008] Optionally, the connecting block is provided with an abutment surface, the abutment surface is inclined, and the abutment surface and the protective cover are set at an acute angle; the pushing member includes: a push rod, which is connected to the opening and closing driving member and extends along a preset direction; an abutment wheel, which is rotatably connected to the bottom of the push rod, the abutment wheel is received in the second receiving cavity and abuts against the abutment surface.

[0009] Optionally, the second receiving cavity penetrates the first protective shell along a preset direction. The shooting mechanism also includes: a second protective shell disposed in the first protective shell, a third receiving cavity opened inside the second protective shell, the third receiving cavity penetrating the second protective shell along a preset direction, the third receiving cavity communicating with the second receiving cavity, and the push rod being at least partially received in the third receiving cavity.

[0010] Optionally, a sealing ring is provided on the protective cover, which is used to enter the first receiving cavity and abut against the inner wall of the first receiving cavity.

[0011] Secondly, embodiments of this application provide a clamping device for clamping materials. The clamping device includes: a connecting frame; a clamping drive member disposed on the connecting frame; two clamping members symmetrically arranged and each connected to the clamping drive member, the clamping drive member being used to drive the two clamping members to move closer or further away from each other, so that the two clamping members clamp or release materials; and a shooting mechanism as described above, wherein the shooting mechanism is disposed on the connecting frame.

[0012] Optionally, the clamping device further includes: a connecting seat, which is disposed on one side of the connecting frame, and the shooting mechanism is connected to the connecting seat to achieve connection with the connecting frame; multiple lamps, each lamp being connected to the connecting seat or the connecting frame, and each lamp being used to illuminate the material; and a floating seat, which is disposed on the connecting frame, and the clamping drive is connected to the floating seat to achieve clamping drive being disposed on the connecting frame, and the floating seat being used to adjust the tilt angle of the clamping member when the clamping member acquires the material.

[0013] Thirdly, embodiments of this application provide a material transfer device, including: a robotic arm; and a gripping device as described in any of the above, disposed on the robotic arm, the robotic arm being used to drive the gripping device to move.

[0014] The imaging mechanism, gripping device, and material transfer equipment provided in this application, along with the cooperation of the first protective shell, protective cover, and drive assembly, can enhance the protection of the imaging component while maintaining its imaging function, reducing the probability of external dust and oil contaminating the lens, thereby improving the clarity and accuracy of the photographs taken by the imaging component. This, in turn, improves the accuracy and efficiency of the material transfer equipment in acquiring and handling materials. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the material transfer device in the embodiments of this application.

[0016] Figure 2 This is a schematic diagram of the clamping device and fixture in the embodiments of this application.

[0017] Figure 3 This is a schematic diagram of the gripping device in the embodiments of this application.

[0018] Figure 4 This is a structural disassembly diagram of the gripping device in the embodiments of this application.

[0019] Figure 5 This is a first structural schematic diagram of the connecting seat and the shooting mechanism in the embodiments of this application.

[0020] Figure 6 This is a second structural schematic diagram of the connecting seat and the shooting mechanism in the embodiments of this application.

[0021] Figure 7 This is a partial structural diagram of the shooting mechanism in an embodiment of this application.

[0022] Figure 8 yes Figure 7 A cross-sectional view along line VIII-VIII.

[0023] Explanation of key component symbols:

[0024] 100. Material transfer equipment; 101. Robotic arm; 102. Clamping device; 200. Fixture; 201. Snap-fit ​​groove; 10. Connecting frame; 20. Clamping drive component; 30. Clamping component; 31. Connecting part; 32. Docking part; 321. Snap-fit ​​protrusion; 40. Connecting seat; 50. Imaging mechanism; 51. Imaging component; 511. Body; 512. Lens; 52. First protective shell; 521. First receiving cavity; 522. First opening; 523. Second receiving cavity; 524. Second opening; 53, protective cover; 531, closing ring; 532, sealing ring; 533, connecting block; 5331, pin; 5332, abutting surface; 54, drive assembly; 541, pusher; 5411, push rod; 5412, abutting wheel; 542, opening and closing drive component; 55, elastic component; 56, second protective shell; 561, third receiving cavity; 60, lamp; 70, lamp holder; 71, limiting groove; 80, barcode scanner; 90, distance detector; 110, floating seat. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments.

