CN116787492B - Manipulator provided with image acquisition unit - Google Patents
Manipulator provided with image acquisition unit Download PDFInfo
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- CN116787492B CN116787492B CN202310292130.6A CN202310292130A CN116787492B CN 116787492 B CN116787492 B CN 116787492B CN 202310292130 A CN202310292130 A CN 202310292130A CN 116787492 B CN116787492 B CN 116787492B
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- 238000003860 storage Methods 0.000 claims abstract description 57
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 238000004140 cleaning Methods 0.000 claims abstract description 25
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- 238000007789 sealing Methods 0.000 claims description 13
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- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 10
- 239000000741 silica gel Substances 0.000 claims description 10
- 229910002027 silica gel Inorganic materials 0.000 claims description 10
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- 229910052709 silver Inorganic materials 0.000 claims 2
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- 238000009434 installation Methods 0.000 abstract description 18
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 125000006850 spacer group Chemical group 0.000 description 6
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Abstract
The invention relates to the technical field of mechanical arms, in particular to a mechanical arm for configuring an image acquisition unit, which comprises a mechanical arm body, wherein two groups of storage shells are symmetrically arranged on the surface of the mechanical arm body, an installation frame is connected inside the storage shells in a sliding manner, an image acquisition camera is inserted inside the installation frame, a clamping mechanism is arranged on the surface of the installation frame and used for clamping and limiting the image acquisition camera, and a driving mechanism is arranged between the bottom of the storage shells and the bottom of the installation frame; the beneficial effects are as follows: according to the manipulator provided by the invention, the mounting frame is driven to slide along the storage shell through the driving mechanism, when the mounting frame is retracted into the storage shell together with the image acquisition camera, the telescopic traction mechanism drives the cleaning mechanism to reciprocate, so that the surface lens of the image acquisition camera is cleaned, the notch of the storage shell is plugged after the telescopic traction mechanism stops, and the protection effect of the image acquisition camera and the mounting frame after being stored in the storage shell is realized.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a mechanical arm with an image acquisition unit.
Background
The mechanical arm refers to a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of the unique operation flexibility, the method has been widely applied in the fields of industrial assembly, safety explosion prevention and the like; the mechanical arm is a complex system, and uncertainty such as parameter perturbation, external interference, unmodeled dynamics and the like exists. Therefore, the modeling model of the mechanical arm also has uncertainty, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the end pose is formed in a cascading way.
In the prior art, at present of rapid development of technology, along with rapid development of industry, industrial robots are developing towards flexible control and flexible devices and the direction of fusion with robot vision, a vision positioning technology is taken as a crucial robot sensing method, functions of human binocular vision are simulated, objective environments are sensed by processing image information, and further measurement and inference are completed, so that interaction with the objective environments is achieved. With the continuous increase of the number of global robots and the increase of the requirements on flexible control, the requirement on visual performance is also increased, namely, the auxiliary work of adding an image acquisition camera on a mechanical arm becomes a development trend.
However, after dust or smoke dust generated by the mechanical arm in the working process drifts on the lens surface of the image acquisition camera, when the dust adhesion amount on the lens surface is large, the shooting definition of the lens of the image acquisition camera is affected, so that a worker is required to wipe the lens of the image acquisition camera in time, but if the phenomenon occurs frequently, the labor capacity of the worker is increased, and when the image acquisition camera on the mechanical arm is cleaned manually, the mechanical arm is required to stop working, so that the working progress of the mechanical arm is affected.
Disclosure of Invention
The present invention is directed to a manipulator configured with an image acquisition unit, so as to solve the problems set forth in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a manipulator of configuration image acquisition unit, includes the arm body, two sets of containing cases are installed to the surface symmetry of arm body, and the inside sliding connection of containing case has the mounting bracket, and the inside grafting of mounting bracket has the image acquisition camera, and the surface of mounting bracket is equipped with fixture for it is spacing to the image acquisition camera centre gripping, is equipped with actuating mechanism between the bottom of containing case and the bottom of mounting bracket, is used for driving the mounting bracket and stretches out and draws back along the containing case, and the top of containing case is equipped with the clearance piece, and is equipped with flexible traction mechanism between containing case and the clearance piece.
Preferably, the collecting shell is square frame structure, and the fixed surface of collecting shell has the connection otic placode, and the connection otic placode is provided with two sets of, and two sets of connection otic placodes are fixed respectively in the top surface of collecting shell and the bottom surface of collecting shell, and the surface spiro union of connection otic placode has fixing screw, and the spiro union is at the surface of arm body behind the fixing screw penetration connection otic placode, and the mounting bracket is square frame structure, and the rubber circle is installed to the notch end of collecting shell, and is equipped with the slip locating part between mounting bracket and the collecting shell.
