A camera mounting structure

Abstract

The utility model discloses a camera mounting structure, including magnetic attraction seat and magnetic attraction support, magnetic attraction seat is used for with mechanical hand connection, and magnetic attraction support is connected with camera and is connected with magnetic attraction seat magnetic attraction connection, forms separable interface through the magnetic attraction connection between magnetic attraction seat and magnetic attraction support, and magnetic attraction support can immediately separate from magnetic attraction seat when colliding, and the impact transmission is cut off, reduces the risk that camera is damaged because of rigid impact under the precondition of not increasing additional protection structure, avoids increasing mechanical hand load and the field of view of shielding simultaneously, keeps the dynamic response speed of mechanical hand.

Description

Technical Field

[0001] This utility model relates to the field of industrial vision protection technology, and in particular to a camera mounting structure. Background Technology

[0002] In automated production lines, robotic arms performing tasks such as picking, placing, assembling, or inspecting require cameras mounted at their end effectors to capture target images and provide visual guidance. However, cameras have blind spots, which can easily interfere with surrounding objects and cause collisions when the robotic arm moves at high speeds. Currently, cameras are rigidly fixed to the robotic arm with metal brackets, and the impact from collisions is directly transmitted to the camera, easily causing lens breakage or internal circuit breakage. Existing technologies often add protective structures to the outside of the camera to increase impact resistance, but these structures increase the overall size and weight, reduce the robotic arm's dynamic response speed, and may obstruct part of the field of view.

[0003] Therefore, a camera mounting structure is needed that can reduce the impact of collisions on the camera without adding additional protective structures. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a camera mounting structure that reduces the impact of collisions on the camera without adding additional protective structures.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: a camera mounting structure, including... Magnetic mounting base for connecting to robotic arms; A magnetic bracket is connected to the camera and magnetically attached to the magnetic base.

[0006] Furthermore, it also includes a suspension rope that connects the magnetic base to the magnetic bracket.

[0007] Furthermore, the magnetic bracket includes a magnetic suction part, a connecting part, and a mounting part connected in sequence. The magnetic suction part is magnetically connected to the magnetic suction base, and the camera is mounted on the mounting part.

[0008] Furthermore, a first reinforcing rib is provided between the magnetic suction part and the connecting part.

[0009] Furthermore, the connecting part is L-shaped, the magnetic part is connected to one end of the connecting part, and the mounting part is connected to the other end of the connecting part.

[0010] Furthermore, a second reinforcing rib is provided on the inner side of the included angle of the connecting part to connect its two side walls.

[0011] Furthermore, the magnetic base is provided with a positioning structure, and the magnetic bracket is magnetically connected to the positioning structure.

[0012] Furthermore, the positioning structure is a positioning protrusion protruding from the magnetic base, and the positioning protrusion abuts against the magnetic bracket.

[0013] Furthermore, the magnetic base is provided with a first wire, one end of which is provided with a first contact terminal, and the other end is connected to the robotic arm; the magnetic bracket is provided with a second wire, one end of which is provided with a second contact terminal, and the other end is electrically connected to the camera; the first contact terminal is used to electrically connect with the second contact terminal.

[0014] Furthermore, the first contact terminal is suspended on the magnetic base, and / or the second contact terminal is suspended on the magnetic bracket.

[0015] The beneficial effects of this utility model are as follows: The camera mounting structure provided by this utility model forms a separable interface through the magnetic connection between the magnetic base and the magnetic bracket. When there is a collision, the magnetic bracket can immediately detach from the magnetic base, cut off the impact transmission, reduce the risk of camera damage due to rigid impact without adding an additional protective structure, and at the same time avoid increasing the load on the robot arm and obstructing the field of view, and maintain the dynamic response speed of the robot arm. Attached Figure Description

[0016] Figure 1 This is an assembly drawing of the camera mounting structure according to Embodiment 1 of this utility model; Figure 2 This is an exploded view of the camera mounting structure according to Embodiment 1 of this utility model; Figure 3 This is a cross-sectional schematic diagram of the camera mounting structure according to Embodiment 1 of this utility model; Figure 4 This is an assembly diagram of the camera mounting structure according to Embodiment 2 of this utility model; Figure 5 This is a cross-sectional schematic diagram of the camera mounting structure according to Embodiment 3 of this utility model; Figure 6 This is a cross-sectional schematic diagram of the camera mounting structure according to Embodiment 4 of this utility model.

