Robotic structured light projection rapid focusing device

Abstract

The utility model discloses a kind of robot structured light projection quick focusing device, it is related to light projection technical field, including device main body and bottom plate, the inner side of T-shaped groove is rotatably connected with screw rod, the inner side of T-shaped groove is slidably connected with T-shaped block, the upper side of T-shaped block is fixedly connected with mounting sleeve, the inner side of mounting sleeve is fixedly connected with projector, the outside of mounting seat is provided with sliding slot, the inner side of sliding slot is slidably connected with slide, the upper end of slide is fixedly connected with limit block, the lower side of mounting plate is fixedly connected with first toothed plate, rebound mechanism is installed in the inside of mounting seat, the upper side of connecting plate is fixedly connected with second toothed plate, separation mechanism is installed in the outside of mounting seat. The device is directly focused by screw knob, and the safety stroke boundary is set in advance for projection lens, and the collision is prevented, and the locking can be quickly released and the limit position is reset by pressing connecting rod, so that adjustment and protection are also simple and convenient.

Description

Technical Field

[0001] This utility model relates to the field of optical projection technology, specifically to a rapid focusing device for structured light projection on a robot. Background Technology

[0002] In the field of industrial robotics and automated inspection, structured light projection technology is one of the core methods for achieving high-precision 3D vision measurement and positioning. This technology projects a specifically coded optical pattern onto a target, and a camera captures the deformed image to ultimately calculate the object's 3D shape information. With the continuous expansion of robot application scenarios, especially in long-working-distance operation environments such as large-size workpiece inspection, logistics sorting, and flexible assembly, the fast and accurate focusing capability of structured light projection systems has become a key technical factor affecting the overall operational efficiency and measurement accuracy of robots.

[0003] Currently, there are several technical solutions for focusing adjustment in structured light projection systems. For example, one known adjustment device uses manual pushing or auxiliary tools to move the projection lens directly by tightening or loosening the fixing screws to achieve coarse adjustment of the focal length. Another solution uses a gear and rack meshing structure to drive the lens bracket to move linearly by rotating the handwheel. Such solutions usually set physical limit blocks directly on the projector casing or bracket to limit the movement range of the lens by mechanical collision.

[0004] However, the aforementioned existing technologies have some shortcomings in practical applications. First, the direct adjustment method based on tightening and loosening screws is difficult to achieve precise and stepless displacement control. The focusing process relies on the operator's experience, resulting in low efficiency and poor repeatability. In particular, it is difficult to quickly achieve the best imaging state at long working distances. Second, although the gear and rack transmission scheme can achieve a certain degree of displacement adjustment, it often lacks intuitive quantitative indications, and the accuracy of focusing cannot be guaranteed. Furthermore, although the fixed mechanical limit can prevent excessive lens movement, once the working distance changes, its limit position cannot be quickly and conveniently reset and locked, resulting in poor adaptability and limiting the robot's ability to quickly switch between different tasks.

[0005] Based on this, this utility model designs a robot structured light projection fast focusing device to solve the above problems. Utility Model Content

[0006] In view of the above-mentioned shortcomings of the existing technology, the present invention provides a robot structured light projection fast focusing device.

[0007] To achieve the above objectives, this utility model provides the following technical solution: A robotic structured light projection rapid focusing device includes a main body and a base plate, as well as a spring-loaded mechanism and a separation mechanism. The main body has a T-slot on its exterior. A lead screw is rotatably connected to the inner side of the T-slot, and an adjustment knob is fixedly connected to the end of the lead screw. A T-block is slidably connected to the inner side of the T-slot and threadedly connected to the outside of the lead screw. A mounting sleeve is fixedly connected to the upper side of the T-block, and a projector is fixedly connected to the inner side of the mounting sleeve. A mounting base is fixedly connected to the upper side of the base plate. A sliding groove is formed on the exterior of the mounting base, and a sliding plate is slidably connected to the inner side of the sliding groove. A limit block is fixedly connected to the upper end of the sliding plate, and a mounting plate is fixedly connected to the lower end of the sliding plate. A first toothed plate is fixedly connected to the lower side of the mounting plate. The spring-loaded mechanism is installed inside the mounting base, and a connecting plate is connected to the upper side of the spring-loaded mechanism. A second toothed plate is fixedly connected to the upper side of the connecting plate. The separation mechanism is installed outside the mounting base.

[0008] Furthermore, the adjustment knob is rotatably connected to the outside of the main body of the device.

[0009] Furthermore, a scale is fixedly connected to the upper surface of the main body of the device, and the limiting block is slidably connected to the upper surface of the scale.

