Robotic structured light projection multi-angle adjustment rack

Abstract

The utility model discloses a kind of robot structured light projection multi-angle adjusting frame, it is related to light projection technical field, including adjusting frame main part, still including locking assembly, the inside of adjusting frame main part is rotatably connected with first rotating shaft, the inside of mounting seat is fixedly connected with projector, the inside of adjusting frame main part is rotatably connected with second rotating shaft, the outside of first rotating shaft and second rotating shaft is fixedly connected with gear, the upside of adjusting frame main part is fixedly connected with fixed seat, the upper end of second rotating shaft is fixedly connected with adjusting disc, locking assembly is installed between adjusting disc and fixed seat, the upside of adjusting disc is fixedly connected with rotating column, and the end of rotating column is rotatably connected in the upside of fixed seat and fixedly connected with knob. Operator only needs to rotate single knob, can complete stepless regulation and multi-gear rigid lock of projection angle simultaneously, effectively resist working vibration, ensure that light field position is persistent and stable, realized the integration operation of quick calibration and reliable fixation.

Description

Technical Field

[0001] This utility model relates to the field of optical projection technology, specifically to a multi-angle adjustable frame for structured light projection on a robot. Background Technology

[0002] In the field of robotic 3D vision technology, structured light projection systems are often used to accurately acquire the 3D contour information of objects. To achieve complete 3D reconstruction, it is usually necessary to use a structured light projector in conjunction with one or more cameras, and the angle between the two must be accurately matched and calibrated according to the size, distance and site layout of the object being measured.

[0003] Currently, there are adjustment devices for fixing and supporting projectors and cameras. For example, a common solution is to fix the projector and camera separately using independent mounting brackets. Each bracket is usually equipped with multiple elongated mounting holes, which are connected to the mounting surface and the angle is initially adjusted by bolts. This solution relies on the operator to manually adjust the mounting position and angle of the two independent brackets separately, and then fix them by tightening the bolts.

[0004] However, the aforementioned existing technologies have some shortcomings in practical applications. First, the method of stepless adjustment relying on multiple elongated holes requires completely loosening the bolts and repeatedly trying different angles before re-tightening them, which is cumbersome and makes it difficult to achieve precise and repeatable positioning. Second, the independent adjustment method makes it difficult to ensure that the relative angle relationship between the projection optical axis and the camera optical axis can be maintained accurately and reliably after adjustment. It is prone to deviation due to vibration or slight collisions during equipment operation, affecting measurement accuracy. Furthermore, the entire adjustment and calibration process is time-consuming and requires repeated testing, which is not conducive to the rapid switching of robots between different working scenarios or to use in production sites where high installation and debugging efficiency is required.

[0005] Based on this, this utility model designs a multi-angle adjustment frame for robot structured light projection to solve the above problems. Utility Model Content

[0006] In view of the above-mentioned shortcomings of the existing technology, this utility model provides a multi-angle adjustment frame for robot structured light projection.

[0007] To achieve the above objectives, this utility model provides the following technical solution: A multi-angle adjustment frame for structured light projection on a robot includes an adjustment frame body and a locking assembly. A first rotating shaft is rotatably connected to the inner side of the adjustment frame body. A connecting block is fixedly connected to the upper end of the first rotating shaft. A connecting frame is fixedly connected to the outer side of the connecting block. A mounting base is fixedly connected to one side of the connecting frame. A projector is fixedly connected to the inner side of the mounting base. A second rotating shaft is rotatably connected to the inner side of the adjustment frame body. Gears are fixedly connected to the outer sides of both the first and second rotating shafts. A fixed base is fixedly connected to the upper side of the adjustment frame body. An adjustment disc is fixedly connected to the upper end of the second rotating shaft. The locking assembly is installed between the adjustment disc and the fixed base. A rotating column is fixedly connected to the upper side of the adjustment disc, and the end of the rotating column is rotatably connected to the upper side of the fixed base and fixedly connected to a knob.

[0008] Furthermore, the two sets of gears mesh with each other.

