CN104033715A - Mechanical arm structure of portable self-adaptive image three-dimensional reconstruction instrument - Google Patents
Mechanical arm structure of portable self-adaptive image three-dimensional reconstruction instrument Download PDFInfo
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- CN104033715A CN104033715A CN201410302423.9A CN201410302423A CN104033715A CN 104033715 A CN104033715 A CN 104033715A CN 201410302423 A CN201410302423 A CN 201410302423A CN 104033715 A CN104033715 A CN 104033715A
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Abstract
A mechanical arm structure of a portable self-adaptive image three-dimensional reconstruction instrument comprises a base, a first rotary shaft and a mechanical arm structure body connected with the base through the first rotary shaft. A mechanical arm rotary handle, a mechanical arm reduction gear set and a mechanical arm worm and gear structure are arranged on the base, and the mechanical arm rotary handle is connected with the first rotary shaft through the mechanical arm reduction gear set and the mechanical arm worm and gear structure in sequence. The mechanical arm structure body is mainly composed of a mechanical arm, a mechanical arm locking mechanism, a mechanical arm telescopic mechanism, a camera mounting mechanism and a camera mounting locking mechanism. An optical camera is fixedly arranged on the camera mounting mechanism, when the mechanical arm rotates to drive the camera mounting mechanism to swing along an arc path, the mechanical arm can be manually controlled to rotate along the arc path, the camera fixedly arranged on the mechanical arm is used for taking pictures at different angles along the arc path, and the shooting angle of the optical camera is wider.
Description
Technical field
The present invention relates to optical imaging field, particularly a kind of mechanical arm structure of portable self-adapted 3-dimensional reconstruction instrument.
Background technique
The mechanical arm of taking pictures of general manual manipulation is the camera photo angle that is fixed on mechanical arm one end with manual mode adjustment, and at the other end of mechanical arm, the heavy burden of balancing weight with balancing mechanical arm two ends is set.And there is not the setting that utilizes driving mechanism to drive to take pictures mechanical arm.
How the mechanical arm of taking pictures of general automatic manipulation is driven and is taken pictures mechanical arm and do not drive by worm screw and worm gear the mechanical arm of taking pictures by servomotor.
No matter be to manipulate manually or automatically the mechanical arm of taking pictures, the general mechanical arm of taking pictures cannot be adjusted and takes radius and cannot adjust the mechanical arm gyration center height of taking pictures.
Along with the size of object, must adjust the radius of taking pictures and obtain preferably shooting effect, general photographing device is to be fixed on a fixing arc orbit, cannot adjust the radius of taking pictures.While changing object, need to change arc orbit, extremely inconvenient.
As the mechanism that adjusts the mechanical arm gyration center height of taking pictures is not set, and carrying out 3D solid picture-taking once collocation rotating disk, rotating disk card height may not cause taken 3D stereopsis will produce skew with the mechanical arm gyration center of taking pictures in same level.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of mechanical arm structure of portable self-adapted 3-dimensional reconstruction instrument, can turn round along a circular arc path by manual manipulation mechanical arm, carry out different amount along circular arc path and take pictures by being fixed on camera on mechanical arm.
Object of the present invention is realized by following technological scheme.