Preferably, the sliding limiting piece comprises a limiting slide block, a limiting slide groove and a memory cotton plate, the limiting slide block is arranged on the surface of the mounting frame, a connecting screw is connected to the surface of the limiting slide block in a threaded manner, the connecting screw penetrates through the limiting slide block and then is connected to the outer wall of the mounting frame in a threaded manner, the limiting slide block is provided with two groups, the two groups of limiting slide blocks are symmetrically distributed with respect to the mounting frame, the limiting slide block is slidably connected to the limiting slide groove, the limiting slide groove is formed in a side plate of the storage shell, the top surface of the limiting slide groove and the bottom surface of the limiting slide groove are both provided with the memory cotton plate, and the two groups of memory cotton plates are in contact.
Preferably, fixture includes rubber backing plate, limit groove, installing port and grip block, and the bottom plate top surface at the mounting bracket is fixed to the rubber pad board, and the limit groove is "" word shape groove, and the top surface at the mounting bracket is seted up in the limit groove, and the surface at the limit groove is seted up to the installing port, and the grip block activity is pegged graft in the installing port, and when the grip block extrudeed image acquisition camera, image acquisition camera extrusion rubber backing plate increases the damping of image acquisition camera, avoids image acquisition camera to follow the mounting bracket slip and drops, and the surface of grip block is equipped with the inclined plane, and the inclined plane is equipped with elasticity jacking piece towards the notch of receiver between grip block and the installing port.
Preferably, the elastic jacking piece comprises a penetrating hole, a barrier strip and a rubber clamping block, the penetrating hole is formed in the surface of the clamping block, the barrier strip penetrates through the penetrating hole, two ends of the barrier strip are respectively fixed on two parallel distributed side walls of the mounting hole, one end of the rubber clamping block is fixed on the surface of the barrier strip, the other end of the rubber clamping block is fixed on the bottom surface of the penetrating hole, when the clamping block is pressed down, the clamping block stretches the rubber clamping block to deform, the barrier strip blocks and limits the falling distance of the clamping block, a pushing piece is connected to the inside of the side groove in a sliding mode, and the pushing piece is pushed to push the clamping block to clamp and limit the image acquisition camera.
Preferably, the pushing piece includes pushing buckle plate, spacing mouth, dog and rubber gasket, pushing buckle plate is "" font platy structure, pushing buckle plate sliding connection is in the limit groove, spacing mouth is the square groove, spacing mouth is equipped with two sets of, two sets of spacing mouthfuls are offered respectively on the curb plate of two parallel distributions of pushing buckle plate, dog and spacing mouth one-to-one, the dog passes and fixes on the lateral wall of limit groove after spacing mouthful, and the width of dog is less than the long limit length of spacing mouth, rubber gasket is "ten" font piece, rubber gasket is equipped with two sets of, two sets of rubber gasket is about the installation mouth symmetric distribution, every rubber gasket of group is provided with a plurality ofly, rubber gasket is fixed on the surface of limit groove, stir pushing buckle plate and slide along the limit groove, pushing buckle plate presss from both sides image acquisition camera along the inclined plane extrusion grip block, rubber gasket centre gripping is realized to pushing buckle plate's anti-skidding spacing, and the surface of limit groove is equipped with spacing support piece, spacing support piece is spacing to pushing buckle plate.
Preferably, the spacing propping piece includes the notch, the spacer pin, the propping plate, spacing adhesive tape, the finger groove, silica gel piece and rubber damping piece, the notch is seted up at the top surface of mounting bracket, notch and limit groove link up, the notch is circular arc groove, the spacer pin is "T" font cylinder structure, the spacer pin is fixed on the bottom surface of notch, the propping plate is square platelike structure, the preformed hole has been seted up on the surface of propping plate, the preformed hole is run through to the bottom of spacer pin, and the top surface diameter of spacer pin is greater than the aperture of preformed hole, the rubber damping piece is equipped with two sets of, two sets of rubber damping pieces are fixed respectively at the both ends of propping plate, the surface at the notch is fixed to spacing adhesive tape, two sets of spacing adhesive tape are equipped with two sets of about the spacer pin symmetric distribution, the propping plate is in between two sets of spacing adhesive tape to the push buckle top when spacing, the finger groove is circular arc groove, the finger groove is seted up on the lateral wall of propping plate, and the finger groove is equipped with a plurality of silica gel pieces, the silica gel is circular arc piece, the silica gel piece is fixed on the surface of finger groove.
