Mechanical arm ultrasonic scanning system based on surface reconstruction

Abstract

The invention belongs to the technical field of ultrasonic detection, and particularly relates to a mechanical arm ultrasonic scanning system based on surface reconstruction, which comprises a workbench and a mechanical arm, the mechanical arm comprises a first arm section, a second arm section and a third arm section, a group of mounting grooves are formed in the second arm section, rotating shafts are arranged in the mounting grooves, and the first arm section and the third arm section are connected with the second arm section through the rotating shafts; when the mechanical arm works, a rotating shaft drives the multiple arm sections to rotate, when the rotating shaft needs to be lubricated, lubricating oil can be injected into a storage groove from a connecting pipe, then the lubricating oil enters an annular groove from a connecting groove and finally flows into a mounting groove from a first through hole, and at the moment, the arm sections can rotate, so that the rotating shaft rotates; lubricating oil flowing into the mounting groove can better lubricate the rotating shaft, and the rotating shaft can be conveniently and more uniformly lubricated through the mechanism.

Description

Technical Field

[0001] The invention belongs to the technical field of ultrasonic detection, in particular to a mechanical arm ultrasonic scanning system based on surface reconstruction. Background Art

[0002] The robotic arm ultrasonic scanning system based on surface reconstruction is an intelligent system that combines a robotic arm, ultrasonic imaging technology and surface reconstruction algorithms, aiming to improve the automation and accuracy of the ultrasonic scanning process. Such systems are widely used in medical imaging, industrial non-destructive testing and other fields. By precisely controlling the motion trajectory of the robotic arm, the ultrasonic probe can scan efficiently and stably, and reconstruct the three-dimensional surface model of the target object or human body in real time.

[0003] However, the above technology often has the following defects: the robot arm is composed of multiple arm sections, which are connected by rotating shafts, and the rotating shafts are driven by motors to achieve multi-directional rotation adjustment of the arm sections. Since the rotating shafts are prone to wear during long-term use, they must be lubricated regularly. However, the rotating shafts are usually installed between the arm sections, and the gaps between the arm sections are narrow, making manual lubrication operations quite challenging, and there is a problem of uneven lubrication. For this reason, the present invention provides a robot arm ultrasonic scanning system based on surface reconstruction. Summary of the invention

[0004] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0005] The technical solution adopted by the present invention to solve its technical problems is: a mechanical arm ultrasonic scanning system based on surface reconstruction described in the present invention includes a workbench and a mechanical arm; the mechanical arm includes a first arm section, a second arm section and a third arm section, a group of mounting grooves are opened on the second arm section, a rotating shaft is arranged in the mounting groove, and the first arm section and the third arm section are connected to the second arm section through the rotating shaft; a detector is fixedly connected to a side end of the third arm section away from the second arm section, the detector is composed of an ultrasonic probe and a 3D camera, and the data detected by the detector can be received by a host computer and an ultrasonic machine, and a detection table is arranged on the workbench; a storage groove is opened in the second arm section, and a feeding pipe connected to the storage groove is arranged on the top surface of the second arm section, an annular groove corresponding to the mounting groove is opened in the second arm section, and a group of connected first through holes are opened between the mounting groove and the annular groove.

[0006] Preferably, the inner wall of the storage tank is sealingly and slidingly connected with a push plate, a first spring is fixedly connected between the bottom surface of the push plate and the inner wall of the storage tank, an electromagnet is fixedly connected to the bottom surface of the storage tank, the push plate is made of a magnetic material that repels the electromagnet, a feed one-way valve is arranged in the feed pipe, and an air inlet hole connected to the storage tank is opened on the bottom surface of the second arm section.

[0007] Preferably, the inner wall of the annular groove close to the mounting groove is twisted with a ring sealing the first through hole through a torsion spring, a second through hole corresponding to the first through hole is opened on the ring, and a driving component for driving the ring to rotate is arranged in the annular groove.

[0008] Preferably, the driving assembly includes a driving rod fixedly connected to the outer wall of the circular ring, a sealing block for pushing the driving rod is sealingly and slidably connected in the connecting groove, an elastic rope is fixedly connected between the side of the driving block away from the driving rod and the inner wall of the connecting groove, and a pair of discharge grooves are provided on the side of the sealing block close to the elastic rope, and the end of the discharge groove away from the elastic rope extends to the side wall of the sealing block.