[0026] The term "multiple" in this application refers to two or more. Furthermore, it should be understood that the terms "first," "second," etc., used in the description of this application are used only for descriptive purposes and should not be construed as indicating or implying relative importance, nor as indicating or implying order.

[0027] In the description of the embodiments in this application, the words "exemplary" or "for example" are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0028] Please see Figure 1 , Figure 1 This application illustrates a material transfer device 100.

[0029] In embodiments of this application, the material handling device 100 may include a robotic arm 101 and a gripping device 102. The robotic arm 101 may be fixedly mounted on a machine base (not shown). The gripping device 102 may be fixedly mounted on the drive end of the robotic arm 101. The gripping device 102 can acquire and release materials (not shown). The operation of the robotic arm 101 can drive the gripping device 102 to move in multiple directions and can drive the gripping device 102 to rotate, thereby enabling the gripping device 102 to acquire materials from a preset loading station and transport the materials to a preset unloading station.

[0030] It is understood that the robotic arm 101, in conjunction with the gripping device 102, can transport materials to designated locations. The materials moved to the designated locations can then be processed, inspected, cleaned, or collected through manual operation by workers or automated equipment. The working principle of the robotic arm 101 can be a principle commonly used in related fields, and the embodiments of this application will not elaborate on it.

[0031] In some cases, the gripping device 102 can directly pick up the material and work with the robotic arm 101 to move the material to a designated location.

[0032] In other cases, the material can be loaded into the corresponding fixture 200 ( Figure 2 As shown in the figure, the gripping device 102 can grasp the material by gripping the jig 200 loaded with material, and transport the jig 200 to the designated position by cooperating with the robotic arm 101, thereby transporting the material to the designated position.

[0033] In the embodiments of this application, the type of material is not specifically limited. For example, the material may be a part or semi-finished product formed during the manufacturing process of an electronic product. For example, the electronic product may be smart glasses, the material may be a semi-finished product of the smart glasses, the material may be loaded onto a fixture 200 that is adapted to its shape, and the gripping device 102 may pick up the material by gripping the fixture 200.

[0034] In the embodiments of this application, the fixing method during fixed connection and fixed installation is not specifically limited. For example, the fixing method may include, but is not limited to, bolt fixing, screw fixing, welding fixing, integral molding fixing, interference fixing, etc.

[0035] Please refer to the following: Figure 2 and Figure 3 It is understandable that the length direction, width direction, and height direction of the gripping device 102 can be defined as the first direction, the second direction, and the vertical direction, respectively. For example, the first direction could be... Figure 2 and Figure 3 The X direction and its opposite direction are shown. The second direction can be... Figure 2 and Figure 3 The Y-direction and its opposite direction are shown; the vertical direction can be... Figure 2 and Figure 3 The Z direction and its opposite direction are shown.

[0036] In one embodiment, the gripping device 102 may include a connecting frame 10, a gripping drive 20, a gripping member 30, a connecting seat 40, and a shooting mechanism 50.

[0037] The connecting frame 10 can be fixedly connected to the drive end of the robotic arm 101. The gripping drive unit 20 is located below the connecting frame 10 in the vertical direction and is connected to the connecting frame 10. There can be two gripping members 30, which can be symmetrically arranged in a second direction, and both gripping members 30 are fixedly connected to the gripping drive unit 20. The gripping drive unit 20 can drive the two gripping members 30 to move closer or further apart, so that the two gripping members 30 can grip or release materials.

[0038] The connecting seat 40 is fixedly installed on one side of the connecting frame 10 in the first direction. The shooting mechanism 50 is fixedly installed on the connecting seat 40. The shooting mechanism 50 can be located above the two clamping members in the vertical direction. The shooting mechanism 50 can take pictures of the material to be clamped. The robotic arm 101 can adjust the position and angle of the clamping device 102 according to the position and angle of the material in the picture taken by the shooting mechanism 50, so that the clamping device 102 can accurately pick up the material.

[0039] It is understood that the clamping drive 20 can be an electric or pneumatic component with two movers that can move synchronously and linearly. In the embodiments of this application, the type of clamping drive 20 is not specifically limited. For example, the clamping drive 20 can be, but is not limited to, a cylinder, a rodless cylinder, a linear motor, etc.