Preferably, the actuating mechanism includes the kerve, tooth layering, reserve the mouth, the second mounting bracket, the gear, dodge the groove, and servo motor, the bottom surface at the mounting bracket is seted up to the kerve, the long limit length of kerve and the long limit length of mounting bracket are equal, tooth layering is equipped with a plurality ofly, the equidistant equidimension of a plurality of tooth layering is fixed on the surface of kerve, the bottom surface at the containing shell is seted up to the reserved mouth, the bottom surface of containing shell is fixed with the second mounting bracket, the second mounting bracket is "" font platelike structure, rotate between the curb plate of two parallel distribution of second mounting bracket and be connected with the gear, gear and tooth layering meshing, be fixed with servo motor on the curb plate of second mounting bracket, servo motor's axis body runs through the curb plate of mounting bracket and is fixed on the surface of gear, when servo motor drive gear rotates, gear drive mounting bracket slides along the containing shell, the groove is seted up in the bottom surface of containing shell, servo motor is in dodging the groove.
Preferably, the cleaning member comprises a connecting frame, a socket, a sealing plate, a mounting groove, cleaning bristles and cleaning cotton sliver, wherein the connecting frame is an L-shaped plate-shaped mechanism, the connecting frame is fixed on the top surface of the storage shell, the top plate of the connecting frame is provided with the socket, the sealing plate is movably inserted into the socket, the mounting groove is formed in the surface of the sealing plate, the cleaning bristles and the cleaning bristles are fixed in the mounting groove, and each cleaning bristle and the cleaning cotton sliver are alternately distributed.
Preferably, the telescopic traction mechanism comprises a traction plate, an electric telescopic rod and a support bracket, wherein the traction plate is of an L-shaped plate-shaped structure, the traction plate is fixed on the top surface of the sealing plate, the support bracket is of a square frame body structure, the support bracket is fixed on the outer wall of the storage shell, the electric telescopic rod is fixed inside the support bracket, and a piston rod of the electric telescopic rod is fixed on the bottom surface of the traction plate.
Compared with the prior art, the invention has the beneficial effects that:
according to the manipulator provided by the invention, the mounting frame is driven to slide along the storage shell through the driving mechanism, when the mounting frame is retracted into the storage shell together with the image acquisition camera, the telescopic traction mechanism drives the cleaning mechanism to reciprocate, so that the surface lens of the image acquisition camera is cleaned, the notch of the storage shell is plugged after the telescopic traction mechanism stops, and the protection effect of the image acquisition camera and the mounting frame after being stored in the storage shell is realized.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the connection structure of the housing and the mounting frame of the present invention;
FIG. 3 is a schematic view of a housing structure according to the present invention;
FIG. 4 is a schematic bottom view of the connection structure of the housing and the mounting frame of the present invention;
FIG. 5 is a schematic view of the connecting structure of the housing and the mounting frame of the present invention in semi-section;
FIG. 6 is an enlarged schematic view of the structure shown in FIG. 1A;
FIG. 7 is a schematic view of a seal plate according to the present invention;
FIG. 8 is a schematic view of the mounting frame of the present invention;
FIG. 9 is a schematic diagram of the distribution structure of the side slots of the present invention;
FIG. 10 is a schematic view of the top support plate structure of the present invention.
In the figure: the mechanical arm comprises a mechanical arm body 1, a storage shell 2, a connecting lug plate 3, a mounting frame 4, a limit sliding block 5, a limit sliding groove 6, a memory cotton plate 7, an image acquisition camera 8, a rubber base plate 9, a side groove 10, a mounting opening 11, a clamping block 12, a penetrating opening 13, a blocking strip 14, a rubber clamping block 15, a pushing buckle 16, a limit opening 17, a stop block 18, a notch 19, a limit pin 20, a top supporting plate 21, a limit adhesive tape 22, a finger groove 23, a silica gel sheet 24, a rubber damping block 25, a rubber gasket 26, a bottom groove 27, a tooth pressing strip 28, a reserved opening 29, a second mounting frame 30, a gear 31, an avoidance groove 32, a servo motor 33, a connecting frame 34, a socket 35, a sealing plate 36, a mounting groove 37, cleaning bristles 38, cleaning cotton strips 39, a traction plate 40, an electric telescopic rod 41, a support bracket 42 and a rubber ring 43.
