CN217915404U

CN217915404U - Camera fixture, camera installation device and robot

Info

Publication number: CN217915404U
Application number: CN202221673074.8U
Authority: CN
Inventors: 谭黄山; 牛璐莹
Original assignee: Shenzhen Pudu Technology Co Ltd
Current assignee: Shenzhen Pudu Technology Co Ltd
Priority date: 2022-06-29
Filing date: 2022-06-29
Publication date: 2022-11-29
Anticipated expiration: 2032-06-29

Abstract

The application belongs to the technical field of machine vision shooting, and provides a camera fixture, camera installation device and robot, and camera fixture includes fixed unit, centre gripping unit and rotation regulating unit: the clamping unit is rotatably connected with the fixing unit and can rotate to a plurality of preset positions around a rotation axis relative to the fixing unit; the rotation adjusting unit is provided with at least one group and comprises an adjusting structure and a locking structure; the adjusting structure is provided with a fixing part and a sliding part, the fixing part is fixedly connected with the clamping unit, the sliding part is connected with the fixing unit in a sliding manner along an arc-shaped track, and a central axis corresponding to the arc-shaped track is superposed with the rotating axis; the locking structure is connected with the adjusting structure and can enable the clamping unit to be positioned and locked at a plurality of preset positions; the camera mounting device comprises a camera clamping mechanism; the robot includes a camera mounting device. The method and the device aim to solve the technical problem that the camera acquisition data range is limited in the prior art.

Description

Camera fixture, camera installation device and robot

Technical Field

The application belongs to the technical field of machine vision shooting, and particularly relates to a camera clamping mechanism, a camera mounting device and a robot.

Background

With the increasing maturity of digital image processing technology, scientific research workers acquire images by using industrial cameras and then analyze and process the images by using software to obtain more and more data.

RGBD (depth camera) is a common obstacle recognition device installed on a robot, and the recognition range of the depth camera represents the obstacle recognition range of the robot, that is, the range in which the lens of the depth camera can collect recognition represents the recognition range accuracy of the robot.

The depth camera among the prior art often adopts fixed mounting's mode to connect on the robot, and the wide angle of camera lens has certain scope, surpasss the unable discernment of the barrier outside the wide angle scope of camera, and then can't detect, so the barrier discernment scope of current robot has certain limitation.

SUMMERY OF THE UTILITY MODEL

An object of the application is to provide a camera fixture, camera installation device and robot, aim at solving the limited problem of camera collection data range in the prior art.

A first object of the present application is to provide a camera clamping mechanism, comprising:

a fixing unit;

the clamping unit is rotatably connected with the fixing unit and can rotate to a plurality of preset positions around a rotating axis relative to the fixing unit; and

the rotary adjusting unit is provided with at least one group and comprises an adjusting structure and a locking structure; the adjusting structure is provided with a fixing part and a sliding part, the fixing part is fixedly connected with the clamping unit, the sliding part is connected with the fixing unit in a sliding mode along an arc-shaped track, and a central axis corresponding to the arc-shaped track is overlapped with the rotating axis; the locking structure is connected with the adjusting structure and can enable the clamping unit to be positioned and locked at a plurality of preset positions.

In one embodiment, the fixing unit is provided with a sliding groove extending along the circular arc track, and the sliding part is inserted into the sliding groove and is connected with the sliding groove in a sliding manner.

In one embodiment, the fixing unit is provided with a sliding hole extending along the arc track, and the sliding part is inserted into the sliding hole and is connected with the sliding hole in a sliding manner; the locking structure is connected between the sliding part and the fixing unit.

In one embodiment, the sliding part is provided with a first thread structure, and the locking structure comprises a connecting part provided with a second thread structure and a pressing edge part connected to the connecting part; the first thread structure is in threaded connection with the second thread structure, so that the sliding portion is fixed to the connecting portion, and when the first thread structure is connected with the second thread structure, the pressing edge portion can be in press connection with the fixing unit, so that the pressing edge portion can lock and fix the sliding portion and the fixing unit.

