CN206741179U - A kind of industrial camera pose adjusting apparatus - Google Patents
A kind of industrial camera pose adjusting apparatus Download PDFInfo
- Publication number
- CN206741179U CN206741179U CN201720572834.9U CN201720572834U CN206741179U CN 206741179 U CN206741179 U CN 206741179U CN 201720572834 U CN201720572834 U CN 201720572834U CN 206741179 U CN206741179 U CN 206741179U
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- rotary joint
- rotation
- industrial camera
- hinge
- intermediate support
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Abstract
The utility model belongs to technical field of machine vision, and disclose a kind of industrial camera pose adjusting apparatus, including supporting plate, gear shaft, drive bevel gear and four axle governor motions, the gear shaft is arranged in the supporting plate, and the drive bevel gear is installed on the gear shaft；The four axles governor motion includes driven wheel of differential, ball screw framework and three axle rotation regulating mechanisms；The three axles rotation regulating mechanism includes rotation bracing strut, the first rotary joint, the second rotary joint and the 3rd rotary joint.The utility model passes through conical gear drive, ball screw framework and three axle rotation regulating mechanisms, industrial camera can be made to realize the adjustment of four frees degree, it is easy to adjust and flexible, industrial camera has larger adjusting range, and the rotation that can carry out Three Degree Of Freedom to the posture of industrial camera by three axle rotation adjustment devices adjusts, and can meet the needs of being adjusted in multi-vision visual to industrial camera optimum attitude.
Description
Technical field
The utility model belongs to technical field of machine vision, adjusts and fills more particularly, to a kind of industrial camera pose
Put.
Background technology
With industrial automation, intelligentized development, in many industrial practical applications, machine vision can be fast because of it
Speed, the tasks such as defects detection, target identification, object positioning, three-dimensional reconstruction are efficiently completed, in food, electronic manufacture, automobile system
Make, the field such as chemical industry is used widely.
At present, monocular vision is because of its technology maturation in defects detection, target identification, object positioning etc., stability
It is high and be used widely.In three-dimensional reconstruction, monocular vision needs to take pictures to testee from multiple known locations with posture
And solved from the image sequence of shooting and obtain the three-dimensional coordinate of testee, this makes the three-dimensional coordinate measurement of testee accurate
By industrial camera device for adjusting posture kinematic accuracy, block etc. and to be influenceed, and poor real.Binocular vision passes through left and right two
, can be according to horizontal parallax come the relative depth of judgment object, so as to obtain when individual industrial camera obtains object location information
The three-dimensional coordinate of testee, but the easy error detection of binocular vision, measurement public view field is limited, can not be completed for blind area part
Measurement.The general principle of multi-vision visual technology is similar with Binocular vision photogrammetry, the difference is that multi-vision visual adds one or more
Platform industrial camera increases photographed scene scope, can reduce the blind area of binocular vision to provide the testee information of redundancy
Also reduce the error detection probability of binocular vision.
In binocular vision system and multi-vision visual system, in order to realize the optimal detection to different testees, it is being
Need to adjust the relative position relation between multiple industrial cameras according to testee in system implementation process.Existing industry shooting
The free degree of machine pose adjustment structure is mostly two degrees of freedom and Three Degree Of Freedom, and is mainly used in binocular vision system to realize two
The position of industrial camera and the adjustment of posture.In multi-vision visual system, existing industrial camera position and pose adjustment knot
Structure is difficult to the relative position relation meet demand between the position for making industrial camera and posture and multiple industrial cameras, therefore
Existing industrial camera pose adjustment structure is difficult to meet in multi-vision visual system to industrial camera position and pose adjustment
Requirement.
Utility model content
For the disadvantages described above or Improvement requirement of prior art, the utility model provides a kind of industrial camera pose and adjusted
Engagement positions, can solve industrial camera position and posture and multiple industrial camera relative position relations in multi-vision visual system
The problem of adjustment, to obtain the optimal detection to testee, improve the accuracy of detection of stereoscopic vision.
