A three-axis intelligent verification device

Abstract

The present invention discloses a three-axis intelligent verification device, including a first movable axis that can move up and down, a second movable axis that is connected to the first movable axis through a first connecting piece on the first movable axis and can rotate freely, a third movable axis that is connected to the second movable axis through a second connecting piece on the second movable axis, and a verification device connected to the third movable axis. The present invention has the following beneficial effects: according to project requirements and the relevant technical parameters of the robot arm, the rotation arm span can be determined to be 350mm (including a human-computer interaction platform), the vertical height stroke is 800mm, the linear motion stroke, the fastest action time of the full stroke is 3 seconds, and it can be embedded in a 300mm wall. The power transmission uses a screw rod, and the power transmission is stable, which avoids the vibration of the robot arm due to the heavy object at the tail during the movement of the robot arm, which causes an increase in verification time and a decrease in verification accuracy.

Description

Technical Field

[0001] The invention relates to a verification device, more specifically to a verification equipment for verifying passengers during vehicle clearance. Background Art

[0002] Vehicle clearance verification is a rather cumbersome task, which requires both safety and efficiency. While increasing the number of verification methods, how to solve the problem of passengers being able to pass through customs through facial recognition without getting off the vehicle, allowing passengers to experience the convenience of customs clearance, solving the problem of false face detection, and at the same time improving the safety and comfort of verification, ensuring safety and efficiency is an urgent issue to be resolved. Summary of the invention

[0003] In view of the above technical problems, the present invention provides an intelligent three-axis verification device, and its specific technical solution is as follows.

[0004] A three-axis intelligent verification device includes a first movable axis that can move up and down, a second movable axis that is connected to the first movable axis via a first connecting piece on the first movable axis and can rotate freely, a third movable axis that is connected to the second movable axis via a second connecting piece on the second movable axis, and a verification device connected to the third movable axis.

[0005] A three-axis intelligent verification device is provided, wherein the first movable axis comprises a vertical column, a first connecting member is fixed on a slide rail of the column, and a second power device is fixed on the first connecting member.

[0006] A three-axis intelligent verification device is provided, wherein a first power device is provided at the lower part of the vertical column, and a power transmission device for transmitting the output power of the first power device to the first connecting block is provided on the vertical column.

[0007] A three-axis intelligent verification device is provided, wherein the power transmission device includes a vertical rod-shaped body, rolling wheels respectively located at the top and bottom of the vertical column, and a conveyor belt respectively passing around the two rollers at the top and bottom of the vertical column and fixed at the upper and lower ends of a first connecting member, wherein the vertical rod-shaped body is located in an arc-shaped constraint body on the first connecting member on a side away from the first power device.

[0008] A three-axis intelligent verification device is provided, wherein the output end of the second power device is connected to the second connecting member, the second connecting member is a long strip-shaped plate-like body, and a fixing hole is provided at the other end of the plate-like body.

[0009] Provided is a three-axis intelligent verification device, wherein the lower surface of the first connecting member is fixed with two downwardly directed A body is fixed on the upper surface of the second connecting member with a The needle-shaped induction member cooperates with the stepped columnar body, and the needle-shaped body can be moved from The air passes through the gap in the middle of the body.

[0010] A three-axis intelligent verification device is provided, wherein the output end of the second power device is connected to one end of the second connecting member, and the other end of the second connecting member is connected to the output end of the third power device through a rotating connecting member, and the rotating connecting member is fixedly connected through a fixing hole on the second connecting member.

[0011] Provided is a three-axis intelligent verification device, wherein two detection A needle-shaped sensing device is provided on the upper part of the rotating connecting piece. When the needle-shaped body rotates with the stepped columnar body, The air passes through the gap in the middle of the body.

[0012] A three-axis intelligent verification device is provided, wherein the output part of the third power device is connected to a rotating connection member, and the rotating connection member includes a shell fixed on the second connection member, a hollow rotating core located in the shell, and a stepped columnar body located inside the rotating core and transmitting power, and the stepped columnar body is connected to the verification device through a connecting mechanism.