In one embodiment, the fixing unit comprises a fixing structure and at least one first guide structure fixedly connected to the fixing structure, and the fixing structure is arranged perpendicular to the first guide structure; the fixing structure is rotationally connected with the clamping unit; the sliding part is connected with the first guide structure in a sliding mode.

In one embodiment, the fixing structure is plate-shaped, the first guiding structure is plate-shaped, and a plate surface of the fixing structure is perpendicular to a plate surface of the first guiding structure; the first guide structure is connected to an end of the fixed structure along the axis of rotation.

In one embodiment, two first guide structures are provided, and the two first guide structures are respectively connected to two ends of the fixed structure along the rotation axis; the rotation adjusting units are arranged in two groups, the two groups of rotation adjusting units are respectively located at two ends of the fixing structure along the rotation axis, and the locking structures are respectively connected between the adjusting structures and the first guide structures.

In one embodiment, the adjusting structure comprises a fixed rod and a sliding rod vertically fixed to the fixed rod, the fixed part is located at one end of the fixed rod far away from the sliding rod, and the sliding part is located at one end of the sliding rod far away from the fixed rod.

In one embodiment, the clamping unit comprises a body structure, a first clamping structure, a second clamping structure and an elastic adjusting structure, wherein the first clamping structure and the second clamping structure are oppositely arranged at intervals, so that a clamping space for accommodating the camera is defined between the first clamping structure and the second clamping structure; the first clamping structure is fixedly connected to the body structure, and the second clamping structure is slidably connected to the body structure, so that the second clamping structure can be close to or far away from the first clamping structure; the elastic adjusting structure is connected to the second clamping structure so as to drive the second clamping structure to move close to the first clamping structure through elastic force.

In one embodiment, the clamping unit further comprises a second guide structure connected between the second clamping structure and the body structure, the second clamping structure being slidably connected to the second guide structure.

In one embodiment, the clamping unit further comprises a first pad and a second pad, the first pad is connected to one side of the first clamping structure close to the second clamping structure, and the second pad is connected to one side of the second clamping structure close to the first clamping structure, so that the first pad and the second pad can be used to abut against the camera respectively.

In one embodiment, the clamping unit further comprises a handle connected to the second clamping structure; the camera clamping mechanism further comprises a connecting unit connected to the fixing unit and used for being connected with an external component.

A second objective of the present application is to provide a camera mounting device, including base, first sliding frame and as above any one camera fixture, first sliding frame connect in the base, fixed unit along first predetermined orbit sliding connection in first sliding frame, first predetermined orbit perpendicular or be on a parallel with axis of rotation.

In one embodiment, the camera clamping mechanism further comprises a second sliding frame which is slidably connected to the first sliding frame along the first preset track, the camera clamping mechanism is slidably connected to the second sliding frame along a second preset track, and the second preset track is perpendicular to the first preset track.

A third object of the present application is to provide a robot including an installation body and the camera installation device as described above installed on the installation body.

The application provides a camera fixture, camera installation device and robot are relative prior art's beneficial effect: compared with the prior art, the camera among this camera fixture is installed on the centre gripping unit, adjust the flip angle of centre gripping unit for the fixed unit through the regulating unit, and then change the flip angle of camera for the fixed unit, and then can adjust the angular position of camera lens, wherein, the angle of camera lens can include the angle of pitch or horizontal circumference's yaw angle, and then can improve the collection scope of camera lens, make the camera can be in the wide angle within range of camera lens itself, through the rotation of centre gripping unit, further increase the collection angle scope of camera, and application scope is wider.

