阅读说明：本技术 一种机械臂使用的多功能拍照装置 (Multifunctional photographing device for mechanical arm ) 是由 彭彬 于 2021-03-30 设计创作，主要内容包括：本发明提供了一种机械臂使用的多功能拍照装置,包括保护壳体、面阵拍照组件、深度信息图片拍照组件、防碰撞保护组件和线性模组；面阵拍照组件和深度信息图片拍照组件均设置在保护壳体内,线性模组安装在保护壳体的外部,线性模组连接保护壳体和机械臂,防碰撞保护组件、机械臂和线性模组分别与控制器连接,面阵拍照组件进行面阵图片拍摄,深度信息图片拍照组件拍摄具有深度信息图片,线性模组带动保护壳体做直线运动配合深度信息图片拍照组件的工作,防碰撞保护组件检测保护壳体周围环境,并根据周围环境反馈信息通过控制器控制机械臂停止运作。本发明进行面阵相机拍照及进行深度信息图片拍照,并且还具有防止相机与列车相碰撞的功能。(The invention provides a multifunctional photographing device for a mechanical arm, which comprises a protective shell, an area array photographing assembly, a depth information picture photographing assembly, an anti-collision protective assembly and a linear module, wherein the area array photographing assembly is arranged on the protective shell; the area array photographing assembly and the depth information picture photographing assembly are arranged in the protective shell, the linear module is installed outside the protective shell, the linear module is connected with the protective shell and the mechanical arm, the anti-collision protective assembly, the mechanical arm and the linear module are respectively connected with the controller, the area array photographing assembly carries out area array picture photographing, the depth information picture photographing assembly shoots a depth information picture, the linear module drives the protective shell to do linear motion and match with the depth information picture photographing assembly, the anti-collision protective assembly detects the surrounding environment of the protective shell, and the mechanical arm is controlled to stop operating through the controller according to surrounding environment feedback information. The invention takes pictures by the area-array camera and depth information pictures and also has the function of preventing the camera from colliding with the train.)

1. The utility model provides a multi-functional device of shooing that arm used which characterized in that: the anti-collision device comprises a protective shell (1), an area array photographing component (2), a depth information picture photographing component (3), an anti-collision protective component (4) and a linear module (5); the area array photographing assembly (2) and the depth information picture photographing assembly (3) are arranged in the protective shell (1), the anti-collision protective assembly (4) comprises a plurality of laser radar sensors (41), the linear module (5) is installed outside the protective shell (1), the linear module (5) is connected with the protective shell (1) and the mechanical arm, the anti-collision protective assembly (4), the mechanical arm and the linear module (5) are respectively connected with the controller, the area array photographing assembly (2) is used for photographing an area array picture, the depth information picture photographing assembly (3) is used for photographing a picture with depth information, the linear module (5) drives the protective shell (1) to do linear motion to match with the operation of the depth information picture photographing assembly (3), and the plurality of laser radar sensors (41) detect the surrounding environment of the protective shell (1), and controlling the mechanical arm to stop operating through the controller according to the ambient environment feedback information.

2. The multifunctional photographing device for the mechanical arm according to claim 1, wherein: protection casing (1) is including shell body (11) and protecgulum (12), protecgulum (12) fixed connection is in the front side of shell body (11), be equipped with the window that cooperation area array took a picture subassembly (2) and degree of depth information picture and took a picture subassembly (3) work on protecgulum (12).

3. The multifunctional photographing device for the mechanical arm according to claim 2, wherein: the area array photographing component (2) and the depth information picture photographing component (3) are arranged in an L shape in the protective shell (1).

4. The multifunctional photographing device for the mechanical arm according to claim 3, wherein: area array subassembly (2) of shooing includes area array camera (21), area array light source (22) and area array camera mounting bracket (23), install on the shell body (11) of protection casing (1) through area array camera mounting bracket (23) area array camera (21) and area array light source (22), vertically arrange between area array camera (21) and area array light source (22), just area array light source (22) set up the top at area array camera (21).