To achieve the above object, according to the utility model, there is provided a kind of industrial camera pose adjusting apparatus, its feature
It is, including supporting plate, gear shaft, drive bevel gear and four axle governor motions, wherein,
The gear shaft is arranged in the supporting plate, and the drive bevel gear is installed on the gear shaft；
The four axles governor motion includes driven wheel of differential, ball screw framework and three axle rotation regulating mechanisms, it is described from
Dynamic bevel gear is engaged with the drive bevel gear, and the ball screw framework is arranged in the supporting plate, and the ball
The leading screw of screw mechanism is fixedly connected with the driven gear, and the ball nut of the ball screw framework connects the three axles rotation
Turn governor motion；
The three axles rotation regulating mechanism includes rotation bracing strut, the first rotary joint, the second rotary joint and the 3rd rotation
Turn joint, the rotation bracing strut is arranged on the ball nut of the ball screw framework, and first rotary joint passes through
Rotary shaft is arranged on the rotation bracing strut, and the rotary shaft is parallel with the leading screw of the ball screw framework, described
Second rotary joint is hinged on first rotary joint by the first hinge, and the 3rd rotary joint is used for mounting industrial
Video camera and the 3rd rotary joint is hinged on second rotary joint by the second hinge, the rotary shaft, first
Hinge and the second hinge are respectively parallel to X-axis, Y-axis and Z axis, and the X-axis, Y-axis and Z axis collectively form cartesian coordinate
System.
Preferably, the four axles governor motion is provided with multiple, and they are set around the gear shaft, each described
The driven wheel of differential of four axle governor motions engages with the drive bevel gear.
Preferably, the ball screw framework and three axle rotation regulating mechanisms are located at the both sides of the supporting plate respectively.
Preferably, the rotary shaft passes through the rotation bracing strut, and is provided with positive stop lug boss in the rotary shaft, institute
State and arcuate socket is provided with positive stop lug boss, screwed hole is provided with the rotation bracing strut, bolt is at arcuate socket through described
Stretched into after positive stop lug boss in the screwed hole on the rotation bracing strut, for limiting the position of the rotary shaft.
Preferably, brake component support base is provided with the gear shaft, braking dress is installed on the brake component support base
Put, the brake apparatus includes the first position limit arm and the second position limit arm, and first position limit arm and the second position limit arm pass through the 3rd
Hinge is hinged；
First position limit arm is hinged with the first middle support arm by the 4th hinge, and second position limit arm passes through the 5th hinge
Axle is hinged with the second middle support arm, and the second middle support arm and the first middle support arm are hinged by the 6th hinge；
Torsionspring is provided between the first middle support arm and the second middle support arm and the torsionspring installs
On the 6th hinge, its of the drive bevel gear is stretched into the one end of second position limit arm away from first position limit arm
In in a teeth groove.
Preferably, multiple first necks have been arranged side by side on first rotary joint, have been set on second rotary joint
Multiple first chuck are equipped with, first chuck is caught in first neck, and the first hinge passes through the first all chuck, from
It is and first rotary joint and the second rotary joint is hinged.
Preferably, the first intermediate support links together second rotary joint and first rotary joint, institute
The first intermediate support is stated to be fixedly connected with second rotary joint and be provided with multiple arcs hole on first intermediate support,
First rotary joint is respectively arranged with a screwed hole in the position corresponding to each arcuate socket, and screw is stretched after passing through arcuate socket
Enter in the screwed hole on the first rotary joint, so as to which first intermediate support and the first rotary joint are fixedly connected on into one
Rise；
First rotary joint is provided with internal thread close to one end of first intermediate support, first hinge
One end be provided with external screw thread and this one end stretch into first rotary joint after be connected on the internal thread of the first rotary joint.
Preferably, multiple second necks have been arranged side by side on second rotary joint, have been set on the 3rd rotary joint
Multiple second chuck are equipped with, second chuck is caught in second neck, and the second hinge passes through the second all chuck, from
It is and second rotary joint and the 3rd rotary joint is hinged.
Preferably, the second intermediate support links together the 3rd rotary joint with second rotary joint, institute
The second intermediate support is stated to be fixedly connected with the 3rd rotary joint and be provided with multiple arcs hole on second intermediate support,
Second rotary joint is respectively arranged with a screwed hole in the position corresponding to each arcuate socket, and screw is stretched after passing through arcuate socket
Enter in the screwed hole on the second rotary joint, so as to which second intermediate support and the second rotary joint are fixedly connected on into one
Rise；
Second rotary joint is provided with internal thread close to one end of second intermediate support, second hinge
One end be provided with external screw thread and this one end stretch into second rotary joint after be connected on the internal thread of the second rotary joint.