Detailed Description
In order to make the objects, technical solutions, and advantages of the present invention more apparent, the embodiments of the present invention will be further described in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are some, but not all, embodiments of the present invention, are intended to be illustrative only and not limiting of the embodiments of the present invention, and that all other embodiments obtained by persons of ordinary skill in the art without making any inventive effort are within the scope of the present invention.
Example 1
Referring to fig. 1 to 4, the present invention provides a technical solution: the utility model provides a manipulator of configuration image acquisition unit, includes arm body 1, two sets of containing cases 2 are installed to the surface symmetry of arm body 1, and the inside sliding connection of containing case 2 has mounting bracket 4, and the inside grafting of mounting bracket 4 has image acquisition camera 8, and the surface of mounting bracket 4 is equipped with fixture for it is spacing to carry image acquisition camera 8, is equipped with actuating mechanism between the bottom of containing case 2 and the bottom of mounting bracket 4, is used for driving mounting bracket 4 to stretch out and draw back along containing case 2, and the top of containing case 2 is equipped with the clearance piece, and is equipped with flexible traction mechanism between containing case 2 and the clearance piece; the mounting frame 4 is driven to slide along the storage shell 2 through the driving mechanism, when the mounting frame 4 is retracted into the storage shell 2 together with the image acquisition camera 8, the telescopic traction mechanism drives the cleaning mechanism to reciprocate, so that the cleaning of the surface lens of the image acquisition camera 8 is realized, the notch of the storage shell 2 is blocked after the telescopic traction mechanism stops, and the protection effect of the image acquisition camera 8 and the mounting frame 4 after the storage shell 2 is realized.
Example two
On the basis of embodiment one, in order to realize fixing the storage shell 2 on the mechanical arm body 1, the storage shell 2 is square frame structure, the fixed surface of storage shell 2 is provided with the connection otic placode 3, the connection otic placode 3 is provided with two sets of, two sets of connection otic placodes 3 are fixed respectively at the top surface of storage shell 2 and the bottom surface of storage shell 2, the surface spiro union of connection otic placode 3 has fixing screw, the spiro union is at the surface of mechanical arm body 1 behind the fixing screw penetrating connection otic placode 3, mounting bracket 4 is square frame structure, rubber circle 43 is installed to the notch end of storage shell 2.
Example III
Referring to fig. 5, on the basis of the second embodiment, in order to realize that the driving installation frame 4 slides reciprocally along the storage shell 2, a sliding limiting piece is arranged between the installation frame 4 and the storage shell 2, the sliding limiting piece comprises a limiting slide block 5, a limiting slide groove 6 and a memory cotton plate 7, the surface of the installation frame 4 is provided with the limiting slide block 5, the surface of the limiting slide block 5 is in threaded connection with a connecting screw, the connecting screw penetrates through the limiting slide block 5 and is then in threaded connection with the outer wall of the installation frame 4, the limiting slide block 5 is provided with two groups, the two groups of limiting slide blocks 5 are symmetrically distributed with respect to the installation frame 4, the limiting slide block 5 is in sliding connection with the limiting slide groove 6, the limiting slide groove 6 is arranged on a side plate of the storage shell 2, the top surface of the limiting slide groove 6 and the bottom surface of the limiting slide groove 6 are both provided with the memory cotton plate 7, and the two groups of the memory cotton plates 7 are in contact; the driving mechanism comprises a bottom groove 27, tooth pressing strips 28, a reserved opening 29, a second mounting frame 30, a gear 31, an avoidance groove 32 and a servo motor 33, wherein the bottom groove 27 is formed in the bottom surface of the mounting frame 4, the length of the long side of the bottom groove 27 is equal to that of the long side of the mounting frame 4, the tooth pressing strips 28 are provided with a plurality of tooth pressing strips 28, the equal-size tooth pressing strips 28 are fixed on the surface of the bottom groove 27, the reserved opening 29 is formed in the bottom surface of the storage shell 2, the second mounting frame 30 is fixed on the bottom surface of the storage shell 2, the second mounting frame 30 is in a -shaped platy structure, the gear 31 is connected between two parallel-distributed side plates of the second mounting frame 30 in a rotating mode, the gear 31 is meshed with the tooth pressing strips 28, a servo motor 33 is fixed on the side plate of the second mounting frame 30, a shaft body of the servo motor 33 penetrates through the side plate of the second mounting frame 30 to be fixed on the surface of the gear 31, the gear 31 drives the mounting frame 4 to slide along the storage shell 2 when the servo motor 33 drives the gear 31 to rotate.