In addition, the camera clamping mechanism, the camera mounting device and the robot provided by the application can enable the clamping unit to be locked on the fixing unit when the clamping unit rotates to a plurality of preset positions relative to the fixing unit through the locking structure, so that the camera rotation angle can be adjusted, and the use is more convenient.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application or in the description of the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a camera clamping mechanism according to an embodiment of the present disclosure;

FIG. 2 is a rear view of FIG. 1;

FIG. 3 is an exploded view of FIG. 1;

FIG. 4 is a schematic structural view of the adjustment structure of FIG. 3;

FIG. 5 is a schematic structural view of the locking structure of FIG. 3;

FIG. 6 is a schematic view of the first guide structure of FIG. 3;

fig. 7 is a schematic structural diagram of a camera mounting device according to an embodiment of the present application;

fig. 8 is a schematic structural view illustrating the connection of the base, the first sliding frame and the second sliding member in fig. 7.

Description of the reference numerals: 1. a clamping unit; 11. a body structure; 111. a guide slide hole; 12. a second clamping structure; 121. a guide post; 13. a first clamping structure; 14. an elastic adjustment structure; 15. a second guide structure; 16. a handle; 17. a first pad body; 18. a second pad body; 19. a clamping space; 2. a fixing unit; 21. a fixed structure; 22. a first guide structure; 221. a sliding hole; 222. a measurement structure; 3. a rotation adjustment unit; 31. an adjustment structure; 311. fixing the rod; 3111. a fixed part; 312. a slide bar; 3121. a sliding part; 32. a locking structure; 321. a connecting portion; 322. a pressing edge part; 4. a connection unit; 5. a rotating shaft; 6. a base; 7. a first sliding frame; 8. a second sliding frame; 9. a camera clamping mechanism.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar 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 and intended to be used for explaining the present application and should not be construed as limiting the present application.

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

Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate a number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments.

Referring to fig. 1-3, an embodiment of the present disclosure provides a camera clamping mechanism 9, which includes a fixing unit 2, a clamping unit 1, and a rotation adjusting unit 3; the clamping unit 1 is rotatably connected with the fixing unit 2 and can rotate to a plurality of preset positions around a rotating axis relative to the fixing unit 2; the rotation adjusting unit 3 is provided with at least one group, and the rotation adjusting unit 3 comprises an adjusting structure 31 and a locking structure 32; the adjusting structure 31 has a fixing portion 3111 and a sliding portion 3121, the fixing portion 3111 is fixedly connected to the clamping unit 1, the sliding portion 3121 is slidably connected to the fixing unit 2 along an arc-shaped track, and a central axis corresponding to the arc-shaped track coincides with the rotation axis; the locking structure 32 is connected to the adjusting structure 31 and is capable of positioning and locking the clamping unit 1 at a plurality of preset positions.

In particular, the fixing unit 2 can be used for connection with external components; the fixing unit 2 may be a frame structure, a block structure, or a plate structure.

The clamping unit 1 can be used for clamping a camera, the camera can be a depth camera, the clamping unit 1 can carry the camera to rotate relative to the fixing unit 2, the clamping unit 1 can continuously rotate or intermittently rotate relative to the fixing unit 2, limitation is not made here, the clamping unit 1 can rotate to a plurality of preset positions relative to the fixing unit 2, wherein the preset positions are positions where the clamping unit 1 is located when a target object can be collected by a lens of the camera after the clamping unit 1 rotates relative to the fixing unit 2, the clamping unit 1 can be understood as rotating to a preset angle relative to the fixing unit 2, included angles of the clamping unit 1 relative to the fixing unit 2 are different, the pitch angles of the lens of the camera are different or the horizontal swing angles of the lens of the camera in the left-right circumferential direction are different, and the collection range of the lens of the camera on the robot is improved. It should be noted that, when the clamping unit 1 and the fixing unit 2 are arranged vertically, the pitch angle of the camera can be adjusted by rotating the clamping unit 1; when the grip unit 1 and the fixing unit 2 are arranged left and right in the horizontal direction, the horizontal tilt angle of the camera can be adjusted by the rotation of the grip unit 1.