[0009] Furthermore, the adjustment disc is located inside the fixed base.

[0010] Furthermore, the adjustment disc has positioning holes on its exterior, and the number of positioning holes is several sets arranged in a ring.

[0011] Furthermore, the locking assembly includes a fixed cylinder, a compression spring, and a positioning block. The fixed cylinder is fixedly connected to the inner side of the fixed seat, and there are two sets of fixed cylinders arranged symmetrically. The compression spring is fixedly connected to the inner side of the fixed cylinder, and the positioning block is fixedly connected to the end of the compression spring and slidably connected to the inner side of the fixed cylinder. The positioning block matches the positioning hole.

[0012] Furthermore, the positioning block has beveled surfaces on both ends.

[0013] Furthermore, a connecting rod is fixedly connected to the outside of the main body of the adjustment frame, and a mounting plate is fixedly connected to the end of the connecting rod. The mounting plate is fixedly connected to multiple sets of vertically arranged mounting interfaces.

[0014] Furthermore, a mounting ear plate is fixedly connected to the outer side of the main body of the adjustment frame, and mounting holes are provided on the outside of the mounting ear plate.

[0015] Compared with the prior art, the advantages of this utility model are as follows: 1. The robot structured light projection multi-angle adjustment frame, through the rotation of the knob, synchronously drives the internal meshing gear pair and positioning locking structure, combining the stepless adjustment of the angle with the rigid locking of discrete gear positions, so that the operator can quickly and accurately complete the setting within one action and ensure its stability and reliability in subsequent work. 2. The robot's structured light projection multi-angle adjustment frame is designed with the coordination of the camera mounting interface in mind. This allows the adjustment of the projection angle to directly correspond to the precise change in the angle between the projected light field and the camera's field of view. This simplifies the matching process between multiple vision devices, eliminates the need for secondary calibration, and significantly improves the overall efficiency of on-site deployment and debugging. 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 three-dimensional view of the robot structured light projection multi-angle adjustment frame of this utility model; Figure 2 This is a second perspective view of the present invention; Figure 3 for Figure 2 Enlarged view of point A in the middle; Figure 4 for Figure 2 Enlarged view of point B in the middle; Figure 5 This is a partial structural side sectional view of the present invention; Figure 6 for Figure 5 A magnified view of point C in the middle.

[0018] The labels in the diagram represent: 1. Adjustment frame body; 2. First rotating shaft; 3. Connecting block; 4. Connecting frame; 5. Mounting base; 6. Projector; 7. Second rotating shaft; 8. Gear; 9. Fixed base; 10. Adjustment plate; 11. Positioning hole; 12. Fixed cylinder; 13. Compression spring; 14. Positioning block; 15. Rotating column; 16. Knob; 17. Connecting rod; 18. Mounting plate; 19. Mounting interface; 20. Mounting ear plate. 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 multi-angle adjustment frame for structured light projection of a robot includes an adjustment frame body 1, which serves as the basic mounting and support frame for the entire device, and also includes a locking assembly. A first rotating shaft 2 is rotatably connected to the inner side of the adjustment frame body 1. The first rotating shaft 2 serves as the final execution shaft for adjusting the angle of the projector 6. A connecting block 3 is fixedly connected to the upper end of the first rotating shaft 2. The connecting block 3 serves as a key component for transmitting rotational motion to the connecting structure. A connecting frame 4 is fixedly connected to the outside of the connecting block 3. The connecting frame 4 serves as a structural arm that supports and extends to the installation position of the projector 6. A mounting base 5 is fixedly connected to one side of the connecting frame 4. The mounting base 5 serves as a dedicated mounting platform for the projector 6. The projector 6 is fixedly connected to the inner side of the mounting base 5. A second rotating shaft 7 is rotatably connected to the inner side of the adjustment frame body 1. The second rotating shaft 7 serves as the input and transmission starting shaft for the adjustment action. Gears 8 are fixedly connected to the outside of both the first rotating shaft 2 and the second rotating shaft 7. The gears 8 serve as the core transmission components for transmitting rotational motion and changing the transmission direction. The two sets of gears 8 mesh with each other.