A kind of mechanical arm structure of portable self-adapted 3-dimensional reconstruction instrument, comprise base, the first running shaft and the mechanical arm structure that is connected base by the first running shaft, base is provided with mechanical arm rotatable handle, mechanical arm train of reduction gears, mechanical arm turbine and worm structure, and described mechanical arm rotatable handle connects the first running shaft by mechanical arm train of reduction gears, mechanical arm turbine and worm structure successively; It is characterized in that: described mechanical arm structure is mainly installed locking mechanism by mechanical arm, mechanical arm locking mechanism, mechanical arm stretching mechanism, camera mounting mechanism and camera and formed;
Mechanical arm comprises inner and outer tubes, and one end of inner tube is connected with the first running shaft, and the other end is socketed in outer tube one end, and the other end of described outer tube connects described camera mounting mechanism and camera is installed locking mechanism composition;
Mechanical arm locking mechanism is mainly made up of mechanical arm locking holding block, set lever and mechanical arm locking plate; Mechanical arm locking plate is a fan-shaped floor, and this fan-shaped floor is fixed on described base, and its center of circle is just to the first running shaft axle center; On the sector of this fan-shaped floor, dig and have an arc groove, this arc groove is near the circular arc of fan-shaped floor, and its cutting is square consistent with circular arc; Described mechanical arm locking holding block is fixed in described inner tube, and is connected with described set lever through above-mentioned arc groove;
Mechanical arm stretching mechanism mainly forms by being arranged on the helical rack in described inner tube, the helical gear that is arranged on described outer tube inside, turbine worm structure and Telescopic rotating handle; Inner tube is inserted and is made helical rack and helical gear engagement from outer tube head; Described Telescopic rotating handle connects helical gear by turbine and worm structure;
Camera mounting mechanism is one " L " type dunnage, and it is connected on described outer tube by the second running shaft; Described outer tube is provided with camera and installs that rotatable handle, camera are installed train of reduction gears, camera is installed turbine and worm structure, described camera install rotatable handle successively by camera train of reduction gears is installed, camera installation turbine and worm structure connects the second running shaft;
Camera is installed locking mechanism and is arranged between described outer tube and camera mounting mechanism, mainly by camera installation set lever and camera, locking plate is installed and is formed; It is a fan-shaped floor that camera is installed locking plate, and this fan-shaped floor is fixed on described outer tube, and its center of circle is just to the second running shaft axle center; On the sector of this fan-shaped floor, dig and have an arc groove, this arc groove is near the circular arc of fan-shaped floor, and its cutting is square consistent with circular arc; Described camera is installed set lever and is connected with described camera mounting mechanism through above-mentioned arc groove.
Further, on the fan-shaped floor of described camera installation locking plate, be provided with angle scale.
Further, on the fan-shaped floor of described mechanical arm locking plate, be provided with angle scale.
Compared with prior art, the advantage of the mechanical arm structure of portable self-adapted 3-dimensional reconstruction instrument of the present invention is:
1, mechanical arm structure of the present invention is mainly made up of mechanical arm, mechanical arm locking mechanism, mechanical arm stretching mechanism, camera mounting mechanism and camera installation locking mechanism.Optical camera is fixed on camera mounting mechanism, mechanical arm of the present invention rotation and while driving camera mounting mechanism to swing along a circular arc path, the camera being fixed on camera mounting mechanism can be taken in different amount simultaneously, makes the angle of shooting of optical camera broader.
2, mechanical arm rotatable handle of the present invention connects the first running shaft by mechanical arm train of reduction gears, mechanical arm turbine and worm structure successively, thereby by the first running shaft driving mechanical arm rotation, makes mechanical arm smooth rotation, safe and reliable.
3, the present invention is provided with mechanical arm locking mechanism, mechanical arm locking mechanism is mainly made up of mechanical arm locking holding block, set lever and mechanical arm locking plate, when adjusting by mechanical arm rotatable handle after the angle of mechanical arm, by set lever, mechanical arm is locked on mechanical arm locking plate, thereby preventing that mechanical arm from teetertottering comes off.
Brief description of the drawings
Fig. 1 is the main TV structure schematic diagram of the mechanical arm structure of the portable self-adapted 3-dimensional reconstruction instrument of the present invention.
Fig. 2 is the perspective view of the mechanical arm structure of the portable self-adapted 3-dimensional reconstruction instrument of the present invention.
Fig. 3 is the backsight structural representation of the mechanical arm structure of the portable self-adapted 3-dimensional reconstruction instrument of the present invention.
In figure: 1 mechanical arm locking mechanism, 2 mechanical arm locking holding blocks, 3 mechanical arm stretching mechanism, 4 cameras are installed locking mechanism, 5 camera mounting mechanisms, 6 mechanical arms, 61 inner tubes, 62 outer tubes, 7 bases, 8 first running shafts, 9 mechanical arm rotatable handles, 10 mechanical arm train of reduction gears, 11 mechanical arm turbine and worm structures, 12 set levers, 13 mechanical arm locking plates, 14 helical racks, 15 Telescopic rotating handles, 16 second running shafts, 17 cameras are installed rotatable handle, 18 cameras are installed set lever, and 19 cameras are installed locking plate.
Embodiment
Further describe structure of the present invention below in conjunction with accompanying drawing 1, Fig. 2 and Fig. 3.
