CN210968967U - Robot vision acquisition direction adjusting device - Google Patents
Robot vision acquisition direction adjusting device Download PDFInfo
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- CN210968967U CN210968967U CN201922202590.7U CN201922202590U CN210968967U CN 210968967 U CN210968967 U CN 210968967U CN 201922202590 U CN201922202590 U CN 201922202590U CN 210968967 U CN210968967 U CN 210968967U
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- connecting rod
- image collector
- supporting seat
- ball bearing
- thrust ball
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Abstract
The utility model relates to a robot vision acquisition direction adjusting device, including image collector, connecting rod and supporting seat, the lower extreme of connecting rod passes through thrust ball bearing and connects the supporting seat, the upper end of connecting rod is connected with image collector, the connecting rod has the cavity, the upper end of connecting rod is established driving motor, driving motor's output shaft is connected and is located the worm in the connecting rod cavity, the outer wall of connecting rod passes through the worm wheel of lug connection and worm looks adaptation, the worm wheel passes through the mounting panel and connects image collector; the utility model provides an adjusting device, the robot is in the level and vertical direction on multi-angle scanning collection, enlarge the collection scope of vision.
Description
Technical Field
The utility model belongs to the technical field of the computer vision, concretely relates to direction adjusting device is gathered to robot vision.
Background
With the diversified development of robots, machine vision systems are gradually built, and the machine vision systems achieve the functions of collecting images, analyzing the images, acquiring information, processing the images and the like by simulating human eyes, so that the robot vision system is a comprehensive technology integrating automation, computers and the like. The robot vision system gives a visual field to the robot, information data on complex images can be analyzed, distinguished and processed quickly, and time for processing complicated work by human is reduced based on application of the robot.
The existing binocular vision technology can simulate the vision of human eyes to realize the identification and the positioning of a stereoscopic vision object, but a general binocular vision identification device is limited by the visual field, cannot completely acquire the information of the surrounding environment, and easily causes vision blank and misjudgment.
Disclosure of Invention
The utility model aims at solving the problem that proposes among the background art, and provide a robot vision collection direction adjusting device who enlarges the collection range at the multi-angle scanning collection on level and vertical direction.
The purpose of the utility model is realized like this:
the utility model provides a robot vision acquisition direction adjusting device, includes image collector, connecting rod and supporting seat, the lower extreme of connecting rod passes through thrust ball bearing joint support seat, image collector is connected to the upper end of connecting rod, the connecting rod has the cavity, driving motor is established to the upper end of connecting rod, the worm in the connecting rod cavity is located to driving motor's output shaft, the outer wall of connecting rod passes through the worm wheel of lug connection with worm looks adaptation, the worm wheel passes through the mounting panel and connects image collector.
Furthermore, the number of the image collectors is at least two, and the at least two image collectors are arranged in the same vertical direction.
Furthermore, a first angle sensor corresponding to the image collector is arranged at the upper end of the connecting rod and the upper end of the worm gear.
Furthermore, a second angle sensor corresponding to the supporting seat is arranged at the lower ends of the connecting rod and the worm wheel.
Furthermore, the bottom end of the thrust ball bearing is fixedly connected with the supporting seat, the upper end of the thrust ball bearing is fixedly connected with the connecting rod, and the connecting rod is rotatably connected with the supporting seat through the thrust ball bearing.
Furthermore, a rotating motor is arranged inside the supporting seat, and an output shaft of the rotating motor penetrates through a thrust ball bearing and is connected to the lower end of the connecting rod.
Furthermore, a transparent protective cover is arranged outside the image collector.
Furthermore, the robot comprises a robot body, and the adjusting device is arranged at the head of the robot body.
Further, the protection casing encircles image collector, the mounting panel can be dismantled in the protection casing.
Furthermore, the adjacent sides of the image collector and the mounting plate are provided with illuminating lamps.
Compared with the prior art, the beneficial effects of the utility model reside in that:
1. the utility model provides a pair of robot vision collection direction adjusting device, through the ascending and descending of driving motor control worm in vertical side, and then adjust the vertical ascending angle of worm wheel, make image collector multi-angle collection on vertical direction, the rotating electrical machines can drive the rotation of connecting rod on the horizontal direction, the connecting rod passes through thrust ball bearing relative supporting seat and rotates, and then adjust image collector angle on the horizontal direction, make the robot in level and vertical direction on multi-angle scanning collection, enlarge the collection scope of vision.
2. The utility model provides a pair of robot vision acquisition direction adjusting device is equipped with a plurality of image collector on the mounting panel, and the walking plane of a plurality of image collector's central point line direction perpendicular to robot, with walking plane vertically in the direction, increase visual range.
3. The utility model provides a pair of robot vision collection direction adjusting device, through first angle sensor and second angle sensor, can in time acquire the collection angle of image collector in level and vertical side, increase the accuracy of analysis.
Drawings
Fig. 1 is the utility model discloses a robot vision acquisition direction adjusting device schematic structure.
Fig. 2 is the utility model relates to a robot vision acquisition direction adjusting device connecting rod inside schematic diagram.
Fig. 3 is the utility model discloses a robot vision acquisition direction adjusting device connecting rod and supporting seat connection sketch map.
Fig. 4 is a schematic view of embodiment 3 of the present invention.
In the figure: 1. a supporting seat; 2. a connecting rod; 3. lifting lugs; 4. a worm gear; 5. mounting a plate; 6. an image collector; 7. a worm; 8. a drive motor; 9. a first angle sensor; 10. a protective cover; 11. a second angle sensor; 12. a rotating electric machine; 13. a thrust ball bearing.