[0009] Preferably, a slide groove is provided on the top surface of the storage groove, a slide plate is sealingly and slidingly connected to the inner wall of the slide groove, a second spring is fixedly connected between the top surface of the slide plate and the inner wall of the slide groove, a connecting tube connected to the slide groove is provided on the top surface of the second arm section, a whistle is provided in the connecting tube, a trigger assembly is provided in the storage groove, and the top surface of the push plate is fixedly connected to a push rod for pushing the slide plate.

[0010] Preferably, the trigger assembly comprises a first contact fixed on the bottom surface of the push plate, a connecting rod on the bottom surface of the storage slot, and a second contact aligned with the first contact fixedly connected to the top surface of the connecting rod.

[0011] Preferably, a recovery groove is provided at a position of the second arm section corresponding to the mounting groove, the recovery groove is located at the lowest point of the mounting groove, and a group of feed holes is provided between the mounting groove and the recovery groove.

[0012] Preferably, a moving plate is slidably connected in the recovery groove, a return spring is fixedly connected between the moving plate and the inner wall of the recovery groove, and a moving component for driving the moving plate to move is arranged in the annular groove.

[0013] Preferably, the moving component includes a fixed plate fixedly connected to the inner wall of the annular groove, a hollow elastic block is fixedly connected to the side of the fixed plate close to the sealing block, a conduit is connected between the elastic block and the recovery groove, and the conduit is located on the side of the moving plate close to the reset spring, and when the ring rotates, the driving rod can squeeze the elastic block.

[0014] The beneficial effects of the present invention are as follows:

[0015] 1. When the robot arm in the present invention is working, there will be a rotating shaft driving the rotation between the multiple arm sections. When the rotating shaft needs to be lubricated, the lubricating oil can be injected into the storage tank from the connecting pipe, and then the lubricating oil will enter the annular groove from the connecting groove, and finally the lubricating oil will flow from the first through hole to the installation groove. At this time, the arm sections can be rotated to rotate the rotating shaft, so that the lubricating oil flowing into the installation groove can better lubricate the rotating shaft. The above mechanism can be used to lubricate the rotating shaft more conveniently and evenly.

[0016] 2. When the lubricating oil is injected into the storage groove of the present invention, the liquid level of the lubricating oil is not higher than the feed end of the connecting groove. At this time, the lubricating oil can be stored in the storage groove. When the lubricating oil is needed at any time, the stored lubricating oil can be directly used, thereby improving the convenience of using the lubricating oil. When the lubricating oil needs to be used, the electromagnet can be started, and the magnetic force of the electromagnet will gradually increase, thereby continuously pushing the push plate to move upward. At this time, the push plate will push the lubricating oil from the connecting groove into the annular groove, and finally flow from the first through hole to the rotating shaft for lubrication. After the lubrication is completed, the electromagnet is turned off, and the push plate will be reset under the pull of the first spring. At this time, the unused lubricating oil on the push plate can be kept for next use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below in conjunction with the accompanying drawings.

[0018] Figure 1 It is a structural schematic diagram of the mechanical arm and the workbench in the present invention;

[0019] Figure 2 It is a structural schematic diagram of the second arm section in the present invention;

[0020] Figure 3 It is a schematic diagram of the internal structure of the second arm section in the present invention;

[0021] Figure 4 yes Figure 3 A magnified image of point A;

[0022] Figure 5 is a partial structural cross-sectional view of the second arm section in the present invention;

[0023] Figure 6 yes Figure 5 Enlarged view of point B.