[0010] Furthermore, the base plate is fixedly connected to the lower side of the main body of the device, and the base plate has mounting holes on its exterior. The number of mounting seats is two sets, which are centrally symmetrically installed on the upper side of the base plate.

[0011] Furthermore, a limiting plate is fixedly connected to the outside of the skateboard, and the limiting plate is slidably connected to the upper surface of the mounting base, while the mounting plate is slidably connected to the inner upper surface of the mounting base.

[0012] Furthermore, the rebound mechanism includes a compression spring and a telescopic rod, both of which are fixedly connected to the inner bottom of the mounting base, and the connecting plate is fixedly connected to the upper end of the compression spring and the telescopic rod.

[0013] Furthermore, the first toothed plate and the second toothed plate mesh with each other, and the serrations of the first toothed plate and the second toothed plate are both in the shape of right-angled trapezoids with the right-angled sides of the two serrations abutting each other.

[0014] Furthermore, the separation mechanism includes a guide groove, a sliding rod, and a connecting rod. The guide groove is located outside the mounting base, and there are two sets of guide grooves arranged symmetrically. The sliding rod is fixedly connected to one side of the connecting plate and slidably connected to the inside of the guide groove. The ends of the two sets of sliding rods protrude outside the mounting base and are fixedly connected to the mounting plate.

[0015] Compared with the prior art, the advantages of this utility model are as follows: 1. The robot structured light projection fast focusing device can drive the projection lens to move accurately by rotating the adjustment knob with one hand. It is combined with the intuitive positioning of the scale and introduces the inclined tooth plate self-locking design, which can automatically engage and lock when sliding the limit block. It pre-sets a safe movement boundary for the lens and effectively prevents collisions. 2. The structured light projection fast focusing device of this robot can release the tooth plate lock with one click by pressing the connecting rod, and freely adjust the limit position. After releasing, the mechanism automatically resets and relocks, realizing the rapid reset of the protection function, making safe adjustment and efficient focusing equally convenient. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a perspective view of a robot structured light projection rapid focusing device according to the present invention; Figure 2 for Figure 1 Enlarged view of point A in the middle; Figure 3 This is a second perspective view of the present invention; Figure 4 for Figure 3 Enlarged view of point B in the middle; Figure 5 This is a partial structural front sectional view of the present invention; Figure 6 for Figure 5 Enlarged view of point C in the middle.

[0018] The labels in the diagram represent: 1. Main body of the device; 2. T-slot; 3. Lead screw; 4. Adjustment knob; 5. T-block; 6. Mounting sleeve; 7. Projector; 8. Scale; 9. Base plate; 10. Mounting seat; 11. Slide groove; 12. Slide plate; 13. Mounting plate; 14. Limiting plate; 15. Limiting block; 16. First toothed plate; 17. Compression spring; 18. Telescopic rod; 19. Connecting plate; 20. Second toothed plate; 21. Guide groove; 22. Slide rod; 23. Connecting rod. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0020] Example 1: In some embodiments, please refer to the accompanying drawings. Figures 1-6 A robotic structured light projection rapid focusing device includes a main body 1 and a base plate 9. The main body 1 serves as the main support and guide structure for focusing adjustment, while the base plate 9 serves as the mounting base for the entire device. It also includes a spring-loaded mechanism and a separation mechanism. A T-slot 2 is formed on the outside of the main body 1, serving as a precision sliding guide rail. A lead screw 3 is rotatably connected to the inside of the T-slot 2, acting as the transmission core to convert rotational motion into linear motion. An adjustment knob 4 is fixedly connected to the end of the lead screw 3, serving as a manual operation interface. The adjustment knob 4 is rotatably connected to the outside of the main body 1. A T-block 5 is slidably connected to the inside of the T-slot 2, and threadedly connected to the outside of the lead screw 3, serving as a linear motion execution component. A mounting sleeve 6 is fixedly connected to the upper side of the T-block 5, serving as the mounting carrier for a projector 7. The projector 7 is fixedly connected to the inside of the mounting sleeve 6. A scale 8 is fixedly connected to the upper surface of the main body 1, serving as a displacement visualization reference scale.