[0017] Label Explanation: 1. Magnetic base; 11. First magnetic component; 12. Positioning structure; 13. First wire; 131. First contact terminal; 14. Wiring trough; 2. Magnetic bracket; 21. Magnetic part; 211. Second magnetic component; 22. Connecting part; 23. Mounting part; 24. First reinforcing rib; 25. Second reinforcing rib; 26. Second wire; 261. Second contact terminal; 3. Suspension rope. Detailed Implementation

[0018] To explain in detail the technical content, objectives, and effects of this utility model, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0019] Please refer to Figure 1 A camera mounting structure includes a magnetic base 1 and a magnetic bracket 2 for connecting to a robotic arm; the magnetic bracket 2 is connected to the camera and magnetically connected to the magnetic base 1.

[0020] As can be seen from the above description, the beneficial effects of this utility model are as follows: by forming a separable interface through the magnetic connection between the magnetic base 1 and the magnetic bracket 2, the magnetic bracket 2 can immediately detach from the magnetic base 1 in the event of a collision, cutting off the impact transmission. This reduces the risk of the camera being damaged by rigid impact without adding an additional protective structure, while avoiding increasing the load on the robotic arm and obstructing the field of view, and maintaining the dynamic response speed of the robotic arm.

[0021] Please refer to Figure 4 Furthermore, it also includes a suspension rope 3, which connects the magnetic base 1 and the magnetic bracket 2.

[0022] As described above, after detachment, the magnetic bracket 2 and the camera are held by the suspension rope 3 to prevent the whole unit from falling to the ground and avoid secondary impact. The length of the suspension rope 3 can be reserved according to the needs of the site to ensure that the camera does not interfere with the equipment below after being suspended, while leaving enough slack to prevent the cable from being pulled off.

[0023] Please refer to Figure 1 Furthermore, the magnetic bracket 2 includes a magnetic suction part 21, a connecting part 22, and a mounting part 23 connected in sequence. The magnetic suction part 21 is magnetically connected to the magnetic suction base 1, and the camera is mounted on the mounting part 23.

[0024] As described above, the three-section division of labor causes the magnetic surface to be misaligned with the optical axis of the camera, so that the camera's field of view is not obstructed by the robotic arm body and the original detection range is maintained; the connecting part 22 extends the mounting part 23, allowing the camera to approach the area being measured and reducing the problem of insufficient depth of field caused by increased distance.

[0025] Please refer to Figure 1 Furthermore, a first reinforcing rib 24 is provided between the magnetic suction part 21 and the connecting part 22.

[0026] As can be seen from the above description, the first reinforcing rib 24 is provided between the magnetic suction part 21 and the connecting part 22 to form a local thickening, which improves the bending stiffness of the bending area, reduces plastic deformation after multiple attraction / disengagement, and maintains the stability of the optical axis direction.

[0027] Please refer to Figure 1Furthermore, the connecting part 22 is L-shaped, the magnetic part 21 is connected to one end of the connecting part 22, and the mounting part 23 is connected to the other end of the connecting part 22.

[0028] As described above, the L-shaped structure allows the camera to extend outward relative to the robotic arm itself.

[0029] Please refer to Figure 1 Furthermore, the connecting part 22 is provided with a second reinforcing rib 25 connecting its two side walls on the inner side of the included angle.

[0030] As described above, the triangular support is located inside the L-shaped angle and connects to both side walls, increasing the rigidity of the L-shaped connection 22 and reducing camera shake caused by vibration. The reinforcing rib also serves as a finger gripping point, allowing maintenance personnel to manually reset the lens without directly touching it.

[0031] Please refer to Figure 1 Furthermore, the magnetic base 1 is provided with a positioning structure 12, and the magnetic bracket 2 is magnetically connected to the positioning structure 12.