Example IV
Referring to fig. 6, 8 and 10, on the basis of the third embodiment, in order to realize quick fixing of the image acquisition camera 8 after being installed in the installation frame 4, the clamping mechanism comprises a rubber pad 9, a side groove 10, an installation opening 11 and a clamping block 12, wherein the rubber pad 9 is fixed on the top surface of the bottom plate of the installation frame 4, the side groove 10 is a -shaped groove, the side groove 10 is formed in the top surface of the installation frame 4, the installation opening 11 is formed on the surface of the side groove 10, the clamping block 12 is movably inserted into the installation opening 11, when the clamping block 12 extrudes the image acquisition camera 8, the image acquisition camera 8 extrudes the rubber pad 9, damping of the image acquisition camera 8 is increased, sliding falling of the image acquisition camera 8 from the installation frame 4 is avoided, an inclined surface of the clamping block 12 faces a notch of the storage shell 2, and an elastic jacking piece is arranged between the clamping block 12 and the installation opening 11; the elastic jacking piece comprises a penetrating opening 13, a barrier strip 14 and a rubber clamping block 15, wherein the penetrating opening 13 is formed in the surface of the clamping block 12, the barrier strip 14 penetrates through the penetrating opening 13, two ends of the barrier strip 14 are respectively fixed on two parallel side walls of the mounting opening 11, one end of the rubber clamping block 15 is fixed on the surface of the barrier strip 14, the other end of the rubber clamping block 15 is fixed on the bottom surface of the penetrating opening 13, when the clamping block 12 is pressed down, the clamping block 12 stretches the rubber clamping block 15 to deform, the barrier strip 14 blocks and limits the falling distance of the clamping block 12, a pushing piece is connected in the side groove 10 in a sliding mode, and the pushing piece is pushed to push the clamping block 12 to clamp and limit the image acquisition camera 8; the pushing piece comprises a pushing buckle plate 16, limit openings 17, stop blocks 18 and rubber gaskets 26, wherein the pushing buckle plate 16 is of a -shaped platy structure, the pushing buckle plate 16 is connected in the side groove 10 in a sliding mode, the limit openings 17 are square grooves, the limit openings 17 are provided with two groups, the two groups of limit openings 17 are respectively formed in two side plates which are distributed in parallel and are in parallel, the stop blocks 18 and the limit openings 17 are in one-to-one correspondence, the stop blocks 18 penetrate through the limit openings 17 and are fixed on the side walls of the side groove 10, the width of the stop blocks 18 is smaller than the length of the long sides of the limit openings 17, the rubber gaskets 26 are cross-shaped sheets, the rubber gaskets 26 are provided with two groups, the two groups of rubber gaskets 26 are symmetrically distributed about the mounting opening 11, each group of rubber gaskets 26 is provided with a plurality of rubber gaskets 26, the rubber gaskets 26 are fixed on the surface of the side groove 10, the pushing buckle plate 16 is pushed to slide along the side groove 10, the pushing buckle plate 16 is clamped by the image acquisition camera 8 along the inclined plane, the pushing buckle plate 16 is clamped between the pushing buckle plate 16 and the side groove 10, the limit stop pieces are used for realizing limiting the sliding of the pushing buckle plate 16, and the top surface of the pushing buckle plate is provided with a limit supporting limit stop piece; the limiting top support piece comprises a notch 19, a limiting pin 20, a top support plate 21, a limiting adhesive tape 22, a finger groove 23, a silica gel piece 24 and a rubber damping block 25, wherein the notch 19 is formed in the top surface of the mounting frame 4, the notch 19 and the edge groove 10 are communicated, the notch 19 is an arc-shaped groove, the limiting pin 20 is of a T-shaped cylindrical structure, the limiting pin 20 is fixed on the bottom surface of the notch 19, the top support plate 21 is of a square plate-shaped structure, a preformed hole is formed in the surface of the top support plate 21, the bottom end of the limiting pin 20 penetrates through the preformed hole, the diameter of the top surface of the limiting pin 20 is larger than the diameter of the preformed hole, two groups of rubber damping blocks 25 are arranged, the two groups of rubber damping blocks 25 are respectively fixed at the two ends of the top support plate 21, the limiting adhesive tape 22 is fixed on the surface of the notch 19, the two groups of the limiting adhesive tape 22 are symmetrically distributed about the limiting pin 20, when the top support plate 21 supports the pushing pinch plate 16, the top support plate 21 is positioned between the two groups of the limiting adhesive tape 22, the finger groove 23 is of the arc-shaped groove 23, the finger groove 23 is formed in the arc, the top support plate 23 is formed in the aperture of the shape, the finger groove 23 is formed on the side wall of the top plate 21, and the finger groove 24 is provided with a plurality of silica gel pieces, and the finger grooves 24 are fixed on the surface of the finger groove.