[0013] A three-axis intelligent verification device is provided, wherein a plurality of connection holes are arranged at the lower part of the stepped columnar body.

[0014] A three-axis intelligent verification device is provided, wherein the fixing hole at the bottom of the stepped cylindrical body, the fixing hole on the second connecting member and the connecting hole at the top of the connecting mechanism correspond one to one.

[0015] A three-axis intelligent verification device is provided, wherein the connection mechanism is a triangular connecting body, and a through hole is provided on the side of the right-angled part of the connecting body.

[0016] A three-axis intelligent verification device is provided, wherein a clamping portion is provided in the middle of the through hole of the elliptical recessed portion and the direct portion.

[0017] A three-axis intelligent verification device is provided, wherein the clamping parts are respectively close to the perforation positions on both sides.

[0018] A three-axis intelligent verification device is provided. The verification device comprises a connecting part and a human-machine interaction part. The connecting part and the human-machine interaction part are connected by a ring-shaped connecting piece to form a spherical body. The human-machine interaction part comprises an operating platform formed by an upper and lower cutting part and a horizontal cutting part. The operating part comprises a display device, a voice interaction device, an image acquisition device, a fingerprint acquisition device, a sound playback device, a positioning device, and a fill light device. The display device is located on the surface of the upper and lower cutting parts, the image acquisition device is located on the upper part of the display device, the fill light devices are arranged on both sides of the image acquisition device, the voice interaction device is located at the bottom of both sides of the display device, the fingerprint acquisition device is located in the middle of the horizontal cutting part, and the sound playback device is located at the lower part of the verification device.

[0019] Provided is a three-axis intelligent verification device, wherein the verification device is fixed on a three-axis mechanical arm through a connector.

[0020] A three-axis intelligent verification device is provided, wherein the verification device is fixed at the lower part of the second connecting plate of the three-axis mechanical arm.

[0021] A three-axis intelligent verification device is provided, wherein a plurality of connection holes for connecting a control console and a connection part are arranged on the circumference of the annular connection piece.

[0022] A three-axis intelligent verification device is provided, wherein a plurality of positioning pins are arranged on the circumference of the annular connecting piece.

[0023] A three-axis intelligent verification device is provided, wherein a barrier protrusion is provided on the circumference of the annular connecting piece.

[0024] A three-axis intelligent verification device is provided, wherein the connection holes at the circumference of the annular connecting piece are located on the inner side wall of the circumference and on a platform protruding toward the center of the circle.

[0025] The present invention has the following beneficial effects: according to the project requirements and the relevant technical parameters of the robot arm, the rotation arm span is 350mm (including the human-machine interaction platform), the vertical height travel is 800mm of the linear motion travel, the fastest action time of the full stroke is 3 seconds, and it can be embedded in a 300mm wall. The power transmission uses a screw rod, and the power transmission is stable, which avoids the vibration of the robot arm caused by the heavy object at the tail during the movement of the robot arm, which increases the verification time and reduces the verification accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the overall structure of the mechanical arm of the technical solution of the present invention

[0027] Figure 2 This is a schematic diagram of the structure of the first moving axis of the mechanical arm of the technical solution of the present invention

[0028] Figure 3This is a schematic diagram of the second moving axis structure of the mechanical arm of the technical solution of the present invention

[0029] Figure 4 This is a schematic diagram of the third moving axis structure of the mechanical arm of the technical solution of the present invention

[0030] Figure 5 This is a schematic diagram of the stepped columnar structure of the technical solution of the present invention.

[0031] Figure 6 This is a schematic diagram of the structural decomposition of the rotating connector of the technical solution of the present invention.