[0040] It is understandable that the principle by which the robotic arm 101 adjusts the position and angle of the gripping device 102 based on the photos taken by the shooting mechanism 50 is a common principle in the relevant field, and will not be elaborated here.

[0041] In some embodiments, each gripper 30 includes a connecting portion 31 and a mating portion 32. The connecting portion 31 can be fixedly connected to a corresponding mover on the gripping drive member 20 and can extend downward in a vertical direction. The mating portion 32 can be fixedly connected to the side of the connecting portion 31 facing another gripper 30 and is located at the bottom of the connecting portion 31. The number of mating portions 32 connected to each connecting portion 31 can be multiple, and the multiple mating portions 32 can be spaced apart along a first direction. Each mating portion 32 can have a protruding snap-fit ​​protrusion 321 on the side facing another gripper 30. Multiple snap-fit ​​grooves 201 can be opened on both sides of the material or fixture 200, and the multiple snap-fit ​​grooves 201 can correspond one-to-one with the multiple snap-fit ​​protrusions 321.

[0042] When the gripping device 102 picks up the material, the two gripping members 30 can first move away from each other. Then, the robotic arm 101 drives the gripping device 102 to approach the material or fixture 200, so that the material or fixture 200 enters the space between the two gripping members 30 and the multiple snap-fit ​​slots 201 are aligned with the multiple snap-fit ​​protrusions 321. Then, the gripping drive 20 works to drive the two gripping members 30 to move closer to each other, so that each snap-fit ​​protrusion 321 is inserted into the corresponding snap-fit ​​slot 201, and the mating parts 32 of the two gripping members cooperate to grip the material or fixture 200.

[0043] It is understood that while the two gripping parts 30 are holding the material or fixture 200, the snap-fit ​​protrusion 321 can engage with the snap-fit ​​groove 201 to restrict the movement of the material or fixture 200 and enhance the firmness of the gripping device 102 in holding the material or fixture 200.

[0044] In some embodiments, the gripping device 102 may further include a plurality of lamps 60. Each of the plurality of lamps 60 can be connected to the connecting frame 10 and is located on the same side of the connecting frame 10 as the shooting mechanism 50. The plurality of lamps 60 can be spaced apart and can illuminate the material to increase the brightness of the photographs taken by the shooting mechanism 50.

[0045] It is understandable that when the ambient light of the gripping device 102 is low, the photos taken by the shooting mechanism 50 without supplemental lighting will be low in brightness. When the staff or the processor (not shown) connected to the robotic arm 101 analyzes the low-brightness photos, they may make mistakes in identifying some feature points on the material, which will increase the error rate of the photo analysis. This may cause the gripping device 102 to deviate from the material position when the robotic arm 101 drives the gripping device 102 to approach the material.

[0046] By using the lamp 60 to supplement the light on the material, the brightness of the photos taken by the shooting mechanism 50 can be increased, thereby improving the accuracy of the staff or processor in analyzing the photos and reducing the probability of the gripping device 102 deviating from the material when it approaches it.

[0047] In the embodiments of this application, the number and installation position of the lamps 60 are not specifically limited. For example, there can be two lamps 60, and both lamps 60 are rectangular lamp tubes. The two lamps 60 can extend along a first direction and a second direction, respectively. A lamp holder 70 can be fixedly installed on the lamp base, and the lamps 60 extending along the second direction can be installed on the lamp holder 70; another lamp holder 70 can be fixedly installed on the connecting frame 10, and the lamp holder 70 and the connecting seat 40 are spaced apart in the second direction, and the lamp holder 70 extending along the first direction can be installed on the lamp holder 70.

[0048] It is understood that each lamp 60 is rotatably connected to its corresponding lamp holder 70, and the axial direction of the rotation center axis of each lamp 60 can coincide with the extension direction of the lamp 60. Each lamp holder 70 may have a limiting groove 71 on at least one side of the extension direction of the corresponding lamp 60, and the limiting groove 71 can extend along the rotation direction of the lamp 60. Each lamp 60 may be threaded with a limiting screw (not shown), which passes through the limiting groove 71 and is threaded onto the lamp 60 before being pressed against the lamp holder 70, thereby limiting the rotation of the lamp 60 through friction with the lamp holder 70.