[0021] The base plate 9 is fixedly connected to the lower side of the main body 1 of the device, and the base plate 9 has mounting holes on its exterior. These mounting holes are used to fix the entire device to the working position. A mounting base 10 is fixedly connected to the upper side of the base plate 9. The mounting base 10 serves as the main mounting and support structure for the limiting mechanism. Two sets of mounting bases 10 are centrally symmetrically mounted on the upper side of the base plate 9. A sliding groove 11 is provided on the exterior of the mounting base 10. The sliding groove 11 serves as the linear motion constraint track for the sliding plate 12. The sliding plate 12 is slidably connected to the inner side of the sliding groove 11. The sliding plate 12 serves as an intermediate component for connecting and transmitting motion. A limiting block 15 is fixedly connected to the upper end of the sliding plate 12. The limiting block 15 is slidably connected to the upper surface of the scale 8. The limiting block 15 serves as a physical block and indicator for the moving boundary of the projector 7. The lower end of the slide plate 12 is fixedly connected to the mounting plate 13, which serves as the mounting base for the first toothed plate 16. The outside of the slide plate 12 is fixedly connected to the limiting plate 14, which is slidably connected to the upper surface of the mounting base 10. The limiting plate 14 is used to prevent the slide plate 12 from detaching from the mounting base 10. The mounting plate 13 is slidably connected to the inner upper surface of the mounting base 10. The lower side of the mounting plate 13 is fixedly connected to the first toothed plate 16, which serves as a key moving part for achieving mechanical self-locking.

[0022] The spring-back mechanism is installed inside the mounting base 10. The spring-back mechanism provides reset power for the limit locking. A connecting plate 19 is connected to the upper side of the spring-back mechanism. The connecting plate 19 serves as the mounting base and force transmission component of the second toothed plate 20. The spring-back mechanism includes a compression spring 17 and a telescopic rod 18. The compression spring 17 provides the main elastic reset force, and the telescopic rod 18 provides stable guidance and limit. The compression spring 17 and the telescopic rod 18 are both fixedly connected to the inner bottom of the mounting base 10, and the connecting plate 19 is fixedly connected to the upper end of the compression spring 17 and the telescopic rod 18.

[0023] The upper side of the connecting plate 19 is fixedly connected to the second toothed plate 20. The second toothed plate 20 is a key fixing component for realizing mechanical self-locking. The first toothed plate 16 and the second toothed plate 20 mesh with each other. The serrations of the first toothed plate 16 and the second toothed plate 20 are both right-angled trapezoidal in shape and the right-angled sides of the two serrations abut each other. This special tooth shape design allows for unidirectional sliding and bidirectional locking.

[0024] The separation mechanism is installed on the outside of the mounting base 10. The separation mechanism is used to quickly release the locked state. The separation mechanism includes a guide groove 21, a slide rod 22 and a connecting rod 23. The guide groove 21 is opened on the outside of the mounting base 10, and there are two sets of guide grooves 21 arranged symmetrically. The guide groove 21 provides a precise vertical movement trajectory for the slide rod 22. The slide rod 22 is fixedly connected to one side of the connecting plate 19 and slidably connected to the inside of the guide groove 21. The slide rod 22 serves as a rigid connection and force transmission component between the connecting plate 19 and the mounting plate 13. The ends of the two sets of slide rods 22 protrude from the outside of the mounting base 10 and are fixedly connected to the mounting plate 13.

[0025] In this embodiment, since the focusing operation of existing structured light projection systems is complex and difficult to quickly adapt to the precise imaging requirements under long working distances, affecting the efficiency of robot operation, this device can first be installed in the optical axis direction through the mounting holes on the base plate 9. Then, the projector 7 can be used for focusing and projection. When it is necessary to adjust the distance between it and the projection surface for quick focusing, the operator can rotate the adjustment knob 4 on the outside of the device body 1. The lead screw 3 fixedly connected to it will rotate accordingly. Since the T-shaped block 5 threaded on the lead screw 3 is constrained in the T-shaped groove 2 on the device body 1, it can only move in a straight line. Therefore, the rotation of the adjustment knob 4 is precisely converted into the lateral translation of the T-shaped block 5. This translational movement is directly transmitted to the mounting sleeve 6 fixed above the T-shaped block 5 and the projector 7 inside it, thereby driving the projector 7 to move along the optical axis direction, quickly changing the working distance to achieve clear focusing. The scale 8 and the limit block 15 set on the device body 1 refer to each other, providing an intuitive displacement quantification basis for this adjustment process and ensuring the accuracy of positioning.

[0026] While achieving rapid focusing, the built-in self-locking limiting mechanism ensures the safe operation of the projector 7. This mechanism achieves mechanical locking through a pair of first toothed plates 16 and second toothed plates 20 with special right-angled trapezoidal teeth. When it is necessary to preset the movement travel boundary of the projector 7, the limiting block 15 can be manually slid, and the first toothed plate 16 will be moved through the connected slide plate 12 and mounting plate 13. During the movement, the toothed inclined surface of the first toothed plate 16 will squeeze the inclined surface of the second toothed plate 20, forcing the second toothed plate 20 to compress the compression spring 17 below and descend. After the tooth tip passes the engagement point, the second toothed plate 20 will quickly return to its original position under the action of the compression spring 17 and re-engage with the first toothed plate 16 in the new position. Once the projector 7 reaches the boundary during adjustment, its mounting sleeve 6 will physically contact the limiting block 15. At the same time, the right-angled edges of the first toothed plate 16 and the second toothed plate 20 that abut against each other form a rigid stop, thereby doubly preventing the projector 7 from moving beyond the boundary and effectively avoiding collision damage.