Example five
Referring to fig. 7, on the basis of the fourth embodiment, in order to clean the lens of the image capturing camera 8, the cleaning member includes a connecting frame 34, a socket 35, a sealing plate 36, a mounting groove 37, cleaning bristles 38 and cleaning cotton slivers 39, the connecting frame 34 is an L-shaped plate mechanism, the connecting frame 34 is fixed on the top surface of the storage shell 2, the top plate of the connecting frame 34 is provided with the socket 35, the sealing plate 36 is movably inserted into the socket 35, the surface of the sealing plate 36 is provided with the mounting groove 37, a plurality of groups of cleaning bristles 38 and a plurality of groups of cleaning bristles 38 are fixed in the mounting groove 37, and each group of cleaning bristles 38 and cleaning cotton slivers 39 are alternately distributed; the telescopic traction mechanism comprises a traction plate 40, an electric telescopic rod 41 and a support bracket 42, wherein the traction plate 40 is of an L-shaped plate-shaped structure, the traction plate 40 is fixed on the top surface of the sealing plate 36, the support bracket 42 is of a square frame structure, the support bracket 42 is fixed on the outer wall of the storage shell 2, the electric telescopic rod 41 is fixed inside the support bracket 42, and a piston rod of the electric telescopic rod 41 is fixed on the bottom surface of the traction plate 40.
When the image acquisition camera 8 is required to be stored in actual use, the servo motor 33 drives the gear 31 to rotate positively, the gear 31 drives the mounting frame 4 to retract into the storage shell 2 through the tooth pressing bar 28, in the process, the limiting sliding block 5 slides along the limiting sliding groove 6, the limiting sliding block 5 pushes away along the contact gaps of the two groups of memory cotton plates 7, when the servo motor 33 drives the gear 31 to rotate reversely, the mounting frame 4 extends out of the storage shell 2, after the mounting frame 4 retracts into the storage shell 2, the electric telescopic rod 41 is started to stretch back and forth, in the process, the sealing plate 36 is lifted, the cleaning brush hair 38 and the cleaning cotton sliver 39 sweep dust on the surface of the lens of the image acquisition camera 8, when the image acquisition camera 8 is required to be used, the sealing plate 36 is lifted up, then the mounting frame 4 is pushed out of the storage shell 2, and when the image acquisition camera 8 is required to be stored and protected, the sealing plate 36 is pulled to be blocked at the notch of the storage shell 2 after the mounting frame 4 is retracted into the image acquisition camera 8; when the image acquisition camera 8 needs to be disassembled, the mounting frame 4 is pushed out from the storage shell 2, then the top supporting plate 21 is shifted to rotate ninety degrees around the limiting pin 20, then the push buckle plate 16 is shifted to slide along the edge groove 10, the push buckle plate 16 is shifted to be close to the notch 19, when the push buckle plate 16 does not block the clamping block 12 any more, the original tensioned rubber clamping block 15 rebounds to drive the clamping block 12 to reset, and at the moment, the clamping block 12 does not clamp the image acquisition camera 8 any more, and the image acquisition camera 8 can be pulled out from the mounting frame 4.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a dispose manipulator of image acquisition unit, includes arm body (1), its characterized in that: two groups of storage shells (2) are symmetrically arranged on the surface of the mechanical arm body (1), a mounting frame (4) is connected to the inside of the storage shells (2) in a sliding manner, an image acquisition camera (8) is inserted into the mounting frame (4), a clamping mechanism is arranged on the surface of the mounting frame (4) and used for clamping and limiting the image acquisition camera (8), a driving mechanism is arranged between the bottom of the storage shells (2) and the bottom of the mounting frame (4) and used for driving the mounting frame (4) to stretch out and draw back along the storage shells (2), cleaning pieces are arranged at the tops of the storage shells (2), and a stretching traction mechanism is arranged between the storage shells (2) and the cleaning pieces;
the storage shell (2) is of a square frame structure, a connecting lug plate (3) is fixed on the surface of the storage shell (2), two groups of connecting lug plates (3) are arranged, the two groups of connecting lug plates (3) are respectively fixed on the top surface of the storage shell (2) and the bottom surface of the storage shell (2), a fixing screw is screwed on the surface of the connecting lug plate (3) in a penetrating mode, the fixing screw penetrates through the surface of the connecting lug plate (3) and is then screwed on the surface of the mechanical arm body (1), the mounting frame (4) is of a square frame structure, a rubber ring (43) is arranged at the notch end of the storage shell (2), and a sliding limiting part is arranged between the mounting frame (4) and the storage shell (2);