5. The multifunctional photographing device for the mechanical arm according to claim 3, wherein: the depth information picture photographing assembly (3) comprises a 3D camera (31), a 3D camera light source (32) and a 3D camera mounting frame (33), the 3D camera (31) and the 3D camera light source (32) are mounted on a shell body (11) of the protection shell body (1) through the 3D camera mounting frame (33), and the 3D camera (31) and the 3D camera light source (32) are horizontally arranged.

6. The multifunctional photographing device for the mechanical arm according to claim 5, wherein: anticollision protection subassembly (4) include two laser radar sensor (41), and two laser radar sensor (41) are 90 degrees contained angles in the space and arrange, anticollision protection subassembly (4) still includes two sensor mounting bracket (42), and two sensor mounting bracket (42) are all fixed in protection casing (1), and install on every sensor mounting bracket (42) one laser radar sensor (41).

7. The multifunctional photographing device for the mechanical arm according to claim 6, wherein: one of the laser radar sensors is arranged towards the front of the multifunctional photographing device, and the other laser radar sensor is arranged towards the upper part of the multifunctional photographing device.

8. The multifunctional photographing device for the robot arm according to claim 6 or 7, wherein: one of the lidar sensors is arranged above the 3D camera (31), and the other lidar sensor is arranged above the 3D camera light source (32).

9. The multifunctional photographing device for the mechanical arm according to claim 2, wherein: slide (51) and shell body (11) fixed connection of linear module (5), install mount pad (6) on base (52) of linear module (5), mount pad (6) are connected with the arm.

10. The multifunctional photographing apparatus for a robot arm according to claim 1, 2, 3, 4, 5, 6, 7 or 9, wherein: the linear module (5) is a ball screw type linear module.

Technical Field

The invention belongs to the technical field of photographing devices, and particularly relates to a multifunctional photographing device used for a mechanical arm.

Background

In the detection equipment for the bottom garage of the motor train unit, cameras are needed to photograph parts such as a bogie at the bottom of the motor train unit, a bottom plate and the like, the cameras are needed to be installed on mechanical arms to photograph parts at special positions, and the mechanical arms are needed to be installed on a travelling mechanism to take the mechanical arms to move due to the fact that the train is long, so that photographing of the whole train is completed. But the train bottom shape is complicated, and the pipeline is more, and the arm is shot, and the action receives program control, if running gear location is inaccurate, the arm can collide with the part on the train to cause unpredictable consequence. Traditional arm all has anticollision sensor, but this kind of sensor is force sensor mostly, and only after the arm bumps, the sensor just can have the signal to inform the arm and stop, but the collision has taken place this moment, probably caused the damage of arm, camera, or train. If the end of the mechanical arm uses a scanning imaging mode, the photographing device needs to move in space and is easy to collide with a train, so that a multifunctional photographing device used by the mechanical arm needs to be designed to solve the problems.

Disclosure of Invention

In view of this, the present invention is directed to a multifunctional photographing apparatus for a robot arm, which solves the safety problem when photographing a train, and the apparatus can photograph an area-array camera, can photograph a depth information picture, and has a function of preventing a camera from colliding with a train.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

a multifunctional photographing device for a mechanical arm comprises a protective shell, an area array photographing assembly, a depth information picture photographing assembly, an anti-collision protective assembly and a linear module; the area array shooting assembly and the depth information picture shooting assembly are all arranged in the protection shell, the anti-collision protection assembly comprises a plurality of laser radar sensors, the linear module is installed outside the protection shell, the linear module is connected with the protection shell and the mechanical arm, the anti-collision protection assembly, the mechanical arm and the linear module are respectively connected with the controller, the area array shooting assembly is used for shooting an area array picture, the depth information picture shooting assembly is used for shooting a depth information picture, the linear module drives the protection shell to do the work of the linear motion matched depth information picture shooting assembly, the plurality of laser radar sensors detect the surrounding environment of the protection shell, and the mechanical arm is controlled to stop operating through the controller according to the surrounding environment feedback information.

Further, the protection casing includes shell body and protecgulum, protecgulum fixed connection is in the front side of shell body, be equipped with the cooperation area array subassembly of shooing and the window of the subassembly work of shooing of degree of depth information picture on the protecgulum.

Furthermore, the area array photographing component and the depth information picture photographing component are arranged in an L shape in the protection shell.