[0032] As described above, the positioning structure 12 on the magnetic base 1 provides a reset reference for the magnetic bracket 2, ensuring that the camera returns to the same position and orientation after each attraction, without the need to recalibrate the hand-eye relationship.

[0033] Please refer to Figure 1 and Figure 2 Furthermore, the positioning structure 12 is a positioning protrusion protruding from the magnetic base 1, and the positioning protrusion abuts against the magnetic bracket 2.

[0034] As described above, the positioning protrusion abuts against the side wall or bottom surface of the magnetic bracket 2, restricting the lateral degree of freedom, so that the reset error is determined only by the manufacturing tolerance of the positioning protrusion, and the repeatability accuracy is controllable.

[0035] Please refer to Figure 5 Furthermore, the magnetic base 1 is provided with a first wire 13, one end of the first wire 13 is provided with a first contact terminal 131, and the other end is connected to the robotic arm; the magnetic bracket 2 is provided with a second wire 26, one end of the second wire 26 is provided with a second contact terminal 261, and the other end is electrically connected to the camera; the first contact terminal 131 is used to electrically connect with the second contact terminal 261.

[0036] As described above, when the camera is engaged, the first contact terminal 131 and the second contact terminal 261 come into contact to enable power supply and signal transmission; when the camera is disengaged, it automatically cuts off the power to prevent the camera from continuing to work in a suspended state, which could lead to data abnormalities.

[0037] Furthermore, the first contact terminal 131 is suspended on the magnetic base 1, and / or the second contact terminal 261 is suspended on the magnetic bracket 2.

[0038] As described above, the suspension structure allows the first contact terminal 131 and the second contact terminal 261 to maintain elastic pre-pressure before attraction, compensating for the dimensional deviation between the magnetic base 1 and the magnetic bracket 2, and ensuring reliable contact. When disengaging, the suspended first contact terminal 131 and the second contact terminal 261 are pulled apart first, and the power is cut off earlier than the mechanical separation, avoiding arcing and burning of the contacts, and extending the service life.

[0039] Embodiment 1 of this utility model is as follows: Please refer to Figure 1 A camera mounting structure is suitable for automated scenarios where robotic arms need to operate at high speeds in confined spaces and where cameras are susceptible to lateral or frontal impacts, such as electronic product handling, packaging line inspection, and component assembly. It can magnetically detach the camera to protect it from rigid impact damage without adding additional protective structures, meeting the requirements of lightweight, unobstructed, and quick maintenance.

[0040] Specifically, the camera mounting structure includes a magnetic base 1 and a magnetic bracket 2. The magnetic base 1 is used to connect with the robotic arm (not shown in the figure); the magnetic bracket 2 is connected to the camera (not shown in the figure) and magnetically connected to the magnetic base 1. It can be understood that the magnetic connection between the magnetic base 1 and the magnetic bracket 2 forms a separable interface. In the event of a collision, the magnetic bracket 2 can immediately detach from the magnetic base 1, cutting off the impact transmission. This reduces the risk of the camera being damaged by rigid impact without adding an additional protective structure, while avoiding increasing the load on the robotic arm and obstructing the field of view, and maintaining the dynamic response speed of the robotic arm.

[0041] More specifically, the magnetic base is detachably mounted to the robotic arm, and the camera is also detachably mounted to the magnetic bracket; the detachable connection method includes, but is not limited to, at least one of the following methods: screw connection, bolt connection, snap-fit ​​connection, etc., which can be set according to the actual application requirements, and will not be described in detail here.

[0042] In detail, in this embodiment, the camera is electrically connected to the control module of the robotic arm via an electrical connection cable. By reasonably setting the length of the electrical connection cable, when the magnetic bracket 2 is subjected to a rigid impact and falls off the magnetic base 1, the magnetic bracket 2 is pulled by the electrical connection cable, so that the magnetic bracket 2 is in a suspended state, preventing the magnetic bracket 2 from falling to the ground and causing damage to the camera.

