CN210256225U

CN210256225U - Visual swing mechanism and wallboard installation robot with same

Info

Publication number: CN210256225U
Application number: CN201920857487.3U
Authority: CN
Inventors: 梁健斌
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-06-06
Filing date: 2019-06-06
Publication date: 2020-04-07
Anticipated expiration: 2029-06-06

Abstract

The utility model discloses a vision swing mechanism and wallboard installation robot that has it, vision swing mechanism includes: fixing a bracket; the driving piece is connected with the fixed bracket and is provided with a driving shaft; one end of the driving rod is connected with the fixed bracket, and the driving shaft is connected with the driving rod; one end of the driven rod is hinged with the fixed support, and a first preset distance is reserved between one end of the driven rod and one end of the driving rod in the length direction of the fixed support; the visual assembly comprises a camera mounting bracket, and the other end of the driving rod is spaced from the other end of the driven rod by a second preset distance; the 2D camera is arranged at the lower part of the camera mounting bracket; the 3D camera is arranged on the upper part of the camera mounting bracket; and the limiting assembly is respectively connected with the driving rod and the driven rod so as to limit when the visual assembly is positioned at a first limiting position and a second limiting position in the swinging direction. According to the utility model discloses a vision swing mechanism can carry out the detection of diversified multi-angle.

Description

Visual swing mechanism and wallboard installation robot with same

Technical Field

The utility model belongs to the technical field of the building technique and specifically relates to a vision swing mechanism and wallboard installation robot that has it is related to.

Background

The mechanism for mounting the vision camera in the related art mostly uses a mechanism for moving horizontally and vertically, however, the above technical solution has certain disadvantages, for example, the mechanism for mounting the vision camera cannot swing, cannot well meet the requirements of many occasions, and has a limited application range.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, an object of the present invention is to provide a visual swing mechanism, which can swing and has a wide application range.

Another object of the utility model is to provide a wallboard installation robot, wallboard installation robot includes the aforesaid vision swing mechanism.

According to the utility model discloses vision swing mechanism of first aspect embodiment includes: fixing a bracket; the driving piece is connected with the fixed bracket and is provided with a driving shaft; one end of the driving rod is connected with the fixed support, and the driving shaft is connected with the driving rod and used for driving the driving rod to rotate; a driven rod, one end of which is hinged with the fixed bracket and is spaced apart from the one end of the driving rod by a first predetermined distance in the length direction of the fixed bracket; a vision assembly, the vision assembly comprising: the camera mounting bracket is arranged between the other end of the driving rod and the other end of the driven rod in a swinging mode, and the other end of the driving rod and the other end of the driven rod are spaced by a second preset distance; the 2D camera is arranged at the lower part of the camera mounting bracket; a 3D camera disposed at an upper portion of the camera mounting bracket and spaced apart from the 2D camera; and the limiting assembly is respectively connected with the driving rod and the driven rod so as to limit when the visual assembly is positioned at a first limiting position and a second limiting position in the swinging direction.

According to the utility model discloses vision swing mechanism can drive the active lever through the driving piece and rotate, can drive the vision subassembly through the active lever and be in first extreme position with swing between the second extreme position, can effectively spacing through spacing subassembly, from this, can target in place the detection that carries out diversified multi-angle to the wallboard in the work progress through the vision subassembly to be favorable to enlarging vision swing mechanism's application scope, convenient construction operation guarantees construction quality.

In addition, the visual swing mechanism according to the above embodiment of the present invention has the following additional technical features:

according to some embodiments of the present invention, the limiting assembly comprises: a first stopper; the first limiting block and the second limiting block are arranged at intervals in the length direction of the driving rod; the electromagnet is attracted with the first limiting block at the first limiting position, and attracted with the second limiting block at the second limiting position.

Optionally, the first limit stopper and the second limit stopper are each configured in an L-shaped plate shape, and each of the first limit stopper and the second limit stopper includes: the horizontal part is connected with the active rod; a vertical part connected with the horizontal part and extending in a direction away from the horizontal part; and the electromagnet is attracted with the vertical part at the first limit position and the second limit position.