[0024] In the figure: 1, workbench; 2, detection table; 3, first arm section; 4, second arm section; 5, third arm section; 6, detector; 7, rotating shaft; 8, annular groove; 9, first through hole; 10, connecting groove; 11, storage groove; 12, feed pipe; 13, second through hole; 14, circular ring; 15, push plate; 16, electromagnet; 17, slide plate; 18, connecting pipe; 19, push rod; 20, first contact; 21, second contact; 22, connecting rod; 23, driving rod; 24, sealing block; 25, discharge trough; 26, elastic rope; 27, recovery trough; 28, feed hole; 29, reset spring; 30, conduit; 31, mounting groove; 32, fixed plate; 33, elastic block; 34, movable plate. DETAILED DESCRIPTION

[0025] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0026] Embodiment 1: Figures 1 to 4 As shown, a mechanical arm ultrasonic scanning system based on surface reconstruction described in an embodiment of the present invention includes a workbench 1 and a mechanical arm; the mechanical arm includes a first arm section 3, a second arm section 4 and a third arm section 5, a group of mounting grooves 31 are opened on the second arm section 4, a rotating shaft 7 is arranged in the mounting groove 31, and the first arm section 3 and the third arm section 5 are connected to the second arm section 4 through the rotating shaft 7; a detector 6 is fixedly connected to a side end of the third arm section 5 away from the second arm section 4, the detector 6 is composed of an ultrasonic probe and a 3D camera, and the data detected by the detector 6 can be received by a host computer and an ultrasonic machine, and a detection table 2 is arranged on the workbench 1; a storage groove 11 is opened in the second arm section 4, and a feeding pipe 12 connected to the storage groove 11 is arranged on the top surface of the second arm section 4, an annular groove 8 corresponding to the mounting groove 31 is opened in the second arm section, and a group of connected first through holes 9 are opened between the mounting groove 31 and the annular groove 8;

[0027] The robot arm of the present application can move with multiple degrees of freedom, so as to control the detector 6 to detect the object to be detected on the detection table 2. By placing the object to be detected on the detection table 2, after the system is running, the robot arm returns to the measurement position, and then the 3D camera obtains the point cloud information of the object to be detected, and the measured surface is constructed by the point cloud information and displayed on the host computer. A line is manually drawn on the projection diagram of the measured surface on the host computer, and the motion trajectory of the ultrasonic probe in space is obtained by solving. The ultrasonic probe moves along the spatial trajectory. The probe maintains the posture and contact force of the surface normal during the movement. The ultrasonic probe at a specified point can be moved with the normal line of the specified point on the surface as the axis. Rotate to obtain image information in different directions and perform 3D reconstruction, thereby completing the 3D reconstruction of the object being inspected. When the robotic arm is working, there will be a rotating shaft 7 between the multiple arm sections to drive the rotation. When the rotating shaft 7 needs to be lubricated, the lubricating oil can be injected into the storage tank 11 from the connecting pipe 18, and then the lubricating oil will enter the annular groove 8 from the connecting groove 10, and finally the lubricating oil will flow from the first through hole 9 to the mounting groove 31. At this time, the arm sections can be rotated to rotate the rotating shaft 7, so that the lubricating oil flowing into the mounting groove 31 can better lubricate the rotating shaft 7. The above mechanism can lubricate the rotating shaft 7 more conveniently and evenly.

[0028] The inner wall of the storage tank 11 is sealed and slidably connected with a push plate 15, a first spring is fixedly connected between the bottom surface of the push plate 15 and the inner wall of the storage tank 11, an electromagnet 16 is fixedly connected to the bottom surface of the storage tank 11, the push plate 15 is made of a magnetic material that repels the electromagnet 16, a feed check valve is arranged in the feed pipe 12, and an air inlet hole connected to the storage tank 11 is opened on the bottom surface of the second arm section 4;

[0029] In the present application, when the lubricating oil is injected into the storage groove 11, the liquid level of the lubricating oil is made not to exceed the feed end of the connecting groove 10. At this time, the lubricating oil can be stored in the storage groove 11. When the lubricating oil is needed at any time, the stored lubricating oil can be directly used, thereby improving the convenience of using the lubricating oil. When the lubricating oil needs to be used, the electromagnet 16 can be started, and the magnetic force of the electromagnet 16 will gradually increase, thereby continuously pushing the push plate 15 to move upward. At this time, the push plate 15 will push the lubricating oil from the connecting groove 10 into the annular groove 8, and finally flow from the first through hole 9 to the rotating shaft 7 for lubrication. After the lubrication is completed, the electromagnet 16 is turned off, and the push plate 15 will be reset under the pull of the first spring. At this time, the unused lubricating oil of the push plate 15 can be kept for next use.