[0049] In this way, the staff can adjust the direction of the light emitted by each lamp 60 by rotating the lamp 60 according to the working scenario of the clamping device 102, so that the light can illuminate the material loading position. Then the staff can tighten the limit screw to fix the corresponding lamp 60, so that the light can continue to illuminate the material along the current direction.

[0050] It is understood that a rotatable connection can be achieved through a rotating connector, allowing two components to rotate relative to each other. In the embodiments of this application, the type of rotating connector is not limited. For example, a rotating connector can be, but is not limited to, bearings, shafts, hinges, etc.

[0051] In some embodiments, the gripping device 102 may further include a barcode scanner 80 and a distance detector 90. The barcode scanner 80 can be fixedly mounted on the side of the connecting frame 10 away from the connecting base 40 via a bracket, and the distance detector 90 can be fixedly mounted on the side of the connecting frame 10 away from the connecting base 40 via a bracket. The barcode scanner 80 can identify the identification code on the material and transmit the identification result to the processor for recording. The distance detector 90 can detect the distance between the distance detector 90 and the material when the gripping device 102 approaches the material and output the detection result to the processor. When the processor determines that the distance between the distance detector 90 and the material reaches a preset distance, it can control the robotic arm 101 to stop working and control the gripping drive 20 to work, so that the gripping device 102 can pick up the material.

[0052] In the embodiments of this application, the type of distance detector 90 is not specifically limited. For example, distance detector 90 may be, but is not limited to, a distance sensor, a proximity switch, etc.

[0053] It is understandable that the principles of scanning the identification code by the barcode scanner 80 and detecting the distance by the distance detector 90 are common principles in the relevant fields, and will not be elaborated here.

[0054] Please refer to the following: Figure 4In some embodiments, the gripping device 102 may further include a floating seat 110. The floating seat 110 may be located vertically between the connecting frame 10 and the gripping drive member 20. The floating seat 110 may be fixedly connected to the stator of the connecting frame 10 and the gripping drive member 20. When the gripping member 30 grips the material or the fixture 200 equipped with the material, the floating seat 110 may deform under the influence of the force exerted by the material or the fixture 200 on the gripping member 30, and adjust the tilt angle of the gripping member 30.

[0055] It is understood that the snap-fit ​​protrusion 321 can be inclined on both opposite sides in the vertical direction and can be adapted to the snap-fit ​​groove 201. When the inclined surface of the snap-fit ​​protrusion 321 comes into contact with the fixture 200 or the material, it can guide the snap-fit ​​protrusion 321 into the snap-fit ​​groove 201. During this process, the material or the fixture 200 will exert a reaction force on the snap-fit ​​protrusion 321 to guide the clamping member 30 to adjust its tilt angle. At this time, the floating seat 110 can deform synchronously to cooperate with the clamping member 30 to adjust its tilt angle, so that the snap-fit ​​protrusion 321 can be inserted into the snap-fit ​​groove 201, and the clamping device 102 can smoothly obtain the material.

[0056] It is understood that the floating seat 110 can adopt the air flotation module commonly used in the relevant field, and the principle of the floating seat 110 deforming to adjust the tilt angle of the clamping part 30 is a common principle in the relevant field, which will not be elaborated here.

[0057] Please refer to the following: Figure 5 and Figure 6 In some embodiments, the shooting mechanism 50 may include a shooting element 51, a first protective shell 52, a protective cover 53, and a driving assembly 54.

[0058] The imaging component 51 may include a body 511 and a lens 512. The lens 512 may be located at the bottom of the body 511 in the vertical direction and is fixedly connected to the body 511. The body 511 and the lens 512 cooperate to image materials. The body 511 may be fixedly mounted on the connecting seat 40. A through hole may be formed in the connecting seat 40 in the vertical direction, through which the lens 512 can pass to extend below the connecting seat 40.

[0059] The first protective shell 52 can be fixedly installed at the bottom of the connecting base 40. A first receiving cavity 521 is formed in the first protective shell 52, which can penetrate vertically through the first protective shell 52 and communicate with a through hole on the connecting base 40. A lens 512 can be received within the first receiving cavity 521. A first opening 522 communicating with the first receiving cavity 521 can be formed at the bottom of the first protective shell 52, through which the lens 512 can protrude, allowing the imaging component 51 to image materials. A second receiving cavity 523 is also formed in the first protective shell 52, which can penetrate vertically through the first protective shell 52 and is spaced apart from the first receiving cavity 521. A second opening 524 communicating with the second receiving cavity 523 can be formed at the bottom of the first protective shell 52, with the first opening 522 and the second opening 524 spaced apart.