Furthermore, a first proximity sensor is arranged on the first limit stop block so as to send out a position signal when the vision assembly moves to the first limit position; and a second proximity sensor is arranged on the second limit stop so as to send out a position signal when the vision assembly moves to the second limit position.

Optionally, the driven rod is provided with a mounting plate parallel to the vertical portion, and the electromagnet is arranged on one side of the mounting plate adjacent to the driving rod.

Further, spacing subassembly still includes: a bumper disposed on the mounting plate and spaced apart from the electromagnet.

Optionally, the driver comprises: a drive motor; the reduction gearbox is in transmission connection with the driving motor, and the driving shaft is formed on the reduction gearbox.

According to some embodiments of the invention, the vision assembly further comprises: the mounting bracket connecting block is connected with the camera mounting bracket, the other end of the driving rod is hinged with the mounting bracket connecting block, and the other end of the driven rod is hinged with the mounting bracket connecting block; a camera shroud disposed outside the camera mounting bracket.

Further, the first predetermined distance is equal to the second predetermined distance and is smaller than the length of the driving rod, and the length of the driving rod is equal to the length of the driven rod, so that a parallelogram link mechanism is formed among the driving rod, the mounting bracket connecting block, the driven rod and the fixing bracket.

According to the utility model discloses wallboard installation robot of second aspect embodiment, including the aforesaid vision swing mechanism.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic view of a visual swing mechanism according to an embodiment of the present invention;

fig. 2 is another schematic view of a visual swing mechanism according to an embodiment of the present invention;

fig. 3 is yet another schematic view of a visual swing mechanism according to an embodiment of the present invention;

fig. 4 is yet another schematic view of a vision swing mechanism in accordance with an embodiment of the present invention, wherein the view shows the vision assembly in a first extreme position and a second extreme position;

fig. 5 is a schematic view of a wall panel mounting robot according to an embodiment of the present invention, wherein the wall panel mounting robot is provided with the above-mentioned visual swinging mechanism.

Reference numerals:

the visual swing mechanism (300) is provided,

the fixing bracket (301) is fixed on the base,

a driver 302, a drive shaft 3021, a drive motor 3022, a reduction gearbox 3023,

the active lever 303 is provided with a drive lever,

the length of the driven rod 304, the mounting plate 3041,

a vision assembly 305, a camera mounting bracket 3051, a 2D camera 3052, a 3D camera 3053, a mounting bracket connection block 3054, a camera shroud 3055,

a limit assembly 306, a first limit block 3061, a horizontal portion 3064, a vertical portion 3065, a second limit block 3062, an electromagnet 3063, a first proximity sensor 3066, a second proximity sensor 3067, a buffer 3068;

the wall panel mounting robot 400.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

The following describes a visual swing mechanism 300 according to an embodiment of the present invention with reference to the drawings.

According to the utility model discloses vision swing mechanism 300 of first aspect embodiment includes: a fixed bracket 301, a driving piece 302, a driving rod 303, a driven rod 304, a vision component 305 and a limit component 306. The vision swing mechanism 300 can be used for the wallboard installation robot 400 to detect in the construction process, which is beneficial to ensuring the construction quality.

Specifically, referring to fig. 1 and 2, the driver 302 is connected to the fixed bracket 301, and the driver 302 has a drive shaft 3021. One end of the active rod 303 is connected with the fixed bracket 301, and the driving shaft 3021 is connected with the active rod 303 for driving the active rod 303 to rotate. For example, referring to fig. 2, an a end of the active lever 303 may be connected to the fixed bracket 301, and an a end of the active lever 303 may be rotated with respect to the fixed bracket 301, and a driving shaft 3021 is connected to the active lever 303 for driving the active lever 303 to rotate.

In some embodiments of the present invention, a side of the fixing bracket 301 adjacent to the driving shaft 3021 may be formed with a mounting hole, and one end of the driving rod 303 (for example, an a-end of the driving rod 303 shown in fig. 2) may be formed with a first fitting hole corresponding to the mounting hole, and the driving shaft 3021 is adapted to pass through the mounting hole and the fitting hole in sequence to be connected to the driving rod 303. Therefore, the driving piece 302 and the fixing bracket 301 can be easily assembled through the mounting hole, the driving rod 303 and the driving piece 302 can be easily assembled through the first matching hole, and the driving rod 303 can be conveniently driven to rotate through the driving piece 302.