The rotation adjusting unit 3 is arranged between the fixing unit 2 and the clamping unit 1, and the rotation adjusting unit 3 is used for enabling the clamping unit 1 to be positioned and locked with the fixing unit 2 at a plurality of preset positions; specifically, the rotation adjusting unit 3 includes an adjusting structure 31 and a locking structure 32, the adjusting structure 31 has two adjusting connecting portions, which are a fixing portion 3111 and a sliding portion 3121, respectively, the fixing portion 3111 of the adjusting structure 31 is fixedly connected to the clamping unit 1, the sliding portion 3121 of the adjusting structure 31 is slidably connected to the fixing unit 2, and when the clamping unit 1 rotates relative to the fixing unit 2 around the rotation axis, the sliding portion 3121 reciprocates along the circular arc trajectory with the center at the line of the rotation axis 5; wherein the locking mechanism 32 is capable of locking the clamping unit 1 in a plurality of predetermined positions relative to the fixing unit 2 during rotation of the clamping unit 1.

In this embodiment, the camera is installed on clamping unit 1, through rotating adjusting unit 3 and adjusting clamping unit 1 for the flip angle (or contained angle) of fixed unit 2, and then change the flip angle of camera for fixed unit 2, and then can adjust the angular position of camera lens, wherein, the angle of camera lens can include pitch angle or horizontal circumference direction yaw angle, and then can improve the collection scope of camera lens, make the camera can be in the wide angle range of camera lens itself, through clamping unit 1's rotation, further increase the collection angle scope of camera, application scope is wider.

In addition, by arranging the locking structure 32, when the clamping unit 1 rotates to a plurality of preset positions relative to the fixing unit 2, the clamping unit 1 can be locked on the fixing unit 2, so that the rotation (turning or swinging) angle of the camera can be adjusted, and the use is more convenient.

In one embodiment, the fixing unit 2 is provided with a sliding slot extending along the circular arc track, and the sliding portion 3121 is inserted into the sliding slot and is slidably connected with the sliding slot; wherein, the spout can be blind groove or logical groove.

When the sliding groove is a through groove, the sliding groove forms a sliding hole 221, that is, the fixing unit 2 is provided with the sliding hole 221 extending along the arc-shaped track, and the sliding portion 3121 is inserted into the sliding hole 221 and is slidably connected with the sliding hole 221; the locking structure 32 is connected between the sliding portion 3121 and the fixing unit 2.

In one embodiment, the sliding portion 3121 extends to the outside of the sliding hole 221, the sliding portion 3121 is provided with a first thread structure, the locking structure 32 includes a connecting portion 321 provided with a second thread structure and a pressing edge portion 322 connected to the connecting portion 321; the first and second screw structures are screw-coupled such that the sliding portion 3121 is fixed with the connecting portion 321, and when the first and second screw structures are coupled, the pressing edge portion 322 can be press-coupled to the fixing unit 2 such that the pressing edge portion 322 can lock and fix the sliding portion 3121 with the fixing unit 2.

Specifically, referring to fig. 5, the locking structure 32 includes a locking nut, the second thread structure is an internal thread provided in a threaded hole of the locking nut, correspondingly, the first thread structure is an external thread, an outward extension of the threaded hole of the locking nut forms a pressing edge portion 322, an end surface of the locking nut is a pressing surface of the pressing edge portion 322, and the end surface of the locking nut can abut against a surface of the fixing unit 2, so that the locking nut locks and fixes the sliding portion 3121 and the fixing unit 2.

The camera clamping mechanism 9 is used as follows: firstly, the camera is clamped on the clamping unit 1, and the locking structure 32 locks and positions the clamping unit 1 at a preset position relative to the fixing unit 2, that is, the sliding portion 3121 is fixed on the fixing unit 2 by the locking structure 32 and cannot move; when the robot needs to acquire data outside the wide-angle range of the camera lens in the walking process, the clamping unit 1 can rotate relative to the fixing unit 2 by adjusting the connection relation between the locking structure 32 and the clamping unit 1 and the fixing unit 2, that is, the sliding portion 3121 of the adjusting structure 31 can slide along the arc-shaped track relative to the fixing unit 2, the clamping unit 1 is rotated to a proper preset position according to the position of a target, the sliding portion 3121 slides to a corresponding position along the arc-shaped track at the moment, after the adjustment is completed, the sliding portion 3121 and the fixing unit 2 are locked and fixed by the locking structure 32, the clamping unit 1 and the camera are fixed relative to the fixing unit 2 at the moment, and the camera can stably perform obstacle identification, detection and other work at the preset position.