Detailed Description
The technical solution in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the scope of the present invention.
Example 1
With reference to fig. 1-3, a robot vision collection direction adjusting device includes image collector 6, connecting rod 2 and supporting seat 1, the lower extreme of connecting rod 2 passes through thrust ball bearing 13 connection supporting seat 1, thrust ball bearing 13's bottom fixed connection supporting seat 1, thrust ball bearing 13's upper end fixed connection connecting rod 2, connecting rod 2 passes through thrust ball bearing 13 swivelling joint supporting seat 1, rotating electrical machines 12 is established to the inside of supporting seat 1, rotating electrical machines 12's output shaft passes thrust ball bearing 13 and is connected to the lower extreme of connecting rod 2.
Through the ascending and descending of driving motor control worm in vertical direction, and then adjust the vertical ascending angle of worm wheel for image collector is in the multi-angle collection of vertical direction, and rotating electrical machines can drive the rotation of connecting rod on the horizontal direction, and the connecting rod passes through thrust ball bearing relative supporting seat and rotates, and then adjusts the angle of image collector on the horizontal direction, makes the robot in level and vertical direction on the multi-angle scanning collection, enlarges the collection scope of vision.
Example 2
On the basis of embodiment 1, combine fig. 2, a robot vision collection direction adjusting device, including image collector 6, connecting rod 2 and supporting seat 1, the lower extreme of connecting rod 2 passes through thrust ball bearing 13 and connects supporting seat 1, thrust ball bearing 13's bottom fixed connection supporting seat 1, thrust ball bearing 13's upper end fixed connection connecting rod 2, connecting rod 2 passes through thrust ball bearing 13 swivelling joint supporting seat 1, rotating electrical machines 12 is established to the inside of supporting seat 1, the output shaft of rotating electrical machines 12 passes thrust ball bearing 13 and is connected to the lower extreme of connecting rod 2.
The upper end of worm wheel 4 on connecting rod 2 establishes the first angle sensor 9 that corresponds with image collector 6, the lower extreme of worm wheel 4 on connecting rod 2 establishes the second angle sensor 11 that corresponds with supporting seat 1.
Through first angle sensor and second angle sensor, can in time acquire image collector at the ascending collection angle of level and vertical direction, increase the accuracy of analysis.
Example 3
With reference to fig. 4, an embodiment of the present invention provides a vision recognition robot, which locates the head of the robot with the vision collecting direction adjusting device, and sets a perspective cover with a certain range, and two image collectors are vertically installed on the adjusting device side by side, so as to increase the visual range collected in the vertical direction.
When the robot walks, the direction of the central point connecting line of the image collector is vertical to the walking plane of the visual recognition device, so that the collected visual range is larger in the vertical direction vertical to the walking plane.
Above only be the preferred embodiment of the present invention, not be used for limiting the utility model discloses, the all be in the utility model discloses an any modification of doing in the protection scope, equal replacement etc. all should be contained within the protection scope of the utility model.
Claims (7)
1. The utility model provides a direction adjusting device is gathered to robot vision which characterized in that: including image collector (6), connecting rod (2) and supporting seat (1), the lower extreme of connecting rod (2) passes through thrust ball bearing (13) joint support seat (1), image collector (6) are connected to the upper end of connecting rod (2), connecting rod (2) have the cavity, driving motor (8) are established to the upper end of connecting rod (2), worm (7) in connecting rod (2) cavity are located to the output shaft of driving motor (8), the outer wall of connecting rod (2) passes through lug (3) and is connected worm wheel (4) with worm (7) looks adaptation, image collector (6) are connected through mounting panel (5) in worm wheel (4).
2. The device for adjusting the visual collection direction of a robot according to claim 1, wherein: the image acquisition devices (6) are arranged at least two, and the at least two image acquisition devices (6) are arranged in the same vertical direction.
3. The device for adjusting the visual collection direction of a robot according to claim 1, wherein: and a first angle sensor (9) corresponding to the image collector (6) is arranged at the upper end of the worm wheel (4) and on the connecting rod (2).
4. The device for adjusting the visual collection direction of a robot according to claim 1, wherein: and a second angle sensor (11) corresponding to the supporting seat (1) is arranged at the upper end of the connecting rod (2) and the lower end of the worm wheel (4).
5. The device for adjusting the visual collection direction of a robot according to claim 1, wherein: the bottom fixed connection supporting seat (1) of thrust ball bearing (13), the upper end fixed connection connecting rod (2) of thrust ball bearing (13), connecting rod (2) are through thrust ball bearing (13) swivelling joint supporting seat (1).
6. The device for adjusting the visual collection direction of a robot according to claim 1, wherein: a rotating motor (12) is arranged inside the supporting seat (1), and an output shaft of the rotating motor (12) penetrates through a thrust ball bearing (13) to be connected to the lower end of the connecting rod (2).
7. The device for adjusting the visual collection direction of a robot according to claim 1, wherein: and a transparent protective cover (10) is arranged outside the image collector (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922202590.7U CN210968967U (en) | 2019-12-10 | 2019-12-10 | Robot vision acquisition direction adjusting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922202590.7U CN210968967U (en) | 2019-12-10 | 2019-12-10 | Robot vision acquisition direction adjusting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210968967U true CN210968967U (en) | 2020-07-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922202590.7U Active CN210968967U (en) | 2019-12-10 | 2019-12-10 | Robot vision acquisition direction adjusting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210968967U (en) |
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2019
- 2019-12-10 CN CN201922202590.7U patent/CN210968967U/en active Active
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