One end of the driven link 304 is hinged to the fixed bracket 301, and one end of the driven link 304 is spaced apart from one end of the driving link 303 by a first predetermined distance in the length direction of the fixed bracket 301. For example, referring to fig. 2, the B-end of the driven link 304 may be hinged to the fixed bracket 301, and the B-end of the driven link 304 may be coupled to the fixed bracket 301 by a pin such that the driven link 304 may rotate with respect to the fixed bracket 301, and the B-end of the driven link 304 and the a-end of the driving link 303 may be spaced apart by a first predetermined distance, which may refer to the length of the line segment AB shown in fig. 2, in the length direction of the fixed bracket 301 (refer to the AB direction shown in fig. 2).

In conjunction with fig. 1 and 2, the vision component 305 may include: camera mounting bracket 3051, 2D camera 3052 and 3D camera 3053. The 3D camera 3053 may be, for example, a CCD (Charge-coupled Device) camera or the like. The visual swing mechanism 300 may also include a controller that may be configured to receive and process data collected by the 2D camera 3052 and the 3D camera 3053, which may interact with (e.g., signal transmission, etc.) the control system of the wall-mounted robot to facilitate controlling the actions of the wall-mounted robot 400 as desired.

Specifically, the camera mounting bracket 3051 is swingably provided between the other end of the driving lever 303 and the other end of the driven lever 304, the other end of the driving lever 303 being spaced apart from the other end of the driven lever 304 by a second predetermined distance. For example, in conjunction with fig. 2, the camera mounting bracket 3051 may be swingably provided between the C-end of the driving link 303 and the D-end of the driven link 304, and the C-end of the driving link 303 and the D-end of the driven link 304 may be spaced apart by a second predetermined distance, which may refer to the length of the line segment CD shown in fig. 2.

The 2D camera 3052 is disposed at a lower portion of the camera mounting bracket 3051, and the 2D camera 3052 may be used for sideline installation in-place detection during the construction of the board room, for example, the 2D camera 3052 may detect a position of a wall panel to be installed with respect to an installed wall panel, and if the 2D camera 3052 detects that the position of the wall panel to be installed is deviated from the position of the installed wall panel, the control system may issue an instruction to the wall panel mounting robot 200 to adjust the position, posture, and the like of the wall panel to be installed. In some optional embodiments of the present disclosure, the 2D camera 3052 can detect that the sideline is installed in place in a direction perpendicular to the paper surface. The 3D camera 3053 is disposed on the upper portion of the camera mounting bracket 3051, and the 3D camera 3053 and the 2D camera 3052 may be disposed at an interval in the up-down direction, and the 3D camera 3053 may be used to detect whether the wall panel to be mounted and the mounted wall panel are flush at the bottom, whether the ground is level, and the like. If 3D camera 3053 detects wait to install the wallboard with there is a positional deviation bottom of installed wallboard, control system can send instruction to wallboard installation robot 400 in order to adjust wait to install the position, the gesture etc. of wallboard the utility model discloses a some optional embodiments, 3D camera 3053 can be just to ground downwards. The visual assembly 305 is beneficial to ensuring construction quality.

Camera installing support 3051 can swing, and when driving piece 302 drive initiative pole 303 drove the motion of camera installing support 3051, 2D camera 3052 and 3D camera 3053 can move with camera installing support 3051 synchronization to be convenient for detect the different positions in the work progress, guarantee construction quality.

Referring to fig. 4, a limit assembly 306 is connected to the driving link 303 and the driven link 304, respectively, to limit when the vision assembly 305 is located at a first limit position and a second limit position in the swing direction. For example, a portion of the limiting assembly 306 may be coupled to the driving link 303 and another portion of the limiting assembly 306 may be coupled to the driven link 304, such that the limiting assembly 306 limits the visual assembly 305 when the visual assembly is at the first limit position and the second limit position in the swing direction. The first extreme position may refer to a position where the visual component 305 is located on the left side as shown in fig. 4, and the second extreme position may refer to a position where the visual component 305 is located on the right side as shown in fig. 4.