In one embodiment, referring to fig. 6, the open side of the sliding hole 221 is further provided with a measuring structure 222, and the measuring structure 222 is a measuring scale extending along the hole extending direction of the sliding hole 221, that is, the measuring scale extends along a circular arc track and is provided on the hole end face of the sliding hole 221.

In the present embodiment, the measuring structure 222 can be used to measure and obtain the moving distance of the sliding portion 3121 in the sliding hole 221, so as to realize the precise adjustment of the flip angle of the clamping unit 1 relative to the fixing unit 2.

In one embodiment, referring to fig. 1-3 and 6, the fixing unit 2 includes a fixing structure 21 and at least one first guiding structure 22 fixedly connected to the fixing structure 21, the fixing structure 21 being disposed perpendicular to the first guiding structure 22; the fixed structure 21 is rotationally connected with the clamping unit 1; the sliding portion 3121 is slidably connected to the first guide structure 22.

Specifically, referring to fig. 6, the fixing structure 21 is plate-shaped, the first guide structure 22 is plate-shaped, a plate surface of the fixing structure 21 is perpendicular to a plate surface of the first guide structure 22, and the fixing structure 21 and the first guide structure 22 are fixedly connected through a bolt assembly; the sliding hole 221 is formed in the first guide structure 22; the fixed structure 21 is rotatably connected with the clamping unit 1 through a rotating shaft 5, and a central axis of the rotating shaft 5 is a rotating axis.

In the embodiment, the fixing structure 21 and the first guide structure 22 are detachably connected in a split manner, which is beneficial to facilitating the installation and the disassembly of the fixing unit 2 and providing the efficiency of installation and maintenance; the first guiding structure 22 is a wearing part, so that the split detachable mode is adopted, which is beneficial to reducing the production cost.

In one embodiment, the first guiding structure 22 is provided with one, the first guiding structure 22 is connected to one end of the fixed structure 21 along the rotation axis; the rotation adjusting units 3 are provided in a group, and the rotation adjusting units 3 are correspondingly positioned at one end of the fixing structure 21 along the rotation axis and connected between the adjusting structure 31 and the first guiding structure 22.

In one embodiment, referring to fig. 1-3, there are two first guiding structures 22, two first guiding structures 22 are respectively connected to two ends of the fixed structure 21 along the rotation axis or the rotation axis 5, and the two first guiding structures 22 are symmetrically arranged at two ends of the rotation axis 5; the rotation adjusting units 3 are provided in two sets, the two sets of rotation adjusting units 3 are respectively located at two ends of the fixed structure 21 along the rotation axis, and each locking structure 32 is respectively connected between each adjusting structure 31 and each first guiding structure 22.

In this embodiment, by providing two first guiding structures 22 and two sets of rotation adjusting units 3, and symmetrically disposed at two ends of the fixing structure 21 and the rotating shaft 5, the connection between the clamping unit 1 and the fixing structure 21 is firmer and more reliable, the stress is more uniform, and the stress concentration is reduced.

In one embodiment, referring to fig. 3 and 4, the adjusting structure 31 includes a fixing rod 311 and a sliding rod 312 perpendicularly fixed to the fixing rod 311, the fixing portion 3111 is located at an end of the fixing rod 311 far from the sliding rod 312, and the sliding portion 3121 is located at an end of the sliding rod 312 far from the fixing rod 311.