[0060] The protective cover 53 is rotatably connected to the bottom of the first protective shell 52. The protective cover 53 can rotate around an opening / closing central axis, which can be located on one side of the bottom of the first protective shell 52 in a second direction, and the axis of the opening / closing central axis coincides with the first direction. The opening / closing central axis in the second receiving cavity 523 can be located on the same side of the first receiving cavity 521 in the first direction. The protective cover 53 can be fitted with the first opening 522; that is, when the protective cover 53 rotates to fit against the bottom of the first protective shell 52, the first opening 522 can be closed, and when the protective cover 53 rotates away from the first opening 522, the first opening 522 can be opened. Simultaneously, the protective cover 53 can be fitted with the second opening 524. The protective cover 53 can simultaneously open the first opening 522 and the second opening 524 by rotation, and can also simultaneously close the first opening 522 and the second opening 524.

[0061] The drive assembly 54 can be partially housed within the second receiving cavity 523. The drive assembly 54 can drive the protective cover 53 to rotate, thereby opening the first opening 522.

[0062] For example, such as Figure 6 As shown, the opening and closing center axis can be indicated by a dashed line and marked as R. The protective cover 53 rotates clockwise and counterclockwise around the opening and closing center axis, as shown. Figure 6 As shown, clockwise can be the CW direction, and counterclockwise can be the CCW direction.

[0063] It is understandable that the protective cover 53, in conjunction with the first protective shell 52, covers the outside of the lens 512, enhancing its protection and reducing the likelihood of dust and oil contamination, as well as impacts from foreign objects. Furthermore, by rotating the protective cover 53 to open the first opening 522, the lens 512 can face the material, allowing the imaging mechanism 50 to capture images of it. Thus, the cooperation between the protective cover 53 and the first protective shell 52 maintains the imaging function of the imaging mechanism 50 while reducing the probability of dust and oil contamination, as well as impacts, improving the clarity and accuracy of the images captured by the imaging structure and extending the lifespan of the imaging component 51.

[0064] In the embodiments of this application, the type of the imaging device 51 is not specifically limited. For example, the imaging device 51 may be, but is not limited to, a charge-coupled device (CCD) camera.

[0065] In some embodiments, a closing ring 531 is fixedly connected to the side of the protective cover 53 facing the first opening 522, and a sealing ring 532 is fitted around the periphery of the closing ring 531. The closing ring 531 can enter the first receiving cavity 521 through the first opening 522. The sealing ring 532 can simultaneously enter the first receiving cavity 521 through the first opening 522 and can abut against the inner wall of the first receiving cavity 521 to seal the first receiving cavity 521 from the bottom.

[0066] It is understandable that when the first opening 522 is closed, the sealing ring 532 seals the gap between the sealing ring 531 and the inner wall of the first receiving cavity 521, which can reduce the amount of dust and oil entering the first receiving cavity 521 through the first opening 522, reduce the probability of the lens 512 being contaminated by dust and oil, and improve the clarity and accuracy of the photos taken by the shooting mechanism 50.

[0067] Please refer to the following: Figure 7 and Figure 8 In some embodiments, a connecting block 533 is fixedly provided on the side of the protective cover 53 facing the second opening 524, and the connecting block 533 and the closing ring 531 can be spaced apart. The connecting block 533 can be received within the second receiving cavity 523. The connecting block 533 can abut against or connect with the driving assembly 54. The driving assembly 54 can drive the connecting block 533 to rotate, thereby causing the protective cover 53 to rotate synchronously, thereby realizing the opening and closing of the first opening 522.

[0068] It is understood that the connecting block 533 can be rotatably connected to the first protective shell 52 by rotating the connecting piece, thereby realizing that the protective cover 53 is rotatably connected to the first protective shell 52.