[0030] The inner wall of the annular groove 8 near the mounting groove 31 is twisted with a ring 14 that seals the first through hole 9 through a torsion spring, and a second through hole 13 corresponding to the first through hole 9 is opened on the ring 14, and a driving component for driving the ring 14 to rotate is arranged in the annular groove 8; during the movement of the second arm section 4 in the present application, if the tilt angle is too large, the lubricating oil stored in the storage groove 11 will easily flow from the connecting groove 10 to the annular groove 8, and then flow out from the first through hole 9, thereby causing unnecessary waste. The present application can seal the first through hole 9 through the ring 14, so that during the movement of the second arm section 4, the lubricating oil will not flow out from the first through hole 9, thereby causing unnecessary waste. When the lubricating oil needs to flow out of the first through hole 9, the driving component can be used to drive the ring 14 to rotate so that the first circular hole and the second circular hole are aligned. At this time, the lubricating oil will first pass through the second circular hole, and then flow out from the first circular hole to the rotating shaft 7 to lubricate the rotating shaft 7.

[0031] The driving assembly includes a driving rod 23 fixedly connected to the outer wall of the circular ring 14, a sealing block 24 for pushing the driving rod 23 is sealingly and slidably connected in the connecting groove 10, an elastic rope 26 is fixedly connected between the side of the driving block away from the driving rod 23 and the inner wall of the connecting groove 10, and a pair of discharge grooves 25 are opened on the side of the sealing block 24 close to the elastic rope 26, and one end of the discharge groove 25 away from the elastic rope 26 extends to the side wall of the sealing block 24; when the lubricating oil in the present application is pushed by the push plate 15, the lubricating oil will enter the connecting groove 10, and then push the sealing block 24, so that the sealing block 24 moves to push the driving rod 23, at this time, the driving rod 23 will drive the circular ring 14 to rotate, so that the first through hole 9 is aligned with the second through hole 13, and the moving position of the sealing block 24 at this time will allow the discharge groove 25 to expose the connecting groove 10, and at this time, the lubricating oil will enter the annular groove 8 from the discharge groove 25, and then flow from the first through hole 9 to the mounting groove 31.

[0032] The top surface of the storage tank 11 is provided with a slide groove, and the inner wall of the slide groove is sealed and slidably connected with a slide plate 17, and a second spring is fixedly connected between the top surface of the slide plate 17 and the inner wall of the slide groove, and the top surface of the second arm section 4 is provided with a connecting pipe 18 connected with the slide groove, and a whistle is provided in the connecting pipe 18. A trigger component is provided in the storage tank 11, and a push rod 19 for pushing the slide plate 17 is fixedly connected to the top surface of the push plate 15; in the present application, when the storage amount of lubricating oil in the storage tank 11 is insufficient, the trigger component will start the electromagnet 16, so that the electromagnet 16 intermittently Start, let the push plate 15 move up and down repeatedly, and at the same time, the magnetic force of the electromagnet 16 will be increased to the maximum. At this time, the electromagnet 16 will drive the push plate 15 to move upward, and then the push rod 19 on the push plate 15 will push the slide plate 17, so that the slide plate 17 pushes the gas in the chute to be discharged from the connecting pipe 18. At this time, the whistle in the connecting pipe 18 will make a sound. In this way, when the push plate 15 moves repeatedly, the slide plate 17 will repeatedly push the gas in the chute to be discharged, so that the whistle will continue to make a sound to alarm, so as to remind the staff to add the lubricating oil in the storage tank 11 in time.

[0033] The trigger assembly includes a first contact 20 fixed to the bottom surface of the push plate 15, a connecting rod 22 on the bottom surface of the storage tank 11, and a second contact 21 aligned with the first contact 20 is fixedly connected to the top surface of the connecting rod 22; when lubricating oil is stored in the storage tank 11 in the present application, the lubricating oil will exert pressure on the push plate 15, and the first contact 20 on the push plate 15 will contact the second contact 21. When the lubricating oil is reduced to a certain amount, the second spring will push the push plate 15 to disengage the first contact 20 from the second contact 21. 2-3 minutes after the first contact 20 is disengaged from the second contact 21, the electromagnet 16 will be intermittently started, so that the push plate 15 drives the push rod 19 to push the slide plate 17, so that the whistle makes a sound to alarm.