Specifically, the fixing rod 311 may have a rod shape or a plate shape, and the fixing portion 3111 of the fixing rod 311 is fixed to the fixing structure 21 by a bolt assembly; the sliding rod 312 is rod-shaped or cylindrical, the sliding portion 3121 is located at the end of the sliding rod 312, and the end surface of the sliding portion 3121 is provided with external threads; the fixing rod 311 and the sliding rod 312 are perpendicular to each other to form an "L" shape.

In one embodiment, referring to fig. 1 to 3, the clamping unit 1 includes a body structure 11, a first clamping structure 13, a second clamping structure 12, and an elastic adjustment structure 14, wherein the first clamping structure 13 and the second clamping structure 12 are disposed at an interval, so that a clamping space 19 for accommodating a camera is defined between the first clamping structure 13 and the second clamping structure 12; the first clamping structure 13 is fixedly connected to the body structure 11, and the second clamping structure 12 is slidably connected to the body structure 11, so that the second clamping structure 12 can be close to or far away from the first clamping structure 13; the elastic adjustment structure 14 is connected between the second clamping structure 12 and the first clamping structure 13 to drive the second clamping structure 12 to move close to the first clamping structure 13 by elastic force.

Specifically, the body structure 11 is plate-shaped, the first clamping structure 13 and the second clamping structure 12 are also plate-shaped and are oppositely arranged at intervals, the first clamping structure 13 and the second clamping structure 12 are both perpendicular to the body structure 11, and the camera can be clamped between the first clamping structure 13 and the second clamping structure 12; the second clamping structure 12 can slide on the body structure 11 under the driving of the elastic adjusting structure 14, and when the second clamping structure 12 moves close to the first clamping structure 13 under the elastic force of the elastic adjusting structure 14, the camera can be clamped between the first clamping structure 13 and the second clamping structure 12; when the second clamp structure 12 is moved away from the first clamp structure 13 by an external force, the camera can be taken out of the clamp space 19.

Body structure 11 has been seted up direction slide opening 111 with the position that second clamping structure 12 is connected, and direction slide opening 111 is rectangular shape hole, and the position that second clamping structure 12 is connected with body structure 11 is connected with guide post 121, and guide post 121 pegs graft in direction slide opening 111 to slide in direction slide opening 111, so that second clamping structure 12 can be followed direction slide opening 111 and removed for body structure 11.

The elastic adjusting structure 14 includes a spring member, and two ends of the spring member are respectively connected with the second clamping structure 12 and the body structure 11. Specifically, the spring element is a coil spring, and one end of the coil spring is connected to the end of the guide post. The number of the spring members is two, correspondingly, the number of the guide columns 121 is two, the two guide columns 121 are oppositely arranged at intervals, and each spiral spring is connected with each guide column 121.

In one embodiment, referring to fig. 1-3, the clamping unit 1 further comprises a second guide structure 15 connected between the second clamping structure 12 and the body structure 11, the second clamping structure 12 being slidably connected to the second guide structure 15.

Specifically, the second guiding structure 15 includes a guiding rod connected to the main body structure 11, and the second clamping structure 12 is slidably connected to the guiding rod, and the guiding rod is fixedly connected to the main body structure 11 through a pressing block and a bolt assembly.

In one embodiment, referring to fig. 1 and 3, the clamping unit 1 further comprises a first pad 17 and a second pad 18, the first pad 17 being connected to a side of the first clamping structure 13 close to the second clamping structure 12, the second pad 18 being connected to a side of the second clamping structure 12 close to the first clamping structure 13, such that the first pad 17 and the second pad 18 can be used to abut against the camera, respectively.

In the present embodiment, the first pad 17 and the second pad 18 are respectively located at the opposite sides of the first clamping structure 13 and the second clamping structure 12, and the first pad 17 and the second pad 18 can be made of elastic or flexible materials for directly contacting with the camera, so as to protect the camera.