[0069] In some cases, the shooting mechanism 50 may also include an elastic element 55, which can be directly connected to the protective cover 53 or connected to the connecting block 533 to achieve connection with the protective cover 53, and the elastic element can abut or connect with the first protective shell 52. The elastic element 55 can drive the protective cover 53 to maintain a counterclockwise rotation tendency through the elastic force generated by its elastic deformation, so that the protective cover 53 maintains its blocking of the first opening 522, thus keeping the first opening 522 continuously closed. The driving assembly 54 may not be directly connected to the connecting block 533. The drive assembly 54 can abut against the connecting block 533 and open the first opening 522 by pushing the connecting block 533 and the protective cover 53 to rotate clockwise. When the protective cover 53 rotates clockwise, it can cooperate with the first protective shell 52 to compress the elastic member 55. When the drive assembly 54 returns to its original state to release the push on the connecting block 533 and the protective cover 53, the elastic member 55 can drive the protective cover 53 to rotate counterclockwise by the elastic force generated by the compression, thereby closing the first opening 522.

[0070] In the embodiments of this application, the type of elastic element 55 is not specifically limited. For example, elastic element 55 can be, but is not limited to, a torsion spring.

[0071] For example, the elastic element 55 can be a torsion spring, with a portion of its structure entering the second receiving cavity 523. The elastic element 55 can abut against the inner wall of the second receiving cavity 523 and the side of the protective cover 53 facing the second receiving cavity 523. A pin 5331 can be passed through the connecting block 533, enabling the connecting block 533 to be rotatably connected to the first protective shell 52. The elastic element 55 can be sleeved on the pin 5331. The opening and closing center shaft can be formed in the pin 5331.

[0072] In other cases, the drive assembly 54 can be directly connected to the connecting block 533. The drive assembly 54 can control the protective cover 53 to rotate clockwise to close the first opening 522, and can control the protective cover 53 to rotate counterclockwise to open the first opening 522.

[0073] The following embodiments are all illustrated based on the case where the shooting mechanism 50 includes an elastic element 55, which can drive the protective cover 53 to rotate counterclockwise to close the first opening 522, and the driving component 54 pushes the protective cover 53 to rotate clockwise to open the first opening 522.

[0074] In some embodiments, a cross-section of the connecting block 533 perpendicular to the first direction may be quadrilateral. An abutment surface 5332 may be provided on the side of the connecting block 533 facing away from the protective cover 53. The abutment surface 5332 may be inclined, and the abutment surface 5332 and the protective cover 53 may form an acute angle. The straight-line distance from the end of the abutment surface 5332 near the closing ring 531 to the protective cover 53 is greater than the straight-line distance from the end of the abutment surface 5332 away from the closing ring 531 to the protective cover 53.

[0075] The drive assembly 54 may include a pusher 541 and an opening / closing drive 542. The pusher 541 may be at least partially housed within the second receiving cavity 523. The bottom of the pusher 541 may abut against the abutment surface 5332. The opening / closing drive 542 may be located vertically above the pusher 541, and the mover of the opening / closing drive 542 may be fixedly connected to the pusher 541. The stator of the opening / closing drive 542 may be fixed relative to the first protective shell 52. The opening / closing drive 542 may drive the pusher 541 to move vertically. When the opening / closing drive 542 drives the pusher 541 to descend vertically, the pusher 541 may push the connecting block 533 and the protective cover 53 to rotate counterclockwise to open the first opening 522. While the connecting block 533 and the protective cover 53 are rotating, the bottom of the pusher 541 can maintain contact with the abutment surface 5332, and can move relative to the connecting block 533 along the inclined direction of the abutment surface 5332.

[0076] It is understandable that the distance from the side of the connecting block 533 facing away from the protective cover 53 (i.e., the abutment surface 5332) to the protective cover 53 in the direction perpendicular to the protective cover 53 can be defined as the thickness of the connecting block 533. The opening of the abutment surface 5332 can reduce the thickness of the side of the connecting block 533 facing away from the closing ring 531, which can reduce the situation where the side of the connecting block 533 facing away from the closing ring 531 abuts against the middle of the pusher 541 when the pusher 541 pushes the connecting block 533 to rotate, thus preventing the pusher 541 from pushing the connecting block 533. This can improve the stability and smoothness of the pusher 541 pushing the connecting block 533 to rotate.

