CN104033715B - A kind of mechanical arm structure of portable self-adapted 3-dimensional reconstruction instrument - Google Patents
A kind of mechanical arm structure of portable self-adapted 3-dimensional reconstruction instrument Download PDFInfo
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- CN104033715B CN104033715B CN201410302423.9A CN201410302423A CN104033715B CN 104033715 B CN104033715 B CN 104033715B CN 201410302423 A CN201410302423 A CN 201410302423A CN 104033715 B CN104033715 B CN 104033715B
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- mechanical arm
- camera
- fan
- running shaft
- outer tube
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Abstract
A kind of mechanical arm structure of portable self-adapted 3-dimensional reconstruction instrument, comprise base, the first running shaft are connected base mechanical arm structure with 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 mechanical arm rotatable handle is successively by mechanical arm train of reduction gears, mechanical arm turbine and worm anatomical connectivity first running shaft; Mechanical arm structure installs locking mechanism composition primarily of mechanical arm, mechanical arm locking mechanism, mechanical arm stretching mechanism, camera mounting mechanism and camera.Optical camera is fixed on camera mounting mechanism, when mechanical arm of the present invention rotates and drives camera mounting mechanism to swing along a circular arc path, can turn round along a circular arc path by manual manipulation mechanical arm, carry out different amount by the camera be fixed on mechanical arm along circular arc path to take pictures, make the angle of shooting of optical camera broader.
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 adjusts the camera photo angle being fixed on mechanical arm one end in a manual fashion, and arrange balancing weight with the heavy burden at balancing mechanical arm two ends at the other end of mechanical arm.And do not have and utilize driving mechanism to drive the setting of mechanical arm of taking pictures.
General automatic manipulation take pictures mechanical arm then many drive by servomotor take pictures mechanical arm and do not drive by worm screw and worm gear mechanical arm of taking pictures.
No matter be manipulate mechanical arm of taking pictures manually or automatically, general mechanical arm of taking pictures cannot adjust shooting radius and cannot adjust mechanical arm gyration center height of taking pictures.
Along with the size of object, must adjust radius of taking pictures and obtain preferably shooting effect, general photographing device is fixed on an arc orbit fixed, and cannot adjust radius of taking pictures.Need when changing object to change arc orbit, extremely inconvenient.
As do not arranged the mechanism adjusting mechanical arm gyration center height of taking pictures, carry out 3D solid picture-taking once collocation rotating disk, rotating disk card height may not cause taken 3D stereopsis generation to be offset with 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 by the camera be fixed on mechanical arm along circular arc path and take pictures.
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 are connected base mechanical arm structure with by the first running shaft, base is provided with mechanical arm rotatable handle, mechanical arm train of reduction gears, mechanical arm worm gear structure, and described mechanical arm rotatable handle connects the first running shaft by mechanical arm train of reduction gears, mechanical arm worm gear structure successively; It is characterized in that: described mechanical arm structure is 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 interior pipe 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 locking mechanism composition installed by camera;
Mechanical arm locking mechanism is locked holding block, set lever and mechanical arm locking plate by mechanical arm and is formed; 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; The sector of this fan-shaped floor is dug and has 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 on described interior pipe, and is connected with described set lever through above-mentioned arc groove;
Mechanical arm stretching mechanism is made up of the helical rack be arranged on described interior pipe, the helical gear being arranged on described outer tube, worm gear structure and Telescopic rotating handle; Interior pipe inserts from outer tube head and makes helical rack and helical gear engagement; Described Telescopic rotating handle connects helical gear by worm gear 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 rotatable handle, camera installation train of reduction gears, camera installation worm gear structure, and described camera installation rotatable handle installs train of reduction gears by camera successively, camera is installed worm gear structure and connected the second running shaft;
Camera is installed locking mechanism and is arranged between described outer tube and camera mounting mechanism, installs locking plate form by camera installation set lever and camera; Locking plate installed by camera is a fan-shaped floor, 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; The sector of this fan-shaped floor is dug and has 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, the fan-shaped floor of described camera installation locking plate is provided with angle scale.
Further, the fan-shaped floor of described mechanical arm locking plate is 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 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, when mechanical arm of the present invention rotates and drives camera mounting mechanism to swing along a circular arc path, the camera be 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 worm gear structure successively, thus is rotated by the first running shaft driving mechanical arm, makes mechanical arm smooth rotation, safe and reliable.
3, the present invention is provided with mechanical arm locking mechanism, mechanical arm locking mechanism is locked holding block, set lever and mechanical arm locking plate by mechanical arm and is formed, after by the angle of mechanical arm rotatable handle reconditioner mechanical arm, by set lever, mechanical arm is locked on mechanical arm locking plate, prevents mechanical arm from teetertottering thus come off.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of the mechanical arm structure of the present invention's portable self-adapted 3-dimensional reconstruction instrument.
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, locking mechanism installed by 4 cameras, 5 camera mounting mechanisms, 6 mechanical arms, pipe in 61,62 outer tubes, 7 bases, 8 first running shafts, 9 mechanical arm rotatable handles, 10 mechanical arm train of reduction gears, 11 mechanical arm worm gear structures, 12 set levers, 13 mechanical arm locking plates, 14 helical racks, 15 Telescopic rotating handles, 16 second running shafts, rotatable handle installed by 17 cameras, set lever installed by 18 cameras, and locking plate installed by 19 cameras.