The mechanical arm structure of a kind of portable self-adapted 3-dimensional reconstruction instrument shown in Fig. 1, Fig. 2 and Fig. 3, comprise base 7, the first running shaft 8 and the mechanical arm structure that is connected base 7 by the first running shaft 8, base 7 is provided with mechanical arm rotatable handle 9, mechanical arm train of reduction gears 10, mechanical arm turbine and worm structure 11, and described mechanical arm rotatable handle 9 connects the first running shaft 8 by mechanical arm train of reduction gears 10, mechanical arm turbine and worm structure 11 successively.Mechanical arm rotatable handle 9 connects the first running shaft 8 by mechanical arm train of reduction gears 10, mechanical arm turbine and worm structure 11 successively, thereby rotates by the first running shaft 8 driving mechanical arms 6, makes mechanical arm smooth rotation, safe and reliable.
Described mechanical arm structure is mainly installed locking mechanism 4 by mechanical arm 6, mechanical arm locking mechanism 1, mechanical arm stretching mechanism 3, camera mounting mechanism 5 and camera and is formed.Mechanical arm 6 comprises inner tube 61 and outer tube 62, and one end of inner tube 61 is connected with the first running shaft 8, and the other end is socketed in outer tube 62 one end, and the other end of described outer tube 62 connects described camera mounting mechanism 5 and camera is installed locking mechanism 4.
Mechanical arm locking mechanism 1 is mainly made up of mechanical arm locking holding block 2, set lever 12 and mechanical arm locking plate 13; Mechanical arm locking plate 13 is a fan-shaped floor, and this fan-shaped floor is fixed on described base 7, and its center of circle is just to the first running shaft 8 axle center; On the sector of this fan-shaped floor, dig and have an arc groove, this arc groove is near the circular arc of fan-shaped floor, and its cutting direction is consistent with circular arc; Described mechanical arm locking holding block 2 is fixed in described inner tube 61, and is connected with described set lever 12 through above-mentioned arc groove; When adjusting by mechanical arm rotatable handle 9 after the angle of mechanical arm 6, by set lever 12, mechanical arm 6 is locked on mechanical arm locking plate 13, thereby preventing that mechanical arm 6 from teetertottering comes off.
Mechanical arm stretching mechanism 3 mainly forms by being arranged on the helical rack 14 in described inner tube 61, the helical gear that is arranged on described outer tube 62 inside, turbine worm structure and Telescopic rotating handle 15; Inner tube 61 is inserted and is made helical rack 14 and helical gear engagement from outer tube 62 heads; Described Telescopic rotating handle 15 connects helical gear by turbine and worm structure.Mechanical arm 6 can pass through the axial stretching of mechanical arm stretching mechanism 3 along mechanical arm 6, thereby drive the axial stretching of camera mounting mechanism along mechanical arm 6, the camera being fixed on camera mounting mechanism can be taken in different amount simultaneously, makes the angle of shooting of optical camera broader.
Camera mounting mechanism 5 is one " L " type dunnage, and it is connected on described outer tube 62 by the second running shaft 16; Described outer tube 62 is provided with camera and installs that rotatable handle 17, camera are installed train of reduction gears, camera is installed turbine and worm structure, described camera install rotatable handle 17 successively by camera train of reduction gears is installed, camera installation turbine and worm structure connects the second running shaft 16.
Camera is installed locking mechanism 4 and is arranged between described outer tube 62 and camera mounting mechanism 5, mainly by camera installation set lever 18 and camera, locking plate 19 is installed and is formed; It is a fan-shaped floor that camera is installed locking plate 19, and this fan-shaped floor is fixed on described outer tube 62, and its center of circle is just to the second running shaft 16 axle center; On the sector of this fan-shaped floor, dig and have an arc groove, this arc groove is near the circular arc of fan-shaped floor, and its cutting direction is consistent with circular arc; Described camera is installed set lever 18 and is connected with described camera mounting mechanism 5 through above-mentioned arc groove.
Mechanical arm structure of the present invention is mainly installed locking mechanism by mechanical arm, mechanical arm locking mechanism, mechanical arm stretching mechanism, camera mounting mechanism and camera and is formed.Optical camera is fixed on camera mounting mechanism, mechanical arm of the present invention rotation and while driving camera mounting mechanism to swing along a circular arc path, the camera being fixed on camera mounting mechanism can be taken in different amount simultaneously, makes the angle of shooting of optical camera broader.