[0077] It is understood that when the first opening 522 is open, when the opening and closing drive member 542 drives the push member 541 to rise in the vertical direction, the compressed elastic member 55 can drive the protective cover 53 to rotate in the clockwise direction, so that the contact surface 5332 remains in contact with the bottom of the push member 541, and the protective cover 53 can rotate stably and finally close the first opening 522.

[0078] In the embodiments of this application, the type of opening and closing drive member 542 is not specifically limited. For example, the opening and closing drive member 542 may be, but is not limited to, a cylinder.

[0079] In some embodiments, the imaging mechanism 50 may further include a second protective shell 56. The second protective shell 56 may be located on top of the first protective shell 52 in the vertical direction, and the second protective shell 56 is fixedly connected to the first protective shell 52. A third receiving cavity 561 is formed in the second protective shell 56, the third receiving cavity 561 extends vertically through the second protective shell 56, and communicates with the second receiving cavity 523. The pusher 541 may be partially received in the third receiving cavity 561 and partially received in the second receiving cavity 523. The opening and closing drive member 542 may be fixedly mounted on the top of the second protective shell 56, and a portion of the structure of the opening and closing drive member 542 may be received in the third receiving cavity 561, with the remaining portion located on the top of the second protective shell 56.

[0080] It is understandable that the second protective shell 56 can cooperate with the first protective shell 52 to enhance the protection of the drive component 54, reduce the probability of dust and oil stains getting on the drive component 54, reduce the probability of the drive component 54 being hit by foreign objects, reduce the failure rate of the drive component 54, and improve the service life of the drive component 54.

[0081] In some embodiments, the pusher 541 may include a push rod 5411 and an abutment wheel 5412. The push rod 5411 may extend vertically and may be partially received within a third receiving cavity 561, with the remaining portion received within a second receiving cavity 523. The push rod 5411 may be fixedly connected to the mover of the opening / closing drive 542. The abutment wheel 5412 may be located at the bottom of the push rod 5411 and rotatably connected to the push rod 5411. The abutment wheel 5412 may abut against an abutment surface 5332.

[0082] It is understandable that when the opening / closing drive member 542 drives the push rod 5411 to descend, the abutment wheel 5412 descends synchronously and pushes the connecting block 533 and the protective cover 53 to rotate counterclockwise. At this time, the abutment wheel 5412 can rotate and continuously abut against the abutment surface 5332. Since rolling friction is less than sliding friction, the abutment wheel 5412 can improve the smoothness of the movement of the bottom of the push member 541 on the abutment surface 5332 when it remains in contact with the abutment surface 5332, thereby improving the smoothness of the rotation of the protective cover 53 and the smoothness of the closing and opening of the first opening 522.

[0083] According to the material handling device 100 provided in the embodiments of this application, when material needs to be acquired, the photographing mechanism 50 in the clamping device 102 located above the material needs to take a picture of the material. At this time, the opening and closing drive member 542 can drive the push member 541 to descend, so as to push the connecting block 533 to rotate counterclockwise, so that the protective cover 53 rotates counterclockwise simultaneously to open the first opening 522 and compress the elastic member 55; the lens 512 can be exposed through the first opening 522, and then the photographing member 51 can take a picture of the material. During the process of the photographing member 51 taking a picture, multiple lamps 60 can illuminate the material to improve the clarity and brightness of the picture. Then the opening and closing drive member 542 can drive the push member 541 to rise, and the elastic member 55 can drive the protective cover 53 to rotate clockwise through the elastic force generated by the elastic deformation, so that the first opening 522 is closed.

[0084] Then, based on the photograph taken by the camera 51, the robotic arm 101 can drive the gripping device 102 to approach the material and adjust the tilt angle of the gripping device 102. When the detection result of the distance detector 90 indicates that the material or the fixture 200 equipped with the material is already between the two gripping members 30, the gripping drive 20 can drive the two gripping members 30 to approach each other to grip the material or the fixture 200, thus realizing the acquisition of the material by the gripping device 102. Then the barcode scanner 80 can identify the identification code on the material, and the robotic arm 101 can drive the gripping device 102 to move to the designated position. The gripping device 102 can release the material, and the worker or automated equipment can continue to process, inspect, clean, or collect the material.