In one embodiment, referring to fig. 1 and 3, the clamping unit 1 further includes a handle 16 connected to the second clamping structure 12, the handle 16 is connected to a side of the second clamping structure 12 away from the first clamping structure 13, the handle 16 is used for facilitating application of an external force, and the external force is directly applied to the handle 16 when the camera is mounted or dismounted, so as to protect the second clamping structure 12.

In one embodiment, referring to fig. 2, the camera holding mechanism 9 further includes a connection unit 4, and the connection unit 4 is connected to the fixing unit 2 and is used to connect with an external component, which may be referred to as a first sliding frame 7 described below.

Specifically, the connection unit 4 includes a plurality of connectors arranged at intervals, and the connectors are in a columnar shape and are used for being connected with an external component. Referring to fig. 2, four connectors are provided, and the four connectors are vertically connected to the fixing unit 2 and are respectively located at four right angles of the rectangle.

Referring to fig. 7 and 8, the camera mounting device includes a base 6, a first sliding frame 7 and a camera clamping mechanism 9 provided in the above embodiment, the first sliding frame 7 is connected to the base 6, the fixing unit 2 is connected to the first sliding frame 7 along a first preset track, and the first preset track is perpendicular to or parallel to the rotation axis.

Specifically, the base 6 is plate-shaped, the first sliding frame 7 extends linearly, the first sliding frame 7 is plate-shaped or rod-shaped, the first sliding frame 7 is perpendicular to the base 6 and is fixed to the base 6 through an angle code and a screw, a first guide rail is arranged on the first sliding frame 7 and is fixed to the first sliding frame 7 through a screw, the first guide rail is arranged along the extending direction of the first sliding frame 7 and is connected with a first slider in a sliding manner, and the connecting unit 4 of the camera clamping mechanism 9 is connected to the first slider, so that the first slider drives the camera clamping mechanism 9 to move back and forth on the first guide rail and the first sliding frame 7.

In one embodiment, referring to fig. 7 and 8, the camera mounting apparatus further includes a second sliding frame 8 slidably connected to the first sliding frame 7 along a first predetermined track, and the camera holding mechanism 9 slidably connected to the second sliding frame 8 along a second predetermined track perpendicular to the first predetermined track.

In the present embodiment, the camera holding mechanism 9 is connected to the first sliding frame 7 through the second sliding frame 8, specifically, the second sliding frame 8 is connected to the first slider, so that the second sliding frame 8 as a whole can slide on the first sliding frame 7; the second sliding frame 8 is linearly extended, the first sliding frame 7 is plate-shaped or rod-shaped, the extending direction of the first sliding frame 7 is perpendicular to the extending direction of the first sliding frame 7, the second sliding frame 8 is connected to a second guide rail, the second guide rail is arranged along the extending direction of the second sliding frame 8, a second sliding block is connected to the second guide rail in a sliding manner, and the connecting unit 4 of the camera clamping mechanism 9 is connected to the second sliding block, so that the second sliding block drives the camera clamping mechanism 9 to reciprocate on the second guide rail and the second sliding frame 8.

The camera mounting device can realize position change in the horizontal direction and the vertical direction, so that the camera can carry out acquisition and detection work in different positions, and the acquisition range of the camera is enlarged.

The embodiment of the application further provides a robot, which comprises an installation body and the camera installation device which is installed on the installation body and provided by the embodiment.

In this embodiment, the robot is often used for the discernment of barrier, demarcation test etc. wherein to the demand of factory prenatal calibration test, this robot can adapt the quick demarcation frock of multiple depth camera, can realize the demand that detects under different pitch angles, the horizontal circumference angle condition.

The foregoing is considered as illustrative only of the preferred embodiments of the invention and is presented only in the detailed description of the principles of the invention. Any modifications, equivalents, and improvements made within the spirit and principles of the present application and other embodiments of the present application that one skilled in the art may recognize without inventive faculty are intended to be included within the scope of the present application.