According to the utility model discloses vision swing mechanism 300 can drive the active lever 303 through driving piece 302 and rotate, can drive vision subassembly 305 through active lever 303 and be in first extreme position with swing between the second extreme position, can effectively spacing through spacing subassembly 306, from this, can be to whether installing in place the wallboard of construction (for example board house is built etc.) in-process through vision subassembly 305 and carry out diversified multi-angle's detection, thereby be favorable to enlarging vision swing mechanism 300's application scope, convenient construction operation guarantees construction quality.

According to some embodiments of the present invention, in conjunction with fig. 2 and 4, the limiting component 306 comprises: a first stopper 3061, a second stopper 3062, and an electromagnet 3063.

Specifically, the first stopper 3061 and the second stopper 3062 are disposed at a distance in the length direction of the active lever 303. For example, the length direction of the active rod 303 may refer to an AC direction shown in fig. 2 or fig. 4, and the first stopper 3061 and the second stopper 3062 may be disposed on the active rod 303 at a predetermined distance along the AC direction, the predetermined distance is not particularly limited by the present invention, and the predetermined distance may be adaptively set as needed in practical applications.

Referring to fig. 4, the electromagnet 3063 is attracted to the first stopper 3061 at the first limit position, and the electromagnet 3063 is attracted to the second stopper 3062 at the second limit position. Therefore, the electromagnet 3063 is attracted to the first limit block 3061, so that the visual component 305 can be limited when being positioned at the first limit position in the swinging direction; the electromagnet 3063 is attracted with the second limit block 3062, so that the visual component 305 can be limited when being located at the second limit position in the swinging direction, and the use reliability is good.

Of course, the present invention is not limited thereto, and in some alternative embodiments of the present invention, the first stopper 3061 and the second stopper 3062 may be spaced apart in the length direction of the driven rod 304. The electromagnet 3063 is attracted to the first limit block 3061 at the first limit position, and the electromagnet 3063 is attracted to the second limit block 3062 at the second limit position.

Alternatively, referring to fig. 1, the first and

second limit stoppers

3061 and 3062 are each configured in an L-shaped plate shape, and the first and

second limit stoppers

3061 and 3062 each include: a horizontal portion 3064 and a vertical portion 3065.

Specifically, the horizontal part 3064 is connected to the active bar 303, for example, the horizontal part 3064 may be detachably connected to the active bar 303, which facilitates the mounting of the first and second limit stops 3061 and 3062 on the active bar 303. The vertical portion 3065 is connected to the horizontal portion 3064, the vertical portion 3065 may be disposed perpendicular to the horizontal portion 3064, and the vertical portion 3065 may extend in a direction away from the horizontal portion 3064. With reference to fig. 1 and 4, in the first limit position and the second limit position, the electromagnet 3063 is attracted to the vertical portion 3065. Therefore, the electromagnet 3063 can be attracted to the vertical portion 3065 of the first limit stop 3061 at the first limit position, and the electromagnet 3063 can be attracted to the vertical portion 3065 of the second limit stop 3061 at the second limit position, so that the limit can be easily performed at the first limit position and the second limit position by the limit component 306, which is beneficial to improving the use reliability of the visual swing mechanism 300.

Further, as shown in FIGS. 1 and 4, a first proximity sensor 3066 is provided on the first positive stop 3061 to signal that the vision assembly 305 is in the first limit position. A second proximity sensor 3067 is provided on the second positive stop 3062 to signal that the vision assembly 305 is in the second limit position.