Further, the area array subassembly of shooing includes area array camera, area array light source and area array camera mounting bracket, area array camera and area array light source pass through area array camera mounting bracket and install on the shell body of protection casing, vertically arrange between area array camera and the area array light source, just the area array light source sets up the top at area array camera.

Further, the depth information picture subassembly of shooing includes 3D camera, 3D camera light source and 3D camera mounting bracket, 3D camera and 3D camera light source pass through the 3D camera mounting bracket and install on the shell body of protection casing, 3D camera and 3D camera light source level are arranged.

Furthermore, anticollision protection subassembly includes two laser radar sensors, and two laser radar sensors are 90 degrees contained angles in the space and arrange, anticollision protection subassembly still includes two sensor mounting brackets, and two sensor mounting brackets are all fixed in the protective housing, and install a laser radar sensor on every sensor mounting bracket.

Furthermore, one of the laser radar sensors is arranged towards the front of the multifunctional photographing device, and the other laser radar sensor is arranged towards the upper part of the multifunctional photographing device.

Further, one of the laser radar sensors is arranged above the 3D camera, and the other laser radar sensor is arranged above the light source of the 3D camera.

Further, the slide and the shell body fixed connection of linear module install the mount pad on the base of linear module, the mount pad is connected with the arm.

Further, the linear module is a ball screw type linear module.

Compared with the prior art, the multifunctional photographing device used by the mechanical arm has the following advantages:

1. the device can be used for shooting by an area array camera and also shooting depth information pictures, and the additional plane scans the laser radar sensors on the premise of meeting the load of the mechanical arm, and the placement of the specific positions of the two laser radar sensors ensures the space scanning in front of the movement of the mechanical arm, thereby realizing the active prevention function of equipment.

2. This application selects for use linear module area protection casing to remove the mode that cooperation degree of depth information picture photographed component work to replace the arm to drive the protection casing and carry out the mode that translation cooperation degree of depth information picture photographed component work, so sets up, and linear module area protection casing is meticulous, the small scale removes, is difficult for causing with the train to interfere, has solved when shooing because the arm translation leads to the fact the problem of interference easily with the train.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a side view of a multifunctional photographing apparatus used in a robot according to an embodiment of the present invention;

fig. 2 is a top view of a multifunctional photographing apparatus used in a robot according to an embodiment of the present invention;

fig. 3 is a front view of a multifunctional photographing apparatus used in a robot according to an embodiment of the present invention;

fig. 4 is a schematic perspective view of a multifunctional photographing device used in a robot according to an embodiment of the present invention;

FIG. 5 is a side view of the internal structure of the protective housing;

FIG. 6 is a top view of the internal structure of the protective housing;

FIG. 7 is a rear view of the protective housing;

fig. 8 is a perspective view of the internal structure of the protective housing.

Description of reference numerals:

the system comprises a protective shell, a shell body 11, a front cover 12, a 2-area array photographing component, an area array camera 21, an area array light source 22, an area array camera mounting rack 23, a 3-depth information picture photographing component 31-3D camera 32-3D camera light source 33-3D camera mounting rack, a 4-anti-collision protective component 41-laser radar sensor 42-sensor mounting rack, a 5-linear module 51-sliding seat, a 52-base seat and a 6-mounting seat.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1 to 8, a multifunctional photographing device for a robot arm includes a protective housing 1, an area array photographing component 2, a depth information picture photographing component 3, an anti-collision protective component 4, and a linear module 5; the area array photographing component 2 and the depth information picture photographing component 3 are both arranged in the protective shell 1, the anti-collision protection assembly 4 includes a plurality of lidar sensors 41, (where a plurality means no less than 2), the linear module 5 is arranged outside the protective shell 1, the linear module 5 is connected with the protective shell 1 and the mechanical arm, the anti-collision protection component 4, the mechanical arm and the linear module 5 are respectively connected with the controller, the area array photographing component 2 is used for photographing an area array picture, the depth information picture photographing component 3 is used for photographing a picture with depth information, the linear module 5 drives the protective shell 1 to do linear motion and cooperate with the depth information picture photographing component 3 to work, the plurality of laser radar sensors 41 detect the surrounding environment of the protective shell 1, and controls the robot arm to stop operating according to the surrounding environment feedback information through a controller (not shown).