Embodiment
Structure of the present invention is further described 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, first running shaft 8 is connected base 7 mechanical arm structure with 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 worm gear 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 worm gear structure 11 successively.Mechanical arm rotatable handle 9 connects the first running shaft 8 by mechanical arm train of reduction gears 10, mechanical arm worm gear structure 11 successively, thus is rotated by the first running shaft 8 driving mechanical arm 6, makes mechanical arm smooth rotation, safe and reliable.
Described mechanical arm structure is 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 interior pipe 61 and outer tube 62, and one end of interior pipe 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 locking mechanism 4 installed by camera.
Mechanical arm locking mechanism 1 is locked holding block 2, set lever 12 and mechanical arm locking plate 13 by mechanical arm and is formed; 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; The sector of this fan-shaped floor is dug and has 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 on described interior pipe 61, and is connected with described set lever 12 through above-mentioned arc groove; After by the angle of mechanical arm rotatable handle 9 reconditioner mechanical arm 6, by set lever 12, mechanical arm 6 is locked on mechanical arm locking plate 13, prevents mechanical arm 6 from teetertottering thus coming off.
Mechanical arm stretching mechanism 3 is made up of the helical rack 14 be arranged on described interior pipe 61, the helical gear being arranged on described outer tube 62 inside, worm gear structure and Telescopic rotating handle 15; Interior pipe 61 inserts from outer tube 62 head and makes helical rack 14 and helical gear engagement; Described Telescopic rotating handle 15 connects helical gear by worm gear structure.Mechanical arm 6 is by the axial stretching of mechanical arm stretching mechanism 3 along mechanical arm 6, thus drive camera mounting mechanism along the axial stretching of mechanical arm 6, the camera be 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 rotatable handle 17, camera installation train of reduction gears, camera installation worm gear structure, and described camera installation rotatable handle 17 installs train of reduction gears by camera successively, camera is installed worm gear structure and connected the second running shaft 16.
Camera is installed locking mechanism 4 and is arranged between described outer tube 62 and camera mounting mechanism 5, installs locking plate 19 form by camera installation set lever 18 and camera; Locking plate 19 installed by camera is a fan-shaped floor, 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; The sector of this fan-shaped floor is dug and has 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 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, when mechanical arm of the present invention rotates and drives camera mounting mechanism to swing along a circular arc path, the camera be fixed on camera mounting mechanism can be taken in different amount simultaneously, makes the angle of shooting of optical camera broader.
The fan-shaped floor of described camera installation locking plate 19 is provided with angle scale.The fan-shaped floor of described mechanical arm locking plate 13 is provided with angle scale.
More than show and describe 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 by the restriction of above-mentioned implementing regulations; describe in above-mentioned implementing regulations and specification just for illustration of principle of the present invention; under the prerequisite not departing from 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.
Application claims protection domain 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) are connected base (7) mechanical arm structure with 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 worm gear 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 worm gear structure (11) successively; It is characterized in that: described mechanical arm structure is 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 interior pipe (61) and outer tube (62), one end of interior pipe (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 locking mechanism (4) installed by camera;
Mechanical arm locking mechanism (1) is locked holding block (2), set lever (12) and mechanical arm locking plate (13) by mechanical arm and is formed; 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; The sector of this fan-shaped floor is dug and has 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 on described interior pipe (61), and is connected with described set lever (12) through above-mentioned arc groove;
Mechanical arm stretching mechanism (3) is made up of the helical rack (14) be arranged on described interior pipe (61), the helical gear being arranged on described outer tube (62) inside, worm gear structure and Telescopic rotating handle (15); Interior pipe (61) inserts from outer tube (62) head and makes helical rack (14) and helical gear engagement; Described Telescopic rotating handle (15) connects helical gear by worm gear 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 rotatable handle (17), camera installation train of reduction gears, camera installation worm gear structure, and described camera installation rotatable handle (17) installs train of reduction gears by camera successively, camera is installed worm gear structure and connected the second running shaft (16);
Camera install locking mechanism (4) be arranged between described outer tube (62) and camera mounting mechanism (5), by camera install set lever (18) and camera installation locking plate (19) form; Locking plate (19) installed by camera is a fan-shaped floor, 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; The sector of this fan-shaped floor is dug and has 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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104033715A CN104033715A (en) | 2014-09-10 |
| CN104033715B true CN104033715B (en) | 2016-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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 |
| 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 |
| CN112443735B (en) * | 2020-11-28 | 2022-03-25 | 漯河职业技术学院 | Integrated multi-position computer rotating frame |
| CN113819380B (en) * | 2021-10-21 | 2023-05-23 | 广东爱妻电器有限公司 | Novel hanging stove |
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| US4569579A (en) * | 1983-12-27 | 1986-02-11 | Kangas John R | Dual-positional camera mounting apparatus |
| CN1800691A (en) * | 2006-01-26 | 2006-07-12 | 王祥贵 | Portable telescopic support |
| CN101672415A (en) * | 2008-09-09 | 2010-03-17 | 谭迎建 | Viewing angle adjustment device of flat-panel TV or display |
| 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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2014
- 2014-06-27 CN CN201410302423.9A patent/CN104033715B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4569579A (en) * | 1983-12-27 | 1986-02-11 | Kangas John R | Dual-positional camera mounting apparatus |
| CN1800691A (en) * | 2006-01-26 | 2006-07-12 | 王祥贵 | Portable telescopic support |
| CN101672415A (en) * | 2008-09-09 | 2010-03-17 | 谭迎建 | Viewing angle adjustment device of flat-panel TV or display |
| 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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| CN104033715A (en) | 2014-09-10 |
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| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Bai Xueshen Inventor after: Zhou Zuming Inventor before: Zhou Zuming |
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| TA01 | Transfer of patent application right |
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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