Claims

1. Camera fixture, its characterized in that includes:

a fixing unit;

2. The camera clamping mechanism of claim 1, wherein the fixing unit is provided with a sliding slot extending along the circular arc track, and the sliding part is inserted into the sliding slot and is connected with the sliding slot in a sliding manner; and/or

The fixed unit is provided with a sliding hole extending along the arc-shaped track, and the sliding part is inserted into the sliding hole and is in sliding connection with the sliding hole; the locking structure is connected between the sliding part and the fixing unit.

3. The camera fixture of claim 2, wherein the sliding portion is provided with a first thread structure, and the locking structure comprises a connecting portion provided with a second thread structure and a pressing edge portion connected to the connecting portion; the first thread structure is in threaded connection with the second thread structure, so that the sliding portion is fixed to the connecting portion, and when the first thread structure is connected with the second thread structure, the pressing edge portion can be in press connection with the fixing unit, so that the pressing edge portion can lock and fix the sliding portion and the fixing unit.

4. The camera fixture of any of claims 1-3, wherein the fixture unit includes a fixture structure and at least one first guide structure fixedly attached to the fixture structure, the fixture structure being disposed perpendicular to the first guide structure; the fixing structure is rotationally connected with the clamping unit; the sliding part is connected with the first guide structure in a sliding mode.

5. The camera clamping mechanism of claim 4, wherein the fixed structure is plate-shaped, the first guiding structure is plate-shaped, and a plate surface of the fixed structure is perpendicular to a plate surface of the first guiding structure; the first guide structure is connected to an end of the fixed structure along the axis of rotation.

6. The camera fixture of claim 5, wherein there are two first guide structures, and the two first guide structures are respectively connected to two ends of the fixed structure along the rotation axis; the rotation adjusting units are arranged in two groups, the two groups of rotation adjusting units are respectively located at two ends of the fixed structure along the rotation axis, and the locking structures are respectively connected between the adjusting structures and the first guide structures.

7. The camera gripping mechanism of any one of claims 1-3, wherein the adjustment structure includes a fixed bar and a sliding bar perpendicularly fixed to the fixed bar, the fixed portion being located at an end of the fixed bar remote from the sliding bar, and the sliding portion being located at an end of the sliding bar remote from the fixed bar.

8. The camera clamping mechanism as in any one of claims 1 to 3, wherein the clamping unit comprises a body structure, a first clamping structure, a second clamping structure and an elastic adjustment structure, the first clamping structure and the second clamping structure are spaced apart from each other, so that a clamping space for accommodating the camera is defined between the first clamping structure and the second clamping structure; the first clamping structure is fixedly connected to the body structure, and the second clamping structure is connected to the body structure in a sliding manner; the elastic adjusting structure is connected to the second clamping structure so as to drive the second clamping structure to move close to the first clamping structure through elastic force.

9. The camera gripping mechanism of claim 8, wherein the gripping unit further comprises a second guide structure connected between the second gripping structure and the body structure, the second gripping structure being slidably connected to the second guide structure.

10. The camera clamping mechanism of claim 9 wherein the clamping unit further comprises a first pad connected to a side of the first clamping structure proximate the second clamping structure and a second pad connected to a side of the second clamping structure proximate the first clamping structure such that the first pad and the second pad are available for abutting the camera, respectively; and/or

The clamping unit further comprises a handle connected to the second clamping structure; the camera clamping mechanism further comprises a connecting unit connected to the fixing unit and used for being connected with an external component.

11. The camera mounting apparatus, comprising a base, a first sliding frame, and the camera clamping mechanism of any one of claims 1 to 10, wherein the first sliding frame is connected to the base, the fixing unit is slidably connected to the first sliding frame along a first predetermined track, and the first predetermined track is perpendicular or parallel to the rotation axis.

12. The camera mounting apparatus of claim 11, further comprising a second sliding frame slidably coupled to the first sliding frame along the first predetermined path, the camera gripping mechanism slidably coupled to the second sliding frame along a second predetermined path, the second predetermined path perpendicular to the first predetermined path.

13. A robot comprising a mounting body and the camera mounting device of claim 11 or 12 mounted to the mounting body.