[0034] Embodiment 2: Figure 5 to Figure 6 As shown, compared with Example 1, another implementation of the present invention is: a recovery groove 27 is opened at the position of the second arm section 4 corresponding to the mounting groove 31, and the recovery groove 27 is located at the lowest point of the mounting groove 31, and a group of feed holes 28 are opened between the mounting groove 31 and the recovery groove 27; when the lubricating oil in the present application enters the mounting groove 31 to lubricate the rotating shaft 7, a certain amount of lubricating oil will remain in the mounting groove 31, and at this time, the lubricating oil will gather at the lowest point of the mounting groove 31, and then the lubricating oil can flow from the feed hole 28 into the recovery groove 27 to recover the excess unused lubricating oil for next use.

[0035] A moving plate 34 is slidably connected in the recovery groove 27, and a return spring 29 is fixedly connected between the moving plate 34 and the inner wall of the recovery groove 27. A moving component for driving the moving plate 34 to move is arranged in the annular groove 8; when the lubricating oil in the recovery groove 27 needs to be reused, the moving plate 34 can be driven to move with the help of the moving component. At this time, the moving plate 34 will push the lubricating oil in the recovery groove 27 to be discharged from the feed hole 28 into the mounting groove 31, and then the lubricating oil will lubricate the rotating shaft 7, thereby achieving the effect of reusing the recovered lubricating oil.

[0036] The moving assembly includes a fixed plate 32 fixedly connected to the inner wall of the annular groove 8, and a hollow elastic block 33 is fixedly connected to the side of the fixed plate 32 close to the sealing block 24. A conduit 30 is connected between the elastic block 33 and the recovery groove 27, and the conduit 30 is located on the side of the moving plate 34 close to the reset spring 29. When the ring 14 rotates, the driving rod 23 can squeeze the elastic block 33; when the sealing block 24 in the present application is pushed by the lubricating oil, the sealing block 24 will push the driving rod 23, and the driving rod 23 will squeeze the elastic block 33, so that the gas in the elastic block 33 enters the recovery groove 27 from the conduit 30, and the gas will push the moving plate 34 to move, thereby pushing the lubricating oil in the recovery groove 27 out for reuse. Through the above-mentioned mechanism, the lubricating oil in the recovery groove 27 can be discharged during the movement of the sealing block 24.

[0037] Working principle: The robot arm of the present application can move with multiple degrees of freedom, so as to control the detector 6 to detect the object to be detected on the detection table 2. By placing the object to be detected on the detection table 2, after the system is running, the robot arm returns to the measurement position, and then the 3D camera obtains the point cloud information of the object to be detected, and constructs the measured surface through the point cloud information and displays it on the host computer. A line is manually drawn on the projection diagram of the measured surface on the host computer, and the motion trajectory of the ultrasonic probe in space is obtained by solving. The ultrasonic probe moves along the spatial trajectory. The probe maintains the posture and contact force of the surface normal during the movement. The ultrasonic probe at a specified point can use the normal line of the specified point on the surface as the The axis rotates to obtain image information in different directions and performs 3D reconstruction, thereby completing the 3D reconstruction of the object being inspected. When the robot arm is working, there will be a rotating shaft 7 between the multiple arm sections to drive the rotation. When the rotating shaft 7 needs to be lubricated, lubricating oil can be injected into the storage tank 11 from the connecting pipe 18, and then the lubricating oil will enter the annular groove 8 from the connecting groove 10, and finally the lubricating oil will flow from the first through hole 9 to the mounting groove 31. At this time, the arm sections can be rotated to rotate the rotating shaft 7, so that the lubricating oil flowing into the mounting groove 31 can better lubricate the rotating shaft 7. The above mechanism can be used to lubricate the rotating shaft 7 more conveniently and more evenly;