For example, a first limit stop 3061 can have a first proximity sensor 3066 disposed thereon and the first proximity sensor 3066 can be disposed on a vertical portion 3065 of the first limit stop 3061 to signal that the vision assembly 305 is in position when moved to the first limit position. A second proximity sensor 3067 is provided on the second limit stop 3062, and the second proximity sensor 3067 may be provided on a vertical portion 3065 of the second limit stop 3062 to signal that the vision assembly 305 is in position when moved to the second limit position. Therefore, the driving member 302 can provide power for the swing of the vision component 305, the electromagnet 3063 can be attracted with the first limit stop 3061 at the first limit position, and the electromagnet 3063 can be attracted with the second limit stop 3062 at the second limit position, so that the stop position can be accurately realized each time, expensive equipment such as a servo motor is not needed, and the cost is favorably reduced.

Alternatively, with reference to fig. 1 and 4, the driven lever 304 is provided with a mounting plate 3041 disposed parallel to the vertical portion 3065, and the electromagnet 3063 is disposed on a side of the mounting plate 3041 adjacent to the driving lever 303. For example, the driven bar 304 may have a mounting plate 3041 disposed thereon, the mounting plate 3041 may be disposed parallel to the vertical portion 3065, and the electromagnet 3063 may be disposed on a side of the mounting plate 3041 adjacent to the driving bar 303. Thus, in the first limit position, the electromagnet 3063 facilitates attraction of the first limit stop 3061; in the second limit position, the second limit stop 3062 is facilitated to be attracted by the electromagnet 3063 for effective limiting by the limit assembly 306.

Further, referring to fig. 1 and 2, the limiting component 306 may further include: a bumper 3068, the bumper 3068 is provided on the mounting plate 3041 spaced from the electromagnet 3063. For example, the bumper 3068 may be disposed on the mounting plate 3041 and the bumper 3068 may be disposed spaced apart from the electromagnet 3063. Thus, by providing the buffer 3068 on the driven lever 304, a certain buffer can be provided when the visual unit 305 swings to the first limit position and the second limit position, and thus, the impact can be reduced and the usability of the visual swing mechanism 300 can be improved.

Alternatively, referring to fig. 1 and 3, the driver 302 may include: the drive motor 3022 and the reduction gearbox 3023, the reduction gearbox 3023 is in transmission connection with the drive motor 3022, and the reduction gearbox 3023 is provided with the drive shaft 3021. The driving motor 3022 may be, for example, a dc motor, and the like, so that the driving member 302 may provide a steering output for the vision assembly 305, and in the first limit position, the electromagnet 3063 may attract the first limit stopper 3061, and in the second limit position, the electromagnet 3063 may attract the second limit stopper 3061, so that the stop position accuracy may be achieved, and expensive equipment such as a servo motor may not be needed, which is beneficial for saving the cost of the vision swing mechanism 300.

According to some embodiments of the present invention, referring to fig. 1 and 2, the vision assembly 305 further comprises: installing support connecting block 3054, installing support connecting block 3054 links to each other with camera installing support 3051, and the other end and the installing support connecting block 3054 of driving lever 303 are articulated, and the other end and the installing support connecting block 3054 of driven lever 304 are articulated.

For example, in conjunction with fig. 2 and 4, the vision component 305 may further include: mounting bracket connecting block 3054, mounting bracket connecting block 3054 are connected to camera mounting bracket 3051, for example, mounting bracket connecting block 3054 and camera mounting bracket 3051 may be connected in a fixed connection manner, and of course, mounting bracket connecting block 3054 and camera mounting bracket 3051 may also be connected in a detachable manner. The C-end of the driving lever 303 may be hinged (e.g., pinned, etc.) to the mounting bracket connection block 3054, and the D-end of the driven lever 304 may be hinged (e.g., pinned, etc.) to the mounting bracket connection block 3054. Therefore, in the process of movement of the visual swing mechanism 300, when the driving rod 303 is driven by the driving part 302 to rotate at the end a, the end C of the driving rod 303 can drive the mounting bracket connecting block 3054 to move, and the mounting bracket connecting block 3054 can drive the end D of the driven rod 304 to rotate, so that the end B of the driven rod 304 can rotate relative to the fixed bracket 301, the visual component 305 can swing between the first limit position and the second limit position, and multi-directional and multi-angle detection is realized.