[0027] When the work environment changes and the limit position needs to be readjusted, the separation mechanism provides a convenient unlocking method. The operator only needs to press down the connecting rod 23 connecting the two slide rods 22 to drive the slide rod 22 to slide down along the guide groove 21 on the mounting base 10, thereby driving the connecting plate 19 and the second toothed plate 20 fixed thereto to move down as a whole, so that it completely disengages from the engagement with the first toothed plate 16. At this time, the limit mechanism is unlocked, and the limit block 15 can be freely dragged to the new required position. After releasing the connecting rod 23, the restoring force of the compression spring 17 will immediately cause the second toothed plate 20 to rise and reset, and automatically re-engage and lock with the first toothed plate 16 in the new position. The whole process is fast and does not require any additional tools.

[0028] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A robot structured light projection rapid focusing device, comprising a main body (1) and a base plate (9), characterized in that: It also includes a rebound mechanism and a separation mechanism. A T-slot (2) is provided on the outside of the main body (1) of the device. A lead screw (3) is rotatably connected to the inside of the T-slot (2). An adjustment knob (4) is fixedly connected to the end of the lead screw (3). A T-block (5) is slidably connected to the inside of the T-slot (2), and the T-block (5) is threaded to the outside of the lead screw (3). An mounting sleeve (6) is fixedly connected to the upper side of the T-block (5). A projector (7) is fixedly connected to the inside of the mounting sleeve (6). A mounting base (10) is fixedly connected to the upper side of the base plate (9). The mounting base (10) is fixedly connected to the upper side of the base plate (9). The outer side of the mounting base (10) is provided with a sliding groove (11), and a sliding plate (12) is slidably connected to the inner side of the sliding groove (11). A limit block (15) is fixedly connected to the upper end of the sliding plate (12), and a mounting plate (13) is fixedly connected to the lower end of the sliding plate (12). A first toothed plate (16) is fixedly connected to the lower side of the mounting plate (13). The spring mechanism is installed inside the mounting base (10), and a connecting plate (19) is connected to the upper side of the spring mechanism. A second toothed plate (20) is fixedly connected to the upper side of the connecting plate (19). The separation mechanism is installed outside the mounting base (10).

2. The robot structured light projection fast focusing device according to claim 1, characterized in that: The adjustment knob (4) is rotatably connected to the outside of the main body (1) of the device.

3. The robot structured light projection fast focusing device according to claim 1, characterized in that: A scale (8) is fixedly connected to the upper surface of the main body (1) of the device, and the limiting block (15) is slidably connected to the upper surface of the scale (8).

4. The robot structured light projection fast focusing device according to claim 1, characterized in that: The base plate (9) is fixedly connected to the lower side of the main body (1) of the device, and the base plate (9) has mounting holes on its exterior. The number of mounting seats (10) is two sets, which are centrally symmetrically installed on the upper side of the base plate (9).

5. The robot structured light projection fast focusing device according to claim 1, characterized in that: The sliding plate (12) is fixedly connected to a limiting plate (14) on the outside, and the limiting plate (14) is slidably connected to the upper surface of the mounting base (10), and the mounting plate (13) is slidably connected to the inner upper surface of the mounting base (10).

6. The robot structured light projection fast focusing device according to claim 1, characterized in that: The rebound mechanism includes a compression spring (17) and a telescopic rod (18). The compression spring (17) and the telescopic rod (18) are both fixedly connected to the inner bottom of the mounting base (10), and the connecting plate (19) is fixedly connected to the upper end of the compression spring (17) and the telescopic rod (18).

7. The robot structured light projection fast focusing device according to claim 1, characterized in that: The first toothed plate (16) and the second toothed plate (20) mesh with each other. The serrations of the first toothed plate (16) and the second toothed plate (20) are both right-angled trapezoidal in shape and the right-angled sides of the two serrations abut each other.

8. The robot structured light projection fast focusing device according to claim 1, characterized in that: The separation mechanism includes a guide groove (21), a slide rod (22), and a connecting rod (23). The guide groove (21) is located outside the mounting base (10), and there are two sets of guide grooves (21) arranged symmetrically. The slide rod (22) is fixedly connected to one side of the connecting plate (19), and the slide rod (22) is slidably connected to the inside of the guide groove (21). The ends of the two sets of slide rods (22) protrude outside the mounting base (10) and are fixedly connected to the mounting plate (13).

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