[0043] Please combine Figure 2 and Figure 3In this embodiment, the magnetic base 1 is provided with a first magnetic member 11, and the magnetic bracket 2 is provided with a second magnetic member 211. The first magnetic member 11 and the second magnetic member 211 are magnetically attracted to each other. Optionally, the magnetic attraction between the magnetic base 1 and the magnetic bracket 2 can be one of the following: 1. The first magnetic accumulator 11 is a permanent magnet, and the second magnetic accumulator 211 is also a permanent magnet; 2. The first magnetic attractor 11 is a permanent magnet, and the second magnetic attractor 211 is a ferromagnetic metal; Third, the first magnetic attractor 11 is a ferromagnetic metal, and the second magnetic attractor 211 is a permanent magnet.

[0044] Please refer to Figure 1 The magnetic bracket 2 includes a magnetic suction part 21, a connecting part 22, and a mounting part 23 connected in sequence. The second magnetic suction member 211 is mounted on the magnetic suction part 21. The magnetic suction part 21 is magnetically connected to the magnetic suction base 1. The camera is mounted on the mounting part 23. The magnetic suction part 21, the connecting part 22, and the mounting part 23 are integrally formed. The three sections are designed to offset the magnetic suction surface from the optical axis of the camera, so that the camera's field of view is not obstructed by the robotic arm body, maintaining the original detection range. The connecting part 22 extends the mounting part 23, allowing the camera to approach the area being measured, reducing the problem of insufficient depth of field caused by increased distance.

[0045] Please refer to Figure 1 A first reinforcing rib 24 is provided between the magnetic suction part 21 and the connecting part 22. The first reinforcing rib 24 can form a local thickening, improve the bending stiffness of the bending area, reduce plastic deformation after multiple suction / distraction, and maintain the stability of the optical axis direction. Specifically, the connecting part 22 is L-shaped, the magnetic suction part 21 is connected to one end of the connecting part 22, and the mounting part 23 is connected to the other end of the connecting part 22. The L-shaped structure allows the camera to extend outward relative to the robotic arm body. More specifically, a second reinforcing rib 25 is provided on the inner side of the included angle of the connecting part 22, connecting its two side walls. It is located on the inner side of the L-shaped included angle and connects to the two side walls to form a triangular support, which improves the stiffness of the L-shaped connecting part 22 and reduces camera shake caused by vibration. The reinforcing rib also serves as a finger gripping point, allowing maintenance personnel to pinch this point for manual reset and avoid direct contact with the lens.

[0046] Please refer to Figure 1 and Figure 2The magnetic base 1 is provided with a positioning structure 12, and the magnetic bracket 2 is magnetically connected to the positioning structure 12. The positioning structure 12 on the magnetic base 1 provides a reset reference for the magnetic bracket 2, ensuring that the camera returns to the same position and orientation after each attraction, without the need to recalibrate the hand-eye relationship. Specifically, in this embodiment, the positioning structure 12 is a positioning protrusion protruding from the magnetic base 1, and the positioning protrusion abuts against the magnetic bracket 2. The number of positioning protrusions is at least two, and they abut against the side wall or bottom surface of the magnetic bracket 2, restricting the lateral degree of freedom, so that the reset error is determined only by the manufacturing tolerance of the positioning protrusion, and the repeatability accuracy is controllable. In addition, in some other embodiments, the positioning structure 12 can also be a positioning groove, which can be adjusted according to the actual application requirements.

[0047] Please refer to Figure 4 The second embodiment of this utility model is an improvement on the first embodiment. In this second embodiment, the camera mounting structure further includes a suspension rope 3. The suspension rope 3 connects the magnetic base 1 and the magnetic bracket 2. After detachment, the magnetic bracket 2 and the camera are held by the suspension rope 3 to prevent the whole structure from falling to the ground and avoid secondary impact. The length of the suspension rope 3 can be reserved according to the site requirements to ensure that the camera does not interfere with the equipment below after being suspended, while leaving enough slack to prevent the cable from being pulled off.