[0021] A fixed base 9 is fixedly connected to the upper side of the main body 1 of the adjustment frame. The fixed base 9 serves as a housing that accommodates and supports the upper adjustment and locking components. An adjustment disc 10 is fixedly connected to the upper end of the second rotating shaft 7. The adjustment disc 10 serves as a transition element connecting the input operation and the execution action. The adjustment disc 10 is located inside the fixed base 9. A positioning hole 11 is provided on the outside of the adjustment disc 10. The positioning hole 11 serves as a locking interface for achieving graded positioning. The number of positioning holes 11 is several sets arranged in a ring.

[0022] The locking assembly is installed between the adjusting plate 10 and the fixed base 9. The locking assembly is used to fix the position of the adjusting plate 10 after adjustment. The locking assembly includes a fixed cylinder 12, a compression spring 13 and a positioning block 14. The fixed cylinder 12 is fixedly connected to the inner side of the fixed base 9. The fixed cylinder 12 serves as a cavity to accommodate and provide spring guidance. There are two sets of fixed cylinders 12 arranged symmetrically. The compression spring 13 is fixedly connected to the inner side of the fixed cylinder 12. The compression spring 13 serves as an elastic element that provides locking force. The positioning block 14 is fixedly connected to the end of the compression spring 13 and slidably connected to the inner side of the fixed cylinder 12. The positioning block 14 serves as a latch that directly engages with the adjusting plate 10 to achieve the locking function. The positioning block 14 matches the positioning hole 11. Both sides of the end of the positioning block 14 are provided with bevels. The bevel design makes it easy for the adjusting plate 10 to smoothly push the positioning block 14 open to achieve unlocking when rotating.

[0023] A rotating column 15 is fixedly connected to the upper side of the adjustment plate 10. The rotating column 15 serves as a transmission rod connecting the knob 16 and the adjustment plate 10. The end of the rotating column 15 is rotatably connected to the upper side of the fixed base 9 and fixedly connected to the knob 16. The knob 16 serves as a human-machine interface component for the operator to apply force to drive the entire adjustment action.

[0024] The main body 1 of the adjustment frame is externally fixedly connected to a connecting rod 17, which serves as a support arm extending to the camera mounting position. The end of the connecting rod 17 is fixedly connected to a mounting plate 18, which serves as a base plate for mounting the camera interface. The mounting plate 18 is externally fixedly connected to multiple sets of vertically arranged mounting interfaces 19. The mounting interfaces 19 can be used to mount a dual-camera frame or as a standardized mechanical interface for connecting and fixing cameras or other visual sensors.

[0025] The outer side of the main body 1 of the adjustment frame is fixedly connected with a mounting ear plate 20. The mounting ear plate 20 serves as a mounting support for fixing the entire adjustment frame to external equipment or structure. The mounting ear plate 20 has mounting holes on its outer side for inserting bolts or other fasteners to achieve the connection between the mounting ear plate 20 and the external structure.

[0026] In this embodiment, during installation, the entire device is first fixed by the mounting ear plate 20 on the outside of the main body 1 of the adjustment frame. When it is necessary to adjust the angle between the projector 6 and the camera mounted on the mounting interface 19 at the end of the connecting rod 17, the operator only needs to rotate the knob 16 above the fixed base 9. The rotation of the knob 16 will drive the adjustment plate 10 and the second rotating shaft 7 fixed thereto to rotate together through the rotating column 15. The gear 8 on the second rotating shaft 7 will then drive the gear 8 on the first rotating shaft 2 that meshes with it, thereby transmitting the rotational motion to the first rotating shaft 2. The rotation of the first rotating shaft 2 will eventually drive the mounting base 5 and the projector 6 fixed inside it to deflect synchronously through the connecting block 3 and the connecting frame 4, thus completing the adjustment of the projection angle.