In general, by the contemplated above technical scheme of the utility model compared with prior art, can obtain down
Row beneficial effect：
1) by conical gear drive, ball screw framework and three axle rotation regulating mechanisms, industrial shooting can be made
Machine realize four frees degree adjustment (ball screw framework adjustment rectilinear movement, three axle rotation regulating mechanisms adjust around three axles
Rotation), it is easy to adjust and flexible；
2) relative position relation between multiple industrial cameras can realize synchronous adjustment：By drive bevel gear and multiple
The cooperation of four axle governor motions, can make the relative position relation between multiple industrial cameras realize synchronous adjustment, so as to protect
Demonstrate,proving multiple industrial cameras has similar field range, and this is favorably improved the measurement accuracy of stereoscopic vision and reduction vision is blind
Area；
3) adjusting range of industrial camera posture is big：Industrial camera on the 3rd rotary joint has larger
Adjusting range, and the rotation that Three Degree Of Freedom can be carried out by three axle rotation adjustment devices to the posture of industrial camera is adjusted
It is whole, can meet the needs of being adjusted in multi-vision visual to industrial camera optimum attitude；
4) many kinds of measures ensures the strict inactive state after the adjustment of industrial camera pose：Brake apparatus can ensure complete
The position of drive bevel gear is limited after into the position adjustment of industrial camera, so that the position of industrial camera will not be because outer
The interference of boundary's active force and change；Three axle rotation adjustment devices are provided with bolt to lock rotary shaft and hinge, lock phase
The structure answered is to ensure after industrial camera pose adjustment is completed, and the posture of industrial camera is not because of the interference of external forces
And produce variation.
Brief description of the drawings
Fig. 1 is the schematic perspective view of mounting industrial video camera on the utility model；
Fig. 2 is the schematic perspective view of mounting industrial video camera on three axle rotation regulating mechanisms；
Fig. 3 is the schematic diagram of brake apparatus in the utility model.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only explaining this
Utility model, it is not used to limit the utility model.It is in addition, involved in each embodiment of the utility model disclosed below
As long as and to technical characteristic each other do not form conflict can be mutually combined.
1~Fig. 3 of reference picture, a kind of industrial camera pose adjusting apparatus, including supporting plate 1, gear shaft 2, active conical tooth
The axle governor motion 4 of wheel 3 and four, wherein,
The gear shaft 2 is arranged in the supporting plate 1, and the drive bevel gear 3 is installed on the gear shaft 2；
The four axles governor motion 4 includes driven wheel of differential 40, the axle rotation regulating mechanism 42 of ball screw framework 41 and three,
The driven wheel of differential 40 is engaged with the drive bevel gear 3, and the ball screw framework 41 is arranged in the supporting plate 1,
And the leading screw of the ball screw framework 41 is fixedly connected with the driven gear, the ball spiral shell of the ball screw framework 41
Mother connects the three axles rotation regulating mechanism 42；
The three axles rotation regulating mechanism 42 includes rotation bracing strut 421, the first rotary joint 422, the second rotary joint
423 and the 3rd rotary joint 424, the rotation bracing strut 421 be arranged on the ball nut of the ball screw framework 41, institute
The first rotary joint 422 is stated to be arranged on the rotation bracing strut 421 by rotary shaft 425, and the rotary shaft 425 and institute
It is parallel to state the leading screw of ball screw framework 41, second rotary joint 423 is hinged on first rotation by the first hinge 426
Turn on joint 422, the 3rd rotary joint 424 is used for mounting industrial video camera 7 and the 3rd rotary joint 424 by the
Two hinges 427 are hinged on second rotary joint 423, and the rotary shaft 425, the first hinge 426 and the second hinge 427 divide
Not parallel to X-axis, Y-axis and Z axis, and the X-axis, Y-axis and Z axis collectively form cartesian coordinate system.
Further, the four axles governor motion 4 is provided with multiple, and they are set around the gear shaft 2, Mei Gesuo
The driven wheel of differential 40 for stating four axle governor motions 4 engages with the drive bevel gear 3.