[0048] Optionally, the suspension rope 3 can be made of UHMWPE fiber, aramid, polyester, polyarylate or stainless steel microfilament stranded wire. The structure can be hollow braided, parallel strand with TPU sheath, double braided, micro-diameter steel wire rope or hybrid rope, with a breaking strength of ≥10 times the load, elongation of <1%, outer diameter ≤2mm, oil resistance, wear resistance and no moisture absorption, to meet the needs of reciprocating swing and lightweight suspension in industrial sites.

[0049] Please refer to Figure 5 The third embodiment of this utility model is an improvement on the second embodiment. In this third embodiment: the magnetic base 1 is provided with a first wire 13, one end of the first wire 13 is provided with a first contact terminal 131, and the other end is connected to the mechanical arm; the magnetic bracket 2 is provided with a second wire 26, one end of the second wire 26 is provided with a second contact terminal 261, and the other end is electrically connected to the camera; the first contact terminal 131 is used to electrically connect with the second contact terminal 261. When they are attracted, the first contact terminal 131 and the second contact terminal 261 are in contact to realize power supply and signal transmission; when they are separated, the power is automatically cut off to prevent the camera from continuing to work in the suspended state, which would cause data abnormalities.

[0050] Furthermore, since the first wire 13 is fixed to the magnetic base 1 and the second wire 26 is fixed to the magnetic bracket 2, when the magnetic bracket 2 is separated from the magnetic base 1, the first contact terminal 131 and the second contact terminal 261 are separated. The magnetic bracket 2 is suspended by the suspension rope 3, and the second wire 26 is always fixed to the magnetic bracket 2, thus avoiding the problem of the electrical connection wires becoming tangled after the magnetic bracket 2 is separated from the magnetic base 1.

[0051] Optionally, the first wire 13 can be fixed to the magnetic base 1 by an additional wire fixing structure, and the second wire 26 can also be fixed to the magnetic bracket 2 by an additional wire fixing structure; the wire fixing structure can be easily purchased parts such as tape or cable ties.

[0052] Specifically, in this embodiment, the first contact terminal 131 is suspended on the magnetic base 1, and / or the second contact terminal 261 is suspended on the magnetic bracket 2. The suspension structure allows the first contact terminal 131 and the second contact terminal 261 to maintain elastic pre-compression before attraction, compensating for the dimensional deviation between the magnetic base 1 and the magnetic bracket 2, and ensuring reliable contact. When disengaging, the suspended first contact terminal 131 and the second contact terminal 261 are pulled apart first, and the power is cut off before mechanical separation, avoiding arcing and burning of the contacts, and extending the service life.

[0053] Optionally, the electrical connection between the first contact terminal 131 and the second contact terminal 261 can employ conventional electrical connectors widely used in board-to-board, wire-to-board, and magnetic charging applications. Specific structural forms include: 1. Spring-loaded pogopin: Composed of a gold-plated plunger, a spring, and a sleeve, it maintains point-to-point contact with the help of spring pressure. It can provide a stable positive force of 0.5–1N within a 2mm stroke. When attracted, it automatically compensates for the tiny gaps in the magnetic attraction surface. When disengaged, the plunger springs back and disconnects, making it suitable for high-frequency insertion and removal. 2. Leaf spring: A cantilevered spring made of stainless steel or phosphor bronze substrate, locally stamped and plated with nickel gold with a thickness of 0.1–0.2 mm. It generates contact pressure through the deflection of the elastic arm, occupies little space, and can be arranged laterally or vertically. It is pressed and connected to the corresponding gold-plated pad. 3. Crown spring / wire spring hole: Multiple inclined elastic wires are inserted into the copper alloy round hole to form a "brush" type multi-point contact. It has low contact resistance and is resistant to fretting wear. It is often used for plug pins and is suitable for occasions that need to carry current of more than 1A. IV. Gold-plated pad pressure post: One end is a gold-plated pad on the PCB surface, and the other end is a gold-plated cylinder or hemisphere. Metal-to-metal contact is achieved through magnetic positive pressure. This method has the fewest parts and the lowest cost. 5. Magnetic holding normally closed contact (reed switch replacement idea): Fix one end of the elastic spring and set the other end with a ferromagnetic cap. When the magnetic attraction is in place, the spring is attracted to achieve electrical connection. When the magnetic field disappears, it is disconnected. No additional spring is needed, but it is only suitable for small current signals.