[0032] Figure 7 This is a schematic diagram of the structure of the spherical verification device connector of the technical solution of the present invention

[0033] Figure 8 This is a schematic diagram of the structure of the spherical verification device of the technical solution of the present invention

[0034] Fig. 9 This is a schematic diagram of the decomposition structure of the spherical verification device of the technical solution of the present invention

[0035] Fig.10 This is a schematic diagram of the annular connector of the spherical verification device structure of the technical solution of the present invention DETAILED DESCRIPTION

[0036] Combine the following Figure 1 - Figure 8 The present invention is described in detail.

[0037] A three-axis robotic arm for customs clearance verification includes a first movable axis 100 that can move up and down, a second movable axis 200 that is connected to the first movable axis via a first connecting member 110 on the first movable axis and can rotate freely, a third movable axis 300 that is connected to the second movable axis via a second connecting member 220 on the second movable axis, and a verification device 400 connected to the third movable axis.

[0038] The first movable shaft 100 includes a vertical column 120, on which a first connecting member 110 is fixed, and a first power device 130 is located at the lower part of the vertical column 120, with the output end of the first power device 130 facing upward. A screw power transmission device is fixed to the output end of the first power device 130, and two chains are provided on both sides of the vertical column 120, one end of the chain is respectively connected to the first connecting member 110, and a connecting plate 111 is fixed to the first connecting member 110. A screw power transmission device for transmitting the output power of the first power device to the first connecting member is provided on the vertical column, and includes a vertical ball screw 141 and a rolling wheel 1421 and a rolling wheel 1422 respectively located at the upper part and the lower part of the vertical column, as well as a conveyor belt 143 that respectively passes through the rolling wheels at the top and bottom of the vertical column and is respectively fixed at the upper and lower ends of the first connecting member, and the vertical rod is located in an arc-shaped constraint 144 on the first connecting member. The connecting plate 111 moves up and down under the combined action of the vertical ball screw 141 driven by the first power device 130 and the conveyor belt 143 .

[0039] The second movable shaft 200 includes a second power device 210 and a second connecting member 220. In this embodiment, the second connecting member 220 is a plate-shaped body. The second power device is fixed to the connecting plate 111 through a fixing member 211. The motor output end of the second power device faces downward. The output end of the second power device 210 is fixedly connected to one end of the plate-shaped structure of the second connecting member. The second connecting member 220 can rotate at a certain angle under the rotation of the second power device. A sensing device is provided below the fixing member 211. The sensing device can control the rotation of the second rotating shaft within a certain range. The width of one end of the plate-shaped structure of the second connecting member 220 connected to the second power device 210 is smaller than the other end.

[0040] The third movable shaft 300 includes a third power device 310 and a third connecting member 320. A rotating connecting member 330 is fixed on the upper part of the second connecting member 220 between the third power device 310 and the third connecting member 320. The output end of the third power device 310 faces downward and is connected to the rotating connecting member 330. A third connecting member 320 is fixed at the lower part of the second connecting member 220. The third power device 310 drives the third connecting member 320 to rotate, thereby controlling the verification device on the third connecting member.

[0041] The output part of the third power device is connected to the power rotating connector 330, which includes a shell 331 fixed to the second connector, a hollow rotating core 332 located in the shell, and a stepped columnar body 333 located inside the rotating core and transmitting power. The stepped columnar body 333 is connected to the verification device through a connecting mechanism. A plurality of fixing holes 3331 are provided at the lower part of the stepped columnar body. A sensing device 334 is provided at the upper part of the rotating connector, which includes a needle 3341 fixed to the stepped columnar body and a needle 3341 located on the upper vertical side wall of the second connector. The needle-shaped body 3342 can be rotated with the stepped columnar body. The fixing hole 3331 at the bottom of the stepped columnar body corresponds to the connecting hole 325 at the top of the connecting mechanism. The connecting mechanism is a triangular connecting body, a through hole 321 is provided on the right angle side of the connecting body, an elliptical recessed portion 322 is provided on the chamfered portion of the connecting body, a clamping portion 323 is provided between the elliptical recessed portion and the through hole of the right angle portion, and the two ends of the clamping portion are close to the perforation positions on both sides.