Further, the axle rotation regulating mechanism 42 of ball screw framework 41 and three is located at the two of the supporting plate 1 respectively
Side.
Further, the rotary shaft 425 is through the rotation bracing strut 421, and is set in the rotary shaft 425 limited
Position boss 428, arcuate socket 429 is provided with the positive stop lug boss 428, screwed hole, spiral shell are provided with the rotation bracing strut 421
Bolt is stretched into the screwed hole on the rotation bracing strut 421 after the positive stop lug boss 428 is passed through at arcuate socket 429, for
Limit the position of the rotary shaft 425.
Further, brake component support base 5 is provided with the gear shaft 2, braking is installed on the brake component support base 5
Device 6, the brake apparatus 6 include the first position limit arm 61 and the second position limit arm 62, and first position limit arm 61 and second is spacing
Arm 62 is hinged by the 3rd hinge 64；
First position limit arm 61 is hinged with the first middle support arm 66 by the 4th hinge 65, and second position limit arm 62 is logical
Cross the 5th hinge 67 and be hinged with the second middle support arm 68, the second middle 68 and first middle support arm 66 of support arm passes through the 6th hinge
Axle 69 is hinged；
Torsionspring 63 and the torsion bullet are provided between the first middle 66 and second middle support arm 68 of support arm
Spring 63 is installed on the 6th hinge 69, and the one end of second position limit arm 62 away from first position limit arm 61 is stretched into described
In one of teeth groove of drive bevel gear 3.
Further, multiple first necks, second rotary joint have been arranged side by side on first rotary joint 422
Multiple first chuck 430 are provided with 423, first chuck 430 is caught in first neck, and the first hinge 426 passes through
The first all chuck 430, so as to which the rotary joint 423 of the first rotary joint 422 and second is hinged.
Further, second rotary joint 423 is connected by the first intermediate support 431 with first rotary joint 422
Together, first intermediate support 431 is fixedly connected and first intermediate support 431 with second rotary joint 423
On be provided with multiple arcs hole, first rotary joint 422 is respectively arranged with a spiral shell in the position corresponding to each arcuate socket
Pit, screw are stretched into the screwed hole on the first rotary joint 422 after passing through arcuate socket, so as to by first intermediate support
431 and first rotary joint 422 be fixed together；
First rotary joint 422 is provided with internal thread close to one end of first intermediate support 431, and described first
One end of hinge be provided with external screw thread and this one end stretch into first rotary joint 422 after be connected to the first rotary joint
On 422 internal thread.
Further, multiple second necks, the 3rd rotary joint have been arranged side by side on second rotary joint 423
Multiple second chuck 432 are provided with 424, second chuck 432 is caught in second neck, and the second hinge 427 passes through
The second all chuck 432, so as to which the rotary joint 424 of the second rotary joint 423 and the 3rd is hinged.
Further, the 3rd rotary joint 424 is connected by the second intermediate support 433 with second rotary joint 423
Together, second intermediate support 433 is fixedly connected and second intermediate support 433 with the 3rd rotary joint 424
On be provided with multiple arcs hole, second rotary joint 423 is respectively arranged with a spiral shell in the position corresponding to each arcuate socket
Pit, screw are stretched into the screwed hole on the second rotary joint 423 after passing through arcuate socket, so as to by second intermediate support
433 and second rotary joint 423 be fixed together；
Second rotary joint 423 is provided with internal thread close to one end of second intermediate support 433, and described second
One end of hinge be provided with external screw thread and this one end stretch into second rotary joint 423 after be connected to the second rotary joint
On 423 internal thread.
The utility model can be used for adjusting while the pose of multiple industrial cameras 7, can for example adjust such as Fig. 1 institutes
The posture of relative position and each industrial camera 7 between three industrial cameras 7 shown, operation principle are as follows：
1) between multiple industrial cameras 7 relative position adjustment
Drive bevel gear 3 or manual rotation's drive bevel gear 3 are driven using motor, and then rotate driven wheel of differential 40,
The rotation of driven wheel of differential 40 is by the rotation of the leading screw of shaft coupling drive ball screw framework, so that ball nut is along leading screw
Axial direction produce movement, axial movement of the ball nut along leading screw drives the sliding block being bolted with ball nut in guide rail
Upper to produce movement, ball nut connects rotation bracing strut 421 by sliding block, therefore the mobile drive of sliding block passes through bolt with sliding block
The rotation bracing strut 421 of connection moves along guide rail longitudinal direction, and then the moving along guide rail longitudinal direction with dynamic triaxial rotation regulating mechanism,
Realize the adjustment of relative position between three industrial cameras 7.