[0027] Meanwhile, the adjustment process is accompanied by a self-locking function. When the knob 16 is rotated, the edge of the positioning hole 11 distributed in a ring on the outer edge of the adjustment disk 10 will contact and press against the inclined surface at the end of the positioning block 14, forcing the positioning block 14 to retract into the fixed cylinder 12 against the elastic force of the compression spring 13. At this time, the end of the positioning block 14 slides tightly against the outer surface of the adjustment disk 10. When the adjustment disk 10 rotates to the next positioning hole 11 and the positioning block 14 are aligned, the compressed compression spring 13 releases its elastic force instantly, pushing the positioning block 14 into the positioning hole 11 and making a clear locking sound. This process achieves rigid locking of the second rotating shaft 7 and even the entire transmission chain, effectively preventing accidental angular deviation caused by the meshing clearance of the gear pair 8 due to equipment vibration, and ensuring the absolute stability of the relative position of the projected light field and the camera field of view. This design integrates adjustment and locking, requires no additional tools, and significantly improves the calibration efficiency and adaptability of the robot 3D vision system during on-site installation, debugging and scene switching.

[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 multi-angle adjustment frame for robot structured light projection, comprising an adjustment frame body (1), characterized in that: It also includes a locking assembly. The inner side of the adjusting frame body (1) is rotatably connected to a first rotating shaft (2). The upper end of the first rotating shaft (2) is fixedly connected to a connecting block (3). The outer side of the connecting block (3) is fixedly connected to a connecting frame (4). One side of the connecting frame (4) is fixedly connected to a mounting base (5). The inner side of the mounting base (5) is fixedly connected to a projector (6). The inner side of the adjusting frame body (1) is rotatably connected to a second rotating shaft (7). The outer sides of both the first rotating shaft (2) and the second rotating shaft (7) are fixedly connected to gears (8). The upper side of the adjusting frame body (1) is fixedly connected to a fixed seat (9). The upper end of the second rotating shaft (7) is fixedly connected to an adjusting disc (10). The locking assembly is installed between the adjusting disc (10) and the fixed seat (9). The upper side of the adjusting disc (10) is fixedly connected to a rotating column (15), and the end of the rotating column (15) is rotatably connected to the upper side of the fixed seat (9) and fixedly connected to a knob (16).

2. The robot structured light projection multi-angle adjustment frame according to claim 1, characterized in that: The two sets of gears (8) mesh with each other.

3. The robot structured light projection multi-angle adjustment frame according to claim 1, characterized in that: The adjustment plate (10) is located inside the fixed base (9).

4. The robot structured light projection multi-angle adjustment frame according to claim 1, characterized in that: The adjustment disc (10) has positioning holes (11) on its outside, and the number of positioning holes (11) is several groups arranged in a ring.

5. The robot structured light projection multi-angle adjustment frame according to claim 4, characterized in that: The locking assembly includes a fixed cylinder (12), a compression spring (13), and a positioning block (14). The fixed cylinder (12) is fixedly connected to the inner side of the fixed seat (9), and there are two sets of fixed cylinders (12) arranged symmetrically. The compression spring (13) is fixedly connected to the inner side of the fixed cylinder (12). The positioning block (14) is fixedly connected to the end of the compression spring (13) and slidably connected to the inner side of the fixed cylinder (12). The positioning block (14) matches the positioning hole (11).

6. The robot structured light projection multi-angle adjustment frame according to claim 5, characterized in that: The positioning block (14) has inclined surfaces on both sides of its end.

7. The robot structured light projection multi-angle adjustment frame according to claim 1, characterized in that: The main body (1) of the adjustment frame is fixedly connected to a connecting rod (17), and the end of the connecting rod (17) is fixedly connected to a mounting plate (18). The mounting plate (18) is fixedly connected to a plurality of vertically arranged mounting interfaces (19).

8. The robot structured light projection multi-angle adjustment frame according to claim 1, characterized in that: The outer side of the main body (1) of the adjustment frame is fixedly connected to a mounting ear plate (20), and the mounting ear plate (20) has mounting holes on its outer side.

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