[0042] The verification device 400 includes a connection part and a human-machine interaction part. The connection part 410 and the human-machine interaction part 420 are connected by a fourth connection member to form a spherical body.

[0043] The human-machine interaction unit 420 includes a display device 421, a voice interaction device 422, an image acquisition device 423, a fingerprint acquisition device 424, a sound playback device 425, a positioning device 426, and a fill light device. The human-machine interaction unit 420 includes an operation platform formed by an upper and lower cutting portion and a horizontal cutting portion. For the convenience of operation and the operation platform being at an angle greater than a right angle, the display device 421 is located on the plane of the upper and lower cutting portions, and the voice interaction device 422 is located on both sides of the image acquisition device. In this embodiment, there are two voice interaction devices, which are respectively located at the lower part of both sides of the display device. The image acquisition device 423 is located at the upper part of the display device. Fill light devices are provided on both sides of the image acquisition device. A rectangular recessed portion is provided in the middle of the horizontal cutting portion and is recessed in the lower part of the plane. The fingerprint acquisition device 424 is located in the recessed portion. An arc-shaped cutting surface is provided at the lower part of the sphere near the front, and the sound playback device 425 is located on the arc-shaped cutting surface. A positioning device is provided on each side of the sound playback device 425. In this embodiment, the positioning device is an ultrasonic sensor. On both sides of the sphere, a three-color ambient light guide lamp is respectively provided at the connection part of the connection part 410 and the connection part of the human-machine interaction part 420.

[0044] The verification device is fixed to the stepped columnar body 333 at the lower part of the fifth power device of the robot arm through a connector.

[0045] The fourth connecting member 430 has a plurality of connecting holes 431 for connecting the operating platform and the connecting part on the circumference of the fourth connecting member 430. The connecting holes are located on the inner side wall of the circumference and on the platform 432 protruding toward the center of the circle. The fourth connecting member has a plurality of positioning pins 433 on the circumference. The positioning pins protrude symmetrically on both sides and extend toward the connecting part and the human-machine interaction part respectively. The positioning pins can position the connecting part and the human-machine interaction part at different fixed positions. The fourth connecting member has a barrier protrusion 434 on the circumference.

[0046] The above embodiments are preferred embodiments of the present invention. The present invention is not limited to the above embodiments. For ordinary technicians in this field, any obvious changes made without departing from the technical principles of the present invention are within the concept of the present invention and the protection scope of the attached claims.

Claims

1. A three-axis intelligent verification device, characterized in that The invention comprises a first movable shaft capable of moving up and down, a second movable shaft connected to the first movable shaft through a first connecting member on the first movable shaft and capable of rotating freely, a third movable shaft connected to the second movable shaft through a second connecting member on the second movable shaft, and a verification device connected to the third movable shaft; the first movable shaft comprises a vertical column, the second movable shaft comprises a second power device and a second connecting member, and the third movable shaft comprises a third power device and a third connecting member; the first connecting member is fixed on the slide rail of the vertical column, and the second power device is fixed on the first connecting member; the first power device is arranged at the lower part of the vertical column, and a power transmission device for transmitting the output power of the first power device to the first connecting member is arranged on the vertical column; the power transmission device comprises a vertical rod-shaped body, rolling wheels respectively located at the top and bottom of the vertical column, and a conveyor belt, the conveyor belt respectively bypasses the rolling wheels at the top and bottom of the vertical column, and is respectively fixed at the upper and lower ends of the first connecting member, the vertical rod-shaped body is located in an arc-shaped constraint body on the first connecting member away from the first power device, a connecting plate is fixed on the first connecting member, and the connecting plate The up and down movement is achieved through the joint action of the vertical rod-shaped body driven by the first power device and the conveyor belt; the output end of the second power device is connected to the second connecting member, and the second connecting member is a long strip plate-shaped body; the output end of the second power device is connected to one end of the second connecting member, and the second connecting member can rotate at a certain angle under the rotation of the second power device; the other end of the second connecting member is provided with a fixing hole, and the other end of the second connecting member is connected to the output end of the third power device through a rotating connecting member, and the rotating connecting member is fixedly connected through the fixing hole on the second connecting member; a vertical fixing device is fixed on the end of the second connecting member away from the second power device, and the third power device is connected to the vertical fixing device through a fastener; the output part of the third power device is connected to the rotating connecting member, and the rotating connecting member is driven to rotate by the third power device, thereby controlling the verification device on the third connecting member; the rotating connecting member includes a shell fixed on the second connecting member, a hollow rotating core located in the shell, and a stepped columnar body located inside the rotating core and transmitting power, and the stepped columnar body is connected to the verification device through a connecting mechanism.