2) pose adjustment of industrial camera 7
The adjustment of the posture of industrial camera 7 needs to rotate the first rotary joint 422, the second rotary joint 423 and successively
Three rotary joints 424.First, rotated by rotary shaft 425, then the first rotary joint 422 also rotates, make industrial camera 7 around
The axis of rotary shaft 425 rotates to an angle, and after the adjustment for completing the first rotary joint 422, passes through the spiral shell through arcuate socket 429
The tight rotary shaft 425 of bolt-lock, to prevent the first rotary joint 422 in outer masterpiece generation minor rotation.
Then, axis of second rotary joint 423 around the first hinge 426 is turned an angle, then tightens the first hinge
Axle 426, the 3rd rotary joint 424 is rotated, industrial camera 7 is turned an angle around the axis of the second hinge 427, complete to adjust
The second hinge 427 is tightened after whole, to prevent that it is micro- that the 3rd rotary joint 424 and the second rotary joint 423 from producing under External force interference
Small rotation, thus realize the pose adjustment of industrial camera 7.
As it will be easily appreciated by one skilled in the art that preferred embodiment of the present utility model is the foregoing is only, not
To limit the utility model, any modification of all made within spirit of the present utility model and principle, equivalent substitution and change
Enter, should be included within the scope of protection of the utility model.
Claims (9)
1. a kind of industrial camera pose adjusting apparatus, it is characterised in that including supporting plate, gear shaft, drive bevel gear and four
Axle governor motion, wherein,
The gear shaft is arranged in the supporting plate, and the drive bevel gear is installed on the gear shaft；
The four axles governor motion includes driven wheel of differential, ball screw framework and three axle rotation regulating mechanisms, described from mantle
Gear is engaged with the drive bevel gear, and the ball screw framework is arranged in the supporting plate, and the ball-screw
The leading screw of mechanism is fixedly connected with the driven gear, and the ball nut of the ball screw framework connects the three axles rotation and adjusted
Save mechanism；
The three axles rotation regulating mechanism includes rotation bracing strut, the first rotary joint, the second rotary joint and the 3rd rotation and closed
Section, the rotation bracing strut are arranged on the ball nut of the ball screw framework, and first rotary joint passes through rotation
Axle is arranged on the rotation bracing strut, and the rotary shaft is parallel with the leading screw of the ball screw framework, and described second
Rotary joint is hinged on first rotary joint by the first hinge, and the 3rd rotary joint images for mounting industrial
Machine and the 3rd rotary joint is hinged on second rotary joint by the second hinge, the rotary shaft, the first hinge
X-axis, Y-axis and Z axis are respectively parallel to the second hinge, and the X-axis, Y-axis and Z axis collectively form cartesian coordinate system.
2. a kind of industrial camera pose adjusting apparatus according to claim 1, it is characterised in that four axle adjusts machine
Structure is provided with multiple, and they are set around described gear shafts, the driven wheel of differential of each four axles governor motion with
The drive bevel gear engagement.
A kind of 3. industrial camera pose adjusting apparatus according to claim 1, it is characterised in that the ball-screw machine
Structure and three axle rotation regulating mechanisms are located at the both sides of the supporting plate respectively.
4. a kind of industrial camera pose adjusting apparatus according to claim 1, it is characterised in that the rotary shaft passes through
The rotation bracing strut, and positive stop lug boss is provided with the rotary shaft, arcuate socket is provided with the positive stop lug boss, it is described
Screwed hole is provided with rotation bracing strut, bolt is stretched on the rotation bracing strut after the positive stop lug boss is passed through at arcuate socket
Screwed hole in.