[0038] In the present application, when the lubricating oil is injected into the storage tank 11, the liquid level of the lubricating oil is not higher than the feed end of the connecting tank 10. At this time, the lubricating oil can be stored in the storage tank 11. When the lubricating oil is needed at any time, the stored lubricating oil can be directly used, thereby improving the convenience of using the lubricating oil. When the lubricating oil needs to be used, the electromagnet 16 can be started, and the magnetic force of the electromagnet 16 will gradually increase, thereby continuously pushing the push plate 15 to move upward. At this time, the push plate 15 will push the lubricating oil from the connecting tank 10 into the annular groove 8, and finally flow from the first through hole 9 to the rotating shaft 7 for lubrication. After the lubrication is completed, the electromagnet 16 is turned off. At this time, the push plate 15 will be reset under the pull of the first spring. At this time, the push plate 15 is not used The used lubricating oil can be kept for next use; in the process of moving the second arm section 4 in the present application, if the tilt angle is too large, the lubricating oil stored in the storage groove 11 can easily flow from the connecting groove 10 to the annular groove 8, and then flow out from the first through hole 9, thereby causing unnecessary waste. The present application can seal the first through hole 9 through the circular ring 14, so that in the process of moving the second arm section 4, the lubricating oil will not flow out from the first through hole 9, causing unnecessary waste. When the lubricating oil needs to flow out from the first through hole 9, the circular ring 14 can be driven to rotate with the help of the driving assembly to align the first circular hole with the second circular hole. At this time, the lubricating oil will first pass through the second circular hole, and then flow out from the first circular hole to the rotating shaft 7 to lubricate the rotating shaft 7;

[0039] When the lubricating oil in the present application is pushed by the push plate 15, the lubricating oil will enter the connecting groove 10, and then push the sealing block 24, so that the sealing block 24 moves and pushes the driving rod 23. At this time, the driving rod 23 will drive the ring 14 to rotate, so that the first through hole 9 is aligned with the second through hole 13. At this time, the moving position of the sealing block 24 will allow the discharge groove 25 to expose the connecting groove 10. At this time, the lubricating oil will enter the annular groove 8 from the discharge groove 25, and then flow from the first through hole 9 to the mounting groove 31; when the lubricating oil in the storage groove 11 in the present application is insufficient, the trigger component will start the electromagnet 16, so that the electromagnet 16 is started intermittently, so that the push plate 15 moves up and down repeatedly, and at the same time, the magnetic force of the electromagnet 16 will be increased to the maximum. At this time, the electromagnet 16 will drive the push plate 15 to move upward, and then the push rod 19 on the push plate 15 will push the slide plate 17, so that The slide plate 17 pushes the gas in the slide groove to be discharged from the connecting pipe 18, and the whistle in the connecting pipe 18 will make a sound. In this way, when the push plate 15 moves repeatedly, the slide plate 17 will repeatedly push the gas in the slide groove to be discharged, so that the whistle will continue to make a sound to alarm, so as to remind the staff to add the lubricating oil in the storage tank 11 in time; when the lubricating oil is stored in the storage tank 11 in the present application, the lubricating oil will exert pressure on the push plate 15, and the first contact 20 on the push plate 15 will contact the second contact 21. When the lubricating oil is reduced to a certain amount, the second spring will push the push plate 15 to disengage the first contact 20 from the second contact 21. After the first contact 20 is disengaged from the second contact 21 for 2-3 minutes, the electromagnet 16 will be intermittently started, so that the push plate 15 drives the push rod 19 to push the slide plate 17, so that the whistle makes a sound to alarm.

[0040] The above-mentioned front, back, left, right, top and bottom are all based on the figures in the specification. Figure 1 As a benchmark, according to the person's observation perspective, the side of the device facing the observer is defined as the front, the left side of the observer is defined as the left, and so on.

[0041] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the scope of protection of the present invention.

[0042] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A robotic arm ultrasonic scanning system based on surface reconstruction, comprising a workbench (1) and a robotic arm; characterized in that: The mechanical arm comprises a first arm section (3), a second arm section (4) and a third arm section (5); the second arm section (4) is provided with a group of mounting grooves (31); a rotating shaft (7) is arranged in the mounting groove (31); the first arm section (3) and the third arm section (5) are connected to the second arm section (4) via the rotating shaft (7); A detector (6) is fixedly connected to one side end of the third arm section (5) away from the second arm section (4); the detector (6) is composed of an ultrasonic probe and a 3D camera; data detected by the detector (6) can be received by a host computer and an ultrasonic machine; and a detection table (2) is arranged on the workbench (1); A storage groove (11) is provided in the second arm section (4); a feeding pipe (12) connected to the storage groove (11) is provided on the top surface of the second arm section (4); an annular groove (8) corresponding to the mounting groove (31) is provided in the second arm section; and a group of first communicating through holes (9) are provided between the mounting groove (31) and the annular groove (8).