[0054] All of the above structural forms can be suspended for installation: the fixed end of the spring pin or spring clip is led out with a flexible ribbon cable or thin wire, while the other end floats freely near the magnetic surface, ensuring that elastic preload is applied before the magnetic attraction is fully engaged; upon disengagement, the elastic terminal separates from the magnetic surface first, and power is cut off before mechanical disengagement, avoiding arcing. The terminal surface is conventionally nickel-plated with gold plating, with a thickness of 0.05–0.3μm, meeting the requirements for oxidation and corrosion resistance in industrial environments. The current path is separated from the suspension rope 3, so even if the rope swings, it will not affect the positive force of the contact, ensuring long-term reliability.

[0055] Please refer to Figure 6 This fourth embodiment of the present invention is an improvement on the third embodiment. In this fourth embodiment: the first magnetic suction member 11 and the second magnetic suction member 211 are both annular. The magnetic suction base 1 is provided with a wiring groove 14. The first wire 13 passes through the wiring groove 14. The first contact terminal 131 is suspended inside the first magnetic suction member 11. The second wire 26 is embedded in the magnetic suction bracket 2. In this way, the second wire 26 can be effectively prevented from being exposed. The second contact terminal 261 is located inside the second magnetic suction member 211. During the separation process of the magnetic suction bracket 2 and the magnetic suction base 1, since the second contact terminal 261 is suspended inside the first magnetic suction member 11, the second contact terminal 261 can be dynamically adjusted in real time according to the angle change of the first terminal. Under the gravity of the magnetic suction bracket 2 itself, the first contact terminal 131 and the second contact terminal 261 are separated.

[0056] In summary, the camera mounting structure provided by this utility model forms a separable interface through the magnetic connection between the magnetic base and the magnetic bracket. In the event of a collision, the magnetic bracket can immediately detach from the magnetic base, cutting off the impact transmission. This reduces the risk of camera damage due to rigid impact without adding additional protective structures, while avoiding increasing the load on the robotic arm and obstructing the field of view, thus maintaining the dynamic response speed of the robotic arm.

[0057] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent modifications made based on the content of this utility model specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A camera mounting structure, characterized in that, include Magnetic mounting base for connecting to robotic arms; A magnetic bracket is connected to the camera and magnetically attached to the magnetic base. It also includes a suspension rope that connects the magnetic base to the magnetic bracket.

2. The camera mounting structure according to claim 1, characterized in that, The magnetic bracket includes a magnetic suction part, a connecting part, and a mounting part connected in sequence. The magnetic suction part is magnetically connected to the magnetic suction base, and the camera is mounted on the mounting part.

3. The camera mounting structure according to claim 2, characterized in that, A first reinforcing rib is provided between the magnetic suction part and the connecting part.

4. The camera mounting structure according to claim 2, characterized in that, The connecting part is L-shaped, the magnetic part is connected to one end of the connecting part, and the mounting part is connected to the other end of the connecting part.

5. The camera mounting structure according to claim 4, characterized in that, The inner side of the included angle of the connecting part is provided with a second reinforcing rib that connects its two side walls.

6. The camera mounting structure according to claim 1, characterized in that, The magnetic base is provided with a positioning structure, and the magnetic bracket is magnetically connected to the positioning structure.

7. The camera mounting structure according to claim 6, characterized in that, The positioning structure is a positioning protrusion protruding from the magnetic base, and the positioning protrusion abuts against the magnetic bracket.

8. The camera mounting structure according to claim 1, characterized in that, The magnetic base is provided with a first wire, one end of which is provided with a first contact terminal, and the other end is connected to the robotic arm; the magnetic bracket is provided with a second wire, one end of which is provided with a second contact terminal, and the other end is electrically connected to the camera; the first contact terminal is used to electrically connect with the second contact terminal.

9. The camera mounting structure according to claim 8, characterized in that, The first contact terminal is suspended from the magnetic base, and / or the second contact terminal is suspended from the magnetic bracket.

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