Further, referring to fig. 2 and 4, the first predetermined distance is equal to the second predetermined distance and is less than the length of the driving link 303, and the length of the driving link 303 is equal to the length of the driven link 304, so that a parallelogram mechanism is formed between the driving link 303, the mounting bracket connection block 3054, the driven link 304 and the fixing bracket 301.

For example, in some alternative embodiments of the present invention, the first predetermined distance AB is equal to the second predetermined distance CD and is less than the length AC of the driving link 303, and the length AC of the driving link 303 is equal to the length BD of the driven link 304, so that a four-bar linkage, such as a parallelogram linkage, may be formed between the driving link 303, the mounting bracket connection block 3054, the driven link 304, and the fixing bracket 301. Therefore, when the driving member 302 is used for providing power for the visual component 305, the visual component 305 can swing between the first limit position and the second limit position conveniently, 2 shooting points on the left and right can be realized through the swing of the parallelogram link mechanism, and the switching of the 2 visual shooting points on the left and right can be realized.

Referring to fig. 4, in the first extreme position and the second extreme position, the vision assembly 305, such as the mounting bracket connection block 3054, may be parallel to the ground.

According to the visual swing mechanism 300 of the embodiment of the present invention, the 2D camera 3052 can be responsible for the sideline in-place installation detection; the 3D camera 3053 may be responsible for installation leveling detection; the driver 302 may provide reversing power to the vision assembly 305; the extreme positions of the left and right sides of the swing are completely constrained by the parallelogram linkage mechanism by the electromagnet 3063 adsorbing the swing arm (the driving rod 303). By providing sensors (e.g., first proximity sensor 3066 and second proximity sensor 3067), a go-to-go signal is emitted.

According to the utility model discloses vision swing mechanism 300 can realize automatic operation. Specifically, the driving rod 303 of the four-bar linkage is driven by the four-bar linkage, and the vision assembly 305 is mounted on the mounting bracket connecting block 3054, so that when the reduction gearbox 3023 is driven by the driving motor 3022 to rotate, the mounting bracket connecting block 3054 can drive the vision assembly 305 to swing along an arc.

The main body is a four-bar mechanism, one short bar is arranged or formed on the fixed bracket 301, the other short bar is provided with the vision component 305, the driving component 302 is arranged at the position of the fixed short bar, and the driving shaft 3021 is in pin-hole connection with the driving rod 303, so that the driving rod 303 is driven to rotate by the driving component 302, and the driving rod 303 can drive the mounting bracket connecting block 3054 (the vision component 305) and the driven rod 304 to rotate.

The driving rod 303 is provided with a first limit stop 3061 and a second limit stop 3062, the first limit stop 3061 and the second limit stop 3062 are spaced apart by a predetermined distance, the first limit stop 3061 is provided with a first proximity sensor 3066, the second limit stop 3062 is provided with a second proximity sensor 3067, the driven rod 304 is provided with an electromagnet 3063 and a buffer 3068, when the vision assembly 305 swings to the left side of the first limit position, the electromagnet 3063 can suck the first limit stop 3061, when the vision assembly 305 swings to the right side of the second limit position, the electromagnet 3063 can suck the second limit stop 3062, so that left and right limit is realized.

Optionally, in conjunction with fig. 1 and 2, the vision component 305 may further include: the camera cover 3055 and the camera cover 3055 are provided outside the camera mounting bracket 3051. From this, through setting up camera guard 3055, be convenient for realize the protection to 2D camera 3052 and 3D camera 3053, be convenient for guarantee the use reliability of vision swing mechanism 300.

According to the utility model discloses vision swing mechanism 300, include: a fixed bracket 301, a driving piece 302, a driving rod 303, a driven rod 304, a vision component 305 and a limit component 306. The vision swing mechanism 300 can be used for the wallboard installation robot 400 to detect in the construction process, which is beneficial to ensuring the construction quality.

Alternatively, referring to fig. 1, the first and

second limit stoppers

3061 and 3062 are each configured in an L-shaped plate shape, and the first and

second limit stoppers

Further, referring to fig. 2 and 4, the first predetermined distance is equal to the second predetermined distance and is less than the length of the driving link 303, and the length of the driving link 303 is equal to the length of the driven link 304, so that a parallelogram link mechanism is formed between the driving link 303, the mounting bracket connection block 3054, the driven link 304, and the fixing bracket 301.