2. The surface reconstruction-based robotic arm ultrasonic scanning system according to claim 1, characterized in that: The inner wall of the storage tank (11) is sealingly and slidably connected to a push plate (15), a first spring is fixedly connected between the bottom surface of the push plate (15) and the inner wall of the storage tank (11), an electromagnet (16) is fixedly connected to the bottom surface of the storage tank (11), the push plate (15) is made of a magnetic material that repels the electromagnet (16), a feed check valve is arranged in the feed pipe (12), and an air inlet hole connected to the storage tank (11) is opened on the bottom surface of the second arm section (4).

3. The surface reconstruction-based robotic arm ultrasonic scanning system according to claim 2, characterized in that: The inner wall of the annular groove (8) close to the mounting groove (31) is twisted with a circular ring (14) for sealing the first through hole (9) through a torsion spring, and a second through hole (13) corresponding to the first through hole (9) is opened on the circular ring (14). A driving component for driving the circular ring (14) to rotate is arranged in the annular groove (8).

4. The surface reconstruction-based robotic arm ultrasonic scanning system according to claim 3, characterized in that: The driving assembly comprises a driving rod (23) fixedly connected to the outer wall of the circular ring (14); a sealing block (24) for pushing the driving rod (23) is sealingly and slidably connected in the connecting groove (10); an elastic rope (26) is fixedly connected between the side of the driving block away from the driving rod (23) and the inner wall of the connecting groove (10); a pair of discharge grooves (25) are formed on the side of the sealing block (24) close to the elastic rope (26); and one end of the discharge groove (25) away from the elastic rope (26) extends to the side wall of the sealing block (24).

5. The surface reconstruction-based robotic arm ultrasonic scanning system according to claim 4, characterized in that: A slide groove is provided on the top surface of the storage groove (11), and a slide plate (17) is sealingly and slidably connected to the inner wall of the slide groove. A second spring is fixedly connected between the top surface of the slide plate (17) and the inner wall of the slide groove. A connecting pipe (18) connected to the slide groove is provided on the top surface of the second arm section (4), and a whistle is provided in the connecting pipe (18). A trigger assembly is provided in the storage groove (11), and a push rod (19) for pushing the slide plate (17) is fixedly connected to the top surface of the push plate (15).

6. The surface reconstruction-based robotic arm ultrasonic scanning system according to claim 5, characterized in that: The trigger assembly comprises a first contact (20) fixed on the bottom surface of the push plate (15), a connecting rod (22) on the bottom surface of the storage slot (11), and a second contact (21) aligned with the first contact (20) fixedly connected to the top surface of the connecting rod (22).

7. The surface reconstruction-based robotic arm ultrasonic scanning system according to claim 6, characterized in that: A recovery groove (27) is provided at a position of the second arm section (4) corresponding to the mounting groove (31), the recovery groove (27) is located at the lowest point of the mounting groove (31), and a group of feed holes (28) is provided between the mounting groove (31) and the recovery groove (27).

8. The surface reconstruction-based robotic arm ultrasonic scanning system according to claim 7, characterized in that: A moving plate (34) is slidably connected in the recovery groove (27), a return spring (29) is fixedly connected between the moving plate (34) and the inner wall of the recovery groove (27), and a moving component for driving the moving plate (34) to move is arranged in the annular groove (8).

9. The surface reconstruction-based robotic arm ultrasonic scanning system according to claim 8, characterized in that: The moving assembly comprises a fixed plate (32) fixedly connected to the inner wall of the annular groove (8); a hollow elastic block (33) is fixedly connected to a side of the fixed plate (32) close to the sealing block (24); a conduit (30) is connected between the elastic block (33) and the recovery groove (27); the conduit (30) is located on a side of the moving plate (34) close to the return spring (29); when the circular ring (14) rotates, the driving rod (23) can squeeze the elastic block (33).

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