5. a kind of industrial camera pose adjusting apparatus according to claim 1, it is characterised in that set on the gear shaft
Brake component support base is equipped with, brake apparatus is installed on the brake component support base, the brake apparatus includes the first position limit arm
It is hinged by the 3rd hinge with the second position limit arm, first position limit arm and the second position limit arm；
First position limit arm is hinged with the first middle support arm by the 4th hinge, and second position limit arm is cut with scissors by the 5th hinge
The second middle support arm is connected to, the second middle support arm and the first middle support arm are hinged by the 6th hinge；
Torsionspring is provided between the first middle support arm and the second middle support arm and the torsionspring is installed on institute
State on the 6th hinge, the one end of second position limit arm away from first position limit arm stretches into wherein the one of the drive bevel gear
In individual teeth groove.
6. a kind of industrial camera pose adjusting apparatus according to claim 1, it is characterised in that first rotation is closed
Multiple first necks have been arranged side by side on section, multiple first chuck, first chuck are provided with second rotary joint
It is caught in first neck, the first hinge passes through the first all chuck, so as to which first rotary joint and second be revolved
It is hinged to turn joint.
7. a kind of industrial camera pose adjusting apparatus according to claim 1, it is characterised in that the first intermediate support will
Second rotary joint links together with first rotary joint, and first intermediate support closes with the described second rotation
Section is fixedly connected and multiple arcs hole is provided with first intermediate support, and first rotary joint is corresponding to each arc
The position in shape hole sets a screwed hole, screw to be stretched into after passing through arcuate socket in the screwed hole on the first rotary joint respectively, so as to
First intermediate support and the first rotary joint are fixed together；
First rotary joint is provided with internal thread, one end of first hinge close to one end of first intermediate support
Be provided with external screw thread and this one end stretch into first rotary joint after be connected on the internal thread of the first rotary joint.
8. a kind of industrial camera pose adjusting apparatus according to claim 1, it is characterised in that second rotation is closed
Multiple second necks have been arranged side by side on section, multiple second chuck, second chuck are provided with the 3rd rotary joint
It is caught in second neck, the second hinge passes through the second all chuck, so as to which second rotary joint and the 3rd be revolved
It is hinged to turn joint.
9. a kind of industrial camera pose adjusting apparatus according to claim 1, it is characterised in that the second intermediate support will
3rd rotary joint links together with second rotary joint, and second intermediate support closes with the described 3rd rotation
Section is fixedly connected and multiple arcs hole is provided with second intermediate support, and second rotary joint is corresponding to each arc
The position in shape hole is respectively arranged with a screwed hole, and screw is stretched into the screwed hole on the second rotary joint after passing through arcuate socket, from
And second intermediate support and the second rotary joint are fixed together；
Second rotary joint is provided with internal thread, one end of second hinge close to one end of second intermediate support
Be provided with external screw thread and this one end stretch into second rotary joint after be connected on the internal thread of the second rotary joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720572834.9U CN206741179U (en) | 2017-05-22 | 2017-05-22 | A kind of industrial camera pose adjusting apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720572834.9U CN206741179U (en) | 2017-05-22 | 2017-05-22 | A kind of industrial camera pose adjusting apparatus |
Publications (1)
| Publication Number | Publication Date |
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| CN206741179U true CN206741179U (en) | 2017-12-12 |
Family
ID=60567656
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720572834.9U Expired - Fee Related CN206741179U (en) | 2017-05-22 | 2017-05-22 | A kind of industrial camera pose adjusting apparatus |
Country Status (1)
| Country | Link |
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| CN (1) | CN206741179U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106990647A (en) * | 2017-05-22 | 2017-07-28 | 华中科技大学 | A kind of industrial camera pose adjusting apparatus |
| CN113479144A (en) * | 2021-07-13 | 2021-10-08 | 深圳市合泰创新技术有限公司 | Display screen posture adjusting device |
-
2017
- 2017-05-22 CN CN201720572834.9U patent/CN206741179U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106990647A (en) * | 2017-05-22 | 2017-07-28 | 华中科技大学 | A kind of industrial camera pose adjusting apparatus |
| CN113479144A (en) * | 2021-07-13 | 2021-10-08 | 深圳市合泰创新技术有限公司 | Display screen posture adjusting device |
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Granted publication date: 20171212 Termination date: 20200522 |
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| CF01 | Termination of patent right due to non-payment of annual fee |