Protection casing 1 includes shell body 11 and protecgulum 12, protecgulum 12 fixed connection is in the front side of shell body 11, be equipped with the cooperation area array on the protecgulum 12 and shoot the window that subassembly 2 and the 3 work of degree of depth information picture shoot the subassembly.

The area array photographing component 2 and the depth information picture photographing component 3 are arranged in an L shape in the protective shell 1. The area array shooting component 2 comprises an area array camera 21, an area array light source 22 and an area array camera mounting frame 23, the area array camera 21 and the area array light source 22 are installed on the shell body 11 of the protection shell body 1 through the area array camera mounting frame 23, the area array camera 21 and the area array light source 22 are vertically arranged, and the area array light source 22 is arranged above the area array camera 21. The depth information picture photographing assembly 3 comprises a 3D camera 31, a 3D camera light source 32 and a 3D camera mounting frame 33, the 3D camera 31 and the 3D camera light source 32 are mounted on the shell body 11 of the protection shell body 1 through the 3D camera mounting frame 33, and the 3D camera 31 and the 3D camera light source 32 are horizontally arranged. The area array photographing component 2 and the depth information picture photographing component 3 are arranged in such a way, the space is fully utilized, the size and the weight of the whole photographing device are greatly reduced, the mechanical arm is convenient to drive and move, and the normal work of the two photographing components is not influenced.

Anticollision protection subassembly 4 includes two laser radar sensors 41, and two laser radar sensors 41 are 90 degrees contained angles in the space and arrange, anticollision protection subassembly 4 still includes two sensor mounting brackets 42, and two sensor mounting brackets 42 are all fixed in protection casing 1, and install a laser radar sensor 41 on every sensor mounting bracket 42. Two laser radar sensors pass through the sensor mounting bracket installation fixed, and the fastness is good. By arranging two laser radar sensors, the detection of a large-range space is completed by using the least number of the sensors.

One of the laser radar sensors is arranged towards the front of the multifunctional photographing device, and the other laser radar sensor is arranged towards the upper part of the multifunctional photographing device. So arrange, can have the obstacle in the certain extent space of four directions in top, left side, right side and the place ahead of the device of shooing, the coverage is wide, no dead angle, and anticollision effect is good.

One of the lidar sensors is disposed above the 3D camera 31 and the other lidar sensor is disposed above the 3D camera light source 32. The layout is matched with the layout of the area array photographing component 2 and the depth information picture photographing component 3, and the size and the weight of the whole photographing device are further reduced.

The slide seat 51 of the linear module 5 is fixedly connected with the shell body 11, the mounting seat 6 is mounted on the base 52 of the linear module 5, and the mounting seat 6 is connected with the mechanical arm. The linear module 5 is a ball screw type linear module. The sliding base 51 drives the shell body 11 to move in the moving process, so that the depth information picture photographing assembly 3 works in a matching mode.

The working principle of the anti-collision protection assembly 4 is as follows: the two laser radar sensors 41 are arranged at 90 degrees, each laser radar sensor 41 can detect whether other objects exist in a sector area of 180 degrees, and the set detection area is a space of 100mm to 200mm outside the photographing device, so that whether obstacles exist in the four directions of the upper side, the left side, the right side and the front side can be detected in the space, and the rear side and the lower side are the movement starting directions of the mechanical arm, so that no obstacle exists; when the laser radar sensor 41 detects an obstacle, a signal is sent to the control end of the mechanical arm, so that the mechanical arm stops working, and collision is avoided.

When the multifunctional photographing device works, the mechanical arm drives the multifunctional photographing device to move at the bottom of the train, the area array picture is photographed after the multifunctional photographing device stops at a specified position, and after the area array picture is photographed, the linear module 5 moves to move relative to a measured object to photograph a depth picture. If the mechanical arm does not stop at the designated position, the laser radar sensor 41 sends a signal if an obstacle appears around the protective shell 1 during photographing, and the controller stops the mechanical arm to avoid collision. In the action process of the linear module 5, if the line is drawn out of the obstacles around the protective shell 1, the laser radar sensor 41 is also triggered, and the controller stops the action of the linear module 5.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.