2. The three-axis intelligent verification device according to claim 1, characterized in that: Two detection devices are fixed on the inner side wall of the vertical fixing device. A needle-shaped sensing device is provided on the upper part of the rotating connecting member, and the needle-shaped sensing device can be The air passes through the gap in the middle of the body.

3. The three-axis intelligent verification device according to claim 2, characterized in that: A plurality of fixing holes are arranged at the bottom of the stepped columnar body.

4. The three-axis intelligent verification device according to claim 3, characterized in that: The fixing holes at the bottom of the stepped columnar body, the fixing holes on the second connecting member and the connecting holes at the top of the connecting mechanism correspond to each other one by one.

5. The three-axis intelligent verification device according to claim 4, characterized in that: The connecting mechanism is a triangular connecting body, and a through hole is provided on the side of the right-angled portion of the connecting body.

6. The three-axis intelligent verification device according to claim 5, characterized in that: The chamfered portion of the connector is provided with an elliptical recessed portion.

7. The three-axis intelligent verification device according to claim 6, characterized in that: A clamping portion is provided in the middle of the elliptical recessed portion and the through hole of the right-angle portion.

8. The three-axis intelligent verification device according to claim 7, characterized in that: The two ends of the clamping portion are respectively close to the perforation positions on both sides.

9. A three-axis intelligent verification device according to any one of claims 5 to 8, characterized in that: The verification device includes a connecting part and a human-computer interaction part, and the connecting part and the human-computer interaction part are connected by a fourth connecting piece to form a spherical body. The human-computer interaction part includes an operating platform formed by an upper and lower cutting part and a horizontal cutting part. The operating platform includes a display device, a voice interaction device, an image acquisition device, a fingerprint acquisition device, a sound playback device, a positioning device and a fill light device. The display device is located on the surface of the upper and lower cutting parts, the image acquisition device is located on the upper part of the display device, and fill light devices are provided on both sides of the image acquisition device. The voice interaction device is located at the bottom of both sides of the display device, the fingerprint acquisition device is located in the middle of the horizontal cutting part, and the sound playback device is located at the lower part of the verification device.

10. The three-axis intelligent verification device according to claim 9, characterized in that: The verification device is fixed on the three-axis mechanical arm through a connector.

11. The three-axis intelligent verification device according to claim 10, characterized in that: The verification device is fixed on the lower part of the second connecting piece of the three-axis mechanical arm.

12. The three-axis intelligent verification device according to claim 11, characterized in that: A plurality of connection holes for connecting the operating platform and the connection part are provided on the circumference of the fourth connection member.

13. The three-axis intelligent verification device according to claim 12, characterized in that: A plurality of positioning pins are provided on the circumference of the fourth connecting member.

14. The three-axis intelligent verification device according to claim 13, characterized in that: The circumference of the fourth connecting member is provided with a barrier protrusion.

15. The three-axis intelligent verification device according to claim 14, characterized in that: The connection holes at the circumference of the fourth connection member are located on the inner wall of the circumference and on a platform protruding toward the center of the circle.

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