the sliding limiting piece comprises limiting sliding blocks (5), limiting sliding grooves (6) and memory cotton plates (7), wherein the limiting sliding blocks (5) are arranged on the surface of the mounting frame (4), connecting screws are screwed on the surface of the limiting sliding blocks (5) and penetrate through the outer walls of the mounting frame (4), the limiting sliding blocks (5) are provided with two groups, the two groups of limiting sliding blocks (5) are symmetrically distributed with respect to the mounting frame (4), the limiting sliding blocks (5) are slidably connected in the limiting sliding grooves (6), the limiting sliding grooves (6) are formed in side plates of the storage shell (2), the memory cotton plates (7) are arranged on the top surfaces of the limiting sliding grooves (6) and the bottom surfaces of the limiting sliding grooves (6), and the two groups of memory cotton plates (7) are in contact;
the clamping mechanism comprises a rubber base plate (9), a side groove (10), a mounting opening (11) and a clamping block (12), wherein the rubber base plate (9) is fixed on the top surface of a bottom plate of the mounting frame (4), the side groove (10) is a -shaped groove, the side groove (10) is formed in the top surface of the mounting frame (4), the mounting opening (11) is formed in the surface of the side groove (10), the clamping block (12) is movably inserted into the mounting opening (11), when the clamping block (12) extrudes the image acquisition camera (8), the image acquisition camera (8) extrudes the rubber base plate (9), damping of the image acquisition camera (8) is increased, the image acquisition camera (8) is prevented from sliding and falling from the mounting frame (4), an inclined surface of the clamping block (12) is provided with an inclined surface, the inclined surface faces a notch of the storage shell (2), and an elastic jacking piece is arranged between the clamping block (12) and the mounting opening (11).
The elastic jacking piece comprises a penetrating hole (13), a barrier strip (14) and a rubber clamping block (15), wherein the penetrating hole (13) is formed in the surface of the clamping block (12), the barrier strip (14) penetrates through the penetrating hole (13), two ends of the barrier strip (14) are respectively fixed on two parallel side walls of the mounting hole (11), one end of the rubber clamping block (15) is fixed on the surface of the barrier strip (14), the other end of the rubber clamping block (15) is fixed on the bottom surface of the penetrating hole (13), when the clamping block (12) is pressed downwards, the clamping block (12) stretches the rubber clamping block (15) to deform, the barrier strip (14) blocks the limiting distance to the falling distance of the clamping block, a pushing piece is connected in a sliding mode in the side groove (10) and is pushed to push the clamping block (12) to clamp the image acquisition camera (8);
the pushing piece comprises a pushing buckle plate (16), limit openings (17), check blocks (18) and rubber gaskets (26), wherein the pushing buckle plate (16) is of a '' shaped platy structure, the pushing buckle plate (16) is slidably connected in the side groove (10), the limit openings (17) are square grooves, the limit openings (17) are provided with two groups, the two groups of limit openings (17) are respectively arranged on two side plates which are distributed in parallel and of the pushing buckle plate (16), the check blocks (18) and the limit openings (17) are in one-to-one correspondence, the check blocks (18) are fixed on the side wall of the side groove (10) after penetrating through the limit openings (17), the width of the check blocks (18) is smaller than the length of the long side of the limit openings (17), the rubber gaskets (26) are in a 'cross' -shaped sheet, the rubber gaskets (26) are provided with two groups, the two groups of rubber gaskets (26) are symmetrically distributed relative to the mounting opening (11), each group of rubber gaskets (26) are provided with a plurality of rubber gaskets, the surfaces of the side groove (10) are fixed, the pushing buckle plate (16) slides along the side groove (10) and the side groove (16) along the side groove (16), the image capturing device is clamped between the pushing buckle plate (16) and the image capturing device (12), and the surface of the side groove (10) is provided with a limiting propping piece which limits and blocks the pushing pinch plate (16).