On the fan-shaped floor of described camera installation locking plate 19, be provided with angle scale.On the fan-shaped floor of described mechanical arm locking plate 13, be provided with angle scale.
More than show and described basic principle of the present invention and major character and advantage thereof.The technology personage of the industry should understand; the present invention is not subject to the restriction of above-mentioned implementing regulations; what in above-mentioned implementing regulations and specification, describe is for principle of the present invention is described; do not departing under the prerequisite of the principle of the invention and scope; the present invention also can have various changes and modifications, and these changes and improvements all belong in the claimed scope of the invention.
The claimed scope of the present invention defines with appending claims and other equivalent.
Claims (3)
1. the mechanical arm structure of a portable self-adapted 3-dimensional reconstruction instrument, comprise base (7), the first running shaft (8) and the mechanical arm structure that is connected base (7) by the first running shaft (8), base (7) is provided with mechanical arm rotatable handle (9), mechanical arm train of reduction gears (10), mechanical arm turbine and worm structure (11), and described mechanical arm rotatable handle (9) connects the first running shaft (8) by mechanical arm train of reduction gears (10), mechanical arm turbine and worm structure (11) successively; It is characterized in that: described mechanical arm structure is mainly installed locking mechanism (4) by mechanical arm (6), mechanical arm locking mechanism (1), mechanical arm stretching mechanism (3), camera mounting mechanism (5) and camera and formed;
Mechanical arm (6) comprises inner tube (61) and outer tube (62), one end of inner tube (61) is connected with the first running shaft (8), the other end is socketed in outer tube (62) one end, and the other end of described outer tube (62) connects described camera mounting mechanism (5) and camera is installed locking mechanism (4);
Mechanical arm locking mechanism (1) is mainly made up of mechanical arm locking holding block (2), set lever (12) and mechanical arm locking plate (13); Mechanical arm locking plate (13) is a fan-shaped floor, and it is upper that this fan-shaped floor is fixed on described base (7), and its center of circle is just to the first running shaft (8) axle center; On the sector of this fan-shaped floor, dig and have an arc groove, this arc groove is near the circular arc of fan-shaped floor, and its cutting direction is consistent with circular arc; It is upper that described mechanical arm locking holding block (2) is fixed on described inner tube (61), and be connected with described set lever (12) through above-mentioned arc groove;
Mechanical arm stretching mechanism (3) mainly by being arranged on helical rack (14) in described inner tube (61), be arranged on described outer tube (62) inner helical gear, turbine worm structure and Telescopic rotating handle (15) and form; Inner tube (61) is inserted and is made helical rack (14) and helical gear engagement from outer tube (62) head; Described Telescopic rotating handle (15) connects helical gear by turbine and worm structure;
Camera mounting mechanism (5) is one " L " type dunnage, and it is connected on described outer tube (62) by the second running shaft (16); Described outer tube (62) is provided with camera and installs that rotatable handle (17), camera are installed train of reduction gears, camera is installed turbine and worm structure, described camera install rotatable handle (17) successively by camera train of reduction gears is installed, camera installation turbine and worm structure connects the second running shaft (16);
Camera is installed locking mechanism (4) and is arranged between described outer tube (62) and camera mounting mechanism (5), mainly by camera installation set lever (18) and camera, locking plate (19) is installed and is formed; It is a fan-shaped floor that camera is installed locking plate (19), and it is upper that this fan-shaped floor is fixed on described outer tube (62), and its center of circle is just to the second running shaft (16) axle center; On the sector of this fan-shaped floor, dig and have an arc groove, this arc groove is near the circular arc of fan-shaped floor, and its cutting direction is consistent with circular arc; Described camera is installed set lever (18) and is connected with described camera mounting mechanism (5) through above-mentioned arc groove.
2. the mechanical arm structure of portable self-adapted 3-dimensional reconstruction instrument as claimed in claim 1, is characterized in that: on the fan-shaped floor of described camera installation locking plate (19), be provided with angle scale.