Referring to fig. 5, a wall panel mounting robot 400 according to an embodiment of the second aspect of the present invention includes the visual swing mechanism 300 described above. Therefore, by providing the visual swing mechanism 300 of the first aspect embodiment on the wall panel mounting robot 400, it is beneficial to improve the usability of the wall panel mounting robot 400.

It should be noted that, the specific installation position of the visual swing mechanism 300 on the wall panel installation robot 400 and the assembly mode of the visual swing mechanism 300 and the wall panel installation robot 400 may be adaptively set as required, and the present invention is not limited to this specifically.

Other configurations and operations of the visual swing mechanism 300 and the wall panel mounted robot 400 having the same according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience in describing the present invention and for simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A visual pendulum mechanism, comprising:

fixing a bracket;

the driving piece is connected with the fixed bracket and is provided with a driving shaft;

one end of the driving rod is connected with the fixed support, and the driving shaft is connected with the driving rod and used for driving the driving rod to rotate;

a driven rod, one end of which is hinged with the fixed bracket and is spaced apart from the one end of the driving rod by a first predetermined distance in the length direction of the fixed bracket;

a vision assembly, the vision assembly comprising:

the camera mounting bracket is arranged between the other end of the driving rod and the other end of the driven rod in a swinging mode, and the other end of the driving rod and the other end of the driven rod are spaced by a second preset distance;

the 2D camera is arranged at the lower part of the camera mounting bracket;

a 3D camera disposed at an upper portion of the camera mounting bracket and spaced apart from the 2D camera;

and the limiting assembly is respectively connected with the driving rod and the driven rod so as to limit when the visual assembly is positioned at a first limiting position and a second limiting position in the swinging direction.

2. The visual pendulum mechanism of claim 1, wherein the limit assembly comprises:

a first stopper;

the first limiting block and the second limiting block are arranged at intervals in the length direction of the driving rod;

the electromagnet is attracted with the first limiting block at the first limiting position, and attracted with the second limiting block at the second limiting position.

3. The visual swing mechanism of claim 2, wherein the first limit stop and the second limit stop are each configured in an L-shaped plate shape, the first limit stop and the second limit stop each comprising:

the horizontal part is connected with the active rod;

a vertical part connected with the horizontal part and extending in a direction away from the horizontal part;

and the electromagnet is attracted with the vertical part at the first limit position and the second limit position.

4. The visual pendulum mechanism of claim 3,

a first proximity sensor is arranged on the first limit stop block so as to send out a position signal when the vision assembly moves to the first limit position;

and a second proximity sensor is arranged on the second limit stop so as to send out a position signal when the vision assembly moves to the second limit position.

5. The visual swing mechanism of claim 3, wherein the driven bar is provided with a mounting plate disposed parallel to the upright portion, and the electromagnet is disposed on a side of the mounting plate adjacent to the driving bar.

6. The visual pendulum mechanism of claim 5, wherein the stop assembly further comprises:

a bumper disposed on the mounting plate and spaced apart from the electromagnet.

7. The visual pendulum mechanism of claim 1 wherein the drive member comprises:

a drive motor;

the reduction gearbox is in transmission connection with the driving motor, and the driving shaft is formed on the reduction gearbox.

8. The visual pendulum mechanism of any one of claims 1-7 wherein the visual component further comprises:

the mounting bracket connecting block is connected with the camera mounting bracket, the other end of the driving rod is hinged with the mounting bracket connecting block, and the other end of the driven rod is hinged with the mounting bracket connecting block;

a camera shroud disposed outside the camera mounting bracket.

9. The visual pendulum mechanism of claim 8 wherein the first predetermined distance is equal to the second predetermined distance and less than the length of the drive rod, the length of the drive rod being equal to the length of the driven rod to form a parallelogram linkage between the drive rod, the mounting bracket connecting block, the driven rod, and the fixed bracket.

10. A wall panel mounting robot comprising a visual swing mechanism according to any one of claims 1-9.