2. A manipulator for configuring an image acquisition unit as claimed in claim 1, wherein: the limiting jacking piece comprises a notch (19), a limiting pin (20), a jacking plate (21), a limiting adhesive tape (22), a finger groove (23), a silica gel sheet (24) and a rubber damping block (25), wherein the notch (19) is formed in the top surface of the mounting frame (4), the notch (19) is communicated with the side groove (10), the notch (19) is an arc-shaped groove, the limiting pin (20) is of a T-shaped cylindrical structure, the limiting pin (20) is fixed on the bottom surface of the notch (19), the jacking plate (21) is of a square plate-shaped structure, a preformed hole is formed in the surface of the jacking plate (21), the bottom end of the limiting pin (20) penetrates through the preformed hole, the top surface diameter of the limiting pin (20) is larger than the diameter of the preformed hole, two groups of the rubber damping block (25) are respectively fixed at the two ends of the jacking plate (21), the limiting adhesive tape (22) is fixed on the surface of the notch (19), the limiting adhesive tape (22) is provided with two groups, the two groups of limiting adhesive tapes (22) are symmetrically distributed on the bottom surfaces of the notch (19) with respect to the limiting pin (20), the two groups of the jacking plate (21) are symmetrically arranged on the top surfaces of the two limiting adhesive tape (23), the finger grooves (23) are symmetrically arranged on the jacking plate (23) and are arranged on the side walls of the two sides of the jacking plate (23), the silica gel sheet (24) is a circular arc-shaped sheet, and the silica gel sheet (24) is fixed on the surface of the finger groove (23).
3. A manipulator for configuring an image acquisition unit as claimed in claim 1, wherein: the driving mechanism comprises a bottom groove (27), tooth pressing strips (28), a reserved opening (29), a second mounting frame (30), a gear (31), avoiding grooves (32) and a servo motor (33), wherein the bottom groove (27) is formed in the bottom surface of the mounting frame (4), the length of the long side of the bottom groove (27) is equal to that of the long side of the mounting frame (4), the tooth pressing strips (28) are provided with a plurality of tooth pressing strips (28), the equal size of the tooth pressing strips (28) are fixed on the surface of the bottom groove (27), the reserved opening (29) is formed in the bottom surface of a storage shell (2), the bottom surface of the storage shell (2) is fixedly provided with the second mounting frame (30), the second mounting frame (30) is in a -shaped platy structure, a gear (31) is rotationally connected between two parallel side plates of the second mounting frame (30), the gear (31) is meshed with the tooth pressing strips (28), a servo motor (33) is fixed on the side plate of the second mounting frame (30), the shaft body of the servo motor (33) penetrates through the side plate of the second mounting frame (30) to be fixed on the surface of the gear (31), the gear motor (31) slides along the surface of the gear (31) when the gear (31) is rotationally driven by the second mounting frame (30) and the gear (31) is rotationally driven along the bottom surface (32), the servo motor (33) is located in the avoidance groove (32).
4. A manipulator for configuring an image acquisition unit as claimed in claim 1, wherein: cleaning member includes link (34), socket (35), shrouding (36), mounting groove (37), clearance brush hair (38) and clearance silver (39), link (34) are "L" platy mechanism, link (34) are fixed at the top surface of accomodating shell (2), socket (35) have been seted up on the roof of link (34), shrouding (36) activity is pegged graft in socket (35), mounting groove (37) have been seted up on the surface of shrouding (36), the inside of mounting groove (37) is fixed with multiunit clearance brush hair (38) and multiunit clearance brush hair (38), every group clearance brush hair (38) and clearance silver (39) alternate distribution.
5. The manipulator for configuring an image acquisition unit of claim 4, wherein: the telescopic traction mechanism comprises a traction plate (40), an electric telescopic rod (41) and a support bracket (42), wherein the traction plate (40) is of an L-shaped plate structure, the traction plate (40) is fixed on the top surface of a sealing plate (36), the support bracket (42) is of a square frame structure, the support bracket (42) is fixed on the outer wall of a storage shell (2), the electric telescopic rod (41) is fixed in the support bracket (42), and a piston rod of the electric telescopic rod (41) is fixed on the bottom surface of the traction plate (40).
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| CN202310292130.6A CN116787492B (en) | 2023-03-23 | 2023-03-23 | Manipulator provided with image acquisition unit |
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| CN202310292130.6A CN116787492B (en) | 2023-03-23 | 2023-03-23 | Manipulator provided with image acquisition unit |
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| CN116787492B true CN116787492B (en) | 2023-12-12 |
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| CN116787492A (en) | 2023-09-22 |
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