3. the mechanical arm structure of portable self-adapted 3-dimensional reconstruction instrument as claimed in claim 1, is characterized in that: on the fan-shaped floor of described mechanical arm locking plate (13), be provided with angle scale.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410302423.9A CN104033715B (en) | 2014-06-27 | 2014-06-27 | A kind of mechanical arm structure of portable self-adapted 3-dimensional reconstruction instrument |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410302423.9A CN104033715B (en) | 2014-06-27 | 2014-06-27 | A kind of mechanical arm structure of portable self-adapted 3-dimensional reconstruction instrument |
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| Publication Number | Publication Date |
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| CN104033715A true CN104033715A (en) | 2014-09-10 |
| CN104033715B CN104033715B (en) | 2016-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410302423.9A Expired - Fee Related CN104033715B (en) | 2014-06-27 | 2014-06-27 | A kind of mechanical arm structure of portable self-adapted 3-dimensional reconstruction instrument |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904449A (en) * | 2016-05-28 | 2016-08-31 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot with swing small arm |
| CN105965543A (en) * | 2016-07-18 | 2016-09-28 | 佛山市联智新创科技有限公司 | Universal robot provided with rotating execution tail end |
| CN108506664A (en) * | 2018-03-29 | 2018-09-07 | 东莞市联洲知识产权运营管理有限公司 | A kind of adjustable display bracket of medical robot |
| CN108953885A (en) * | 2018-06-21 | 2018-12-07 | 慧眼自动化科技（广州）有限公司 | Photographic unit and connector pinout normotopia degree detection method |
| CN109781770A (en) * | 2019-01-08 | 2019-05-21 | 上海卫星工程研究所 | Digital Photogrammetric System applied to ground high/low temperature heat distortion test equipment |
| CN110477990A (en) * | 2019-08-09 | 2019-11-22 | 詹菲 | The garnishment safety device of running fire Clip Applier |
| CN112443735A (en) * | 2020-11-28 | 2021-03-05 | 漯河职业技术学院 | Integrated multi-position computer rotating frame |
| CN113819380A (en) * | 2021-10-21 | 2021-12-21 | 广东爱妻电器有限公司 | Novel wall-mounted furnace |
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| CN203963432U (en) * | 2014-06-27 | 2014-11-26 | 嘉善天慧光电科技有限公司 | A kind of mechanical arm structure of portable self-adapted 3-dimensional reconstruction instrument |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904449A (en) * | 2016-05-28 | 2016-08-31 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot with swing small arm |
| CN105904449B (en) * | 2016-05-28 | 2018-02-13 | 肯特智能技术（深圳）股份有限公司 | A kind of swingable six-joint robot of forearm |
| CN105965543A (en) * | 2016-07-18 | 2016-09-28 | 佛山市联智新创科技有限公司 | Universal robot provided with rotating execution tail end |
| CN105965543B (en) * | 2016-07-18 | 2018-05-11 | 烟台盛创智能科技有限公司 | A kind of all-purpose robot for being equipped with rotation and performing end |
| CN108506664A (en) * | 2018-03-29 | 2018-09-07 | 东莞市联洲知识产权运营管理有限公司 | A kind of adjustable display bracket of medical robot |
| CN108953885A (en) * | 2018-06-21 | 2018-12-07 | 慧眼自动化科技（广州）有限公司 | Photographic unit and connector pinout normotopia degree detection method |
| CN108953885B (en) * | 2018-06-21 | 2020-02-21 | 慧眼自动化科技（广州）有限公司 | Shooting mechanism and connector pin alignment degree detection method |
| CN109781770A (en) * | 2019-01-08 | 2019-05-21 | 上海卫星工程研究所 | Digital Photogrammetric System applied to ground high/low temperature heat distortion test equipment |
| CN110477990A (en) * | 2019-08-09 | 2019-11-22 | 詹菲 | The garnishment safety device of running fire Clip Applier |
| CN112443735A (en) * | 2020-11-28 | 2021-03-05 | 漯河职业技术学院 | Integrated multi-position computer rotating frame |
| CN113819380A (en) * | 2021-10-21 | 2021-12-21 | 广东爱妻电器有限公司 | Novel wall-mounted furnace |
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| CN104033715B (en) | 2016-04-20 |
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Inventor after: Bai Xueshen Inventor after: Zhou Zuming Inventor before: Zhou Zuming |
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Effective date of registration: 20160318 Address after: 200241 Dongchuan Road, Shanghai, No. 500, No. Applicant after: Bai Xueshen Address before: Jiaxing City, Zhejiang province 314100 Jiashan County Luoxing Street Jinyang Road No. 568 comprehensive Incubator Building No. 713 Applicant before: JIASHAN TIANHUI PHOTOELECTRIC TECHNOLOGY Co.,Ltd. |
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