[0085] Clearly, the cooperation of the first protective shell 52, the protective cover 53, and the drive assembly 54 can maintain the imaging function of the imaging element 51 while strengthening the protection of the imaging element 51, reducing the probability of external dust and oil contaminating the lens 512, thereby improving the clarity and accuracy of the photos taken by the imaging element 51. In this way, the accuracy and efficiency of the material handling equipment 100 in acquiring and transporting materials can be improved.

[0086] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments described above should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application.

Claims

1. A filming device, characterized in that, include: A camera assembly, comprising a body and a lens, wherein the lens is attached to one side of the body; A first protective shell has a first receiving cavity inside, and the lens is received in the first receiving cavity. A first opening communicating with the first receiving cavity is provided on one side of the first protective shell. The protective cover is rotatably connected to the first protective shell and is appropriately matched with the first opening; A drive assembly is disposed on the first protective shell, the drive assembly being used to drive the protective cover to rotate to close or open the first opening.

2. The shooting mechanism as described in claim 1, characterized in that, The filming facility also includes: An elastic element is connected to the protective cover and to or abuts against the first protective shell. The elastic element is used to drive the protective cover to rotate so as to close the first opening.

3. The shooting mechanism as described in claim 1, characterized in that, A second receiving cavity is formed inside the first protective shell, and the second receiving cavity is spaced apart from the first receiving cavity. A second opening is also formed on the side of the first protective shell where the first opening is formed. The second opening communicates with the second receiving cavity. The protective cover is appropriately matched with the second opening. A connecting block is provided on the side of the protective cover facing the second opening. The connecting block enters the second receiving cavity through the second opening. The connecting block is connected to or abuts against the driving component. The driving component is used to drive the connecting block to rotate, so that the connecting block is at least partially moved out of the second receiving cavity, and the protective cover rotates synchronously.

4. The shooting mechanism as described in claim 3, characterized in that, The driving component includes: The pusher abuts against the connecting block and is at least partially housed in the second receiving cavity; An opening and closing drive is disposed on the first protective shell and connected to the pusher. The opening and closing drive is used to drive the pusher to move along a preset direction, so that the pusher pushes the connecting block to rotate.

5. The shooting mechanism as described in claim 4, characterized in that, The connecting block is provided with an abutment surface, the abutment surface is inclined, and the abutment surface is set at an acute angle with the protective cover; the pushing member includes: A push rod is connected to the opening and closing drive component, and the push rod extends along the preset direction; An abutment wheel is rotatably connected to the bottom of the push rod. The abutment wheel is housed in the second receiving cavity and abuts against the abutment surface.

6. The shooting mechanism as described in claim 5, characterized in that, The second receiving cavity penetrates the first protective shell along the preset direction, and the shooting mechanism further includes: A second protective shell is disposed on the first protective shell. A third receiving cavity is formed inside the second protective shell. The third receiving cavity penetrates the second protective shell along the preset direction and communicates with the second receiving cavity. The push rod is at least partially received in the third receiving cavity.

7. The shooting mechanism as described in claim 1, characterized in that, A sealing ring is provided on the protective cover. The sealing ring is used to enter the first receiving cavity and abut against the inner wall of the first receiving cavity.

8. A clamping device for clamping materials, characterized in that, The clamping device includes: Connector; A clamping drive component is mounted on the connecting frame; Two gripping members are symmetrically arranged and both are connected to the gripping drive member. The gripping drive member is used to drive the two gripping members to move closer or further away from each other, so that the two gripping members can grip or release the material. The shooting mechanism as described in any one of claims 1 to 7, wherein the shooting mechanism is disposed on the connecting frame.

9. The clamping device as described in claim 8, characterized in that, The clamping device further includes: A connecting base is provided on one side of the connecting frame, and the shooting mechanism is connected to the connecting base to achieve connection with the connecting frame; Multiple lamps, each lamp being connected to the connecting base or the connecting frame, each lamp being used to illuminate the material; A floating seat is provided on the connecting frame, and the gripping drive is connected to the floating seat so that the gripping drive is provided on the connecting frame. The floating seat is used to adjust the tilt angle of the gripping member when the gripping member picks up the material.

10. A material transfer device, characterized in that, include: robotic arm; The gripping device as described in claim 8 or 9 is disposed on the robotic arm, and the robotic arm is used to drive the gripping device to move.

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