Three-axis automatic three-dimensional scanning equipment and scanning method

Abstract

The invention provides three-axis automatic three-dimensional scanning equipment and a scanning method, and relates to the technical field of three-dimensional scanning, the three-axis automatic three-dimensional scanning equipment comprises a power transmission mechanism, a man-machine interaction mechanism, an extension mechanism and a scanning mechanism, the man-machine interaction mechanism is arranged on the outer surface of the power transmission mechanism, and the extension mechanism is arranged on the outer surface of the power transmission mechanism; the man-machine interaction mechanism can be used for man-machine interaction to control power output of the power transmission mechanism, the extension mechanism is arranged in the power transmission mechanism, one end of the extension mechanism extends from the interior of the power transmission mechanism to the exterior of the power transmission mechanism, and the extension mechanism can be bent. When in use, the supporting framework is arranged in the traction tube to support the traction tube, so that the traction tube can be kept in shape and can be bent, meanwhile, the isolation plate is arranged in the traction tube to separate the internal space of the traction tube, and when an inner cavity of an object is scanned, the internal space of the traction tube is separated by the isolation plate. The traction tube can bend along with the path of the inner cavity of the article, so that the effect of conveniently scanning the outline of the inner cavity of the article is achieved.

Description

Technical Field

[0001] The present invention relates to the field of three-dimensional scanning technology, and in particular to a three-axis automatic three-dimensional scanning device and a scanning method. Background Art

[0002] 3D scanning equipment uses laser to measure the 3D coordinate point set of the surface of a physical object, and then reversely generates a 3D model of the physical object based on the obtained coordinate point set. It is used to facilitate the measurement, modeling, finite element analysis, etc. of physical objects.

[0003] Many objects have chambers inside, and existing 3D scanning equipment is not convenient to enter the interior of the object's chamber. Especially for some complex shapes, the chambers inside are relatively complex, and it is even more difficult for existing 3D scanning equipment to enter the object's internal chamber for scanning. This also leads to the need to recreate the internal chamber channels of the object when the model is established in the later stage, which is very troublesome.

[0004] Therefore, the present application provides a three-axis automatic three-dimensional scanning device for facilitating three-dimensional scanning of the inner cavity of an object, especially a more complex inner cavity. Summary of the invention

[0005] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a three-axis automatic three-dimensional scanning device and a scanning method, so as to solve the problem of inconvenient scanning in an object cavity mentioned in the prior art.

[0006] To achieve the above-mentioned and other related purposes, the present invention provides a three-axis automatic three-dimensional scanning device, including: a power transmission mechanism, a human-machine interaction mechanism, an extension mechanism and a scanning mechanism;

[0007] The human-machine interaction mechanism is arranged on the outer surface of the power transmission mechanism, and the human-machine interaction mechanism can be used to perform human-machine interaction to control the power output of the power transmission mechanism;

[0008] The extension mechanism is arranged inside the power transmission mechanism, and one end of the extension mechanism extends from the inside of the power transmission mechanism to the outside of the power transmission mechanism, and the extension mechanism is bendable;

[0009] The scanning mechanism is arranged at the end of the extension mechanism, and the extension mechanism can pull the scanning mechanism into the cavity of the object to scan the interior of the object;

[0010] The extension mechanism comprises a traction tube, a support frame is arranged inside the traction tube to support the traction tube, and a line connecting a human-machine interaction mechanism and a scanning mechanism is arranged inside the traction tube.

[0011] Preferably, an isolation plate is provided inside the traction tube, the isolation plate divides the inside of the traction tube into two halves, and a support airbag is wrapped inside the support frame;

[0012] The support airbag extends to the interior of the power transmission mechanism and can be inflated and deflated.

[0013] Preferably, the support frame includes a plurality of frame pieces, a female connector is provided at the bottom of one side of each frame piece, and a male connector is provided at the bottom of the other side of each frame piece;

[0014] The female joints and the male joints on two adjacent skeleton pieces are hingedly connected to form a skeleton having the same length as the traction tube.

[0015] Preferably, a motor compartment is provided at the connection between the traction tube and the scanning mechanism, a torsion motor is provided inside the motor compartment, and the torsion motor can drive the scanning mechanism to rotate.

[0016] Preferably, the scanning mechanism comprises a traction head, one end of which is connected to the torsion motor, and the other end of which is provided with a rollable traction roller;

[0017] A scanning probe is provided on the side of the traction head, the scanning probe is recessed into the interior of the traction head, and the outer surface of the scanning probe is covered with a protective cover;

[0018] The motor compartment is provided with a lead groove for the wire of the scanning probe to pass through, and the power line of the torsion motor and the wire of the scanning probe are extended to the inside of the human-machine interaction mechanism.

[0019] Preferably, the power transmission mechanism comprises a protective shell, and a driving device and an air pressure pump are symmetrically arranged on the outer surface of the protective shell;

[0020] A rotatable winding part is arranged inside the protective shell, the winding part is driven by a driving device, an air cavity is arranged at the axis of the winding part, and the air cavity is communicated with an air pressure pump;

[0021] The traction tube is wound around the outer surface of the winding portion, and the end of the traction tube extends to the inside of the air cavity;

[0022] The side of the protective shell is provided with an inlet and outlet channel to guide the traction tube to enter and exit the interior of the protective shell.

[0023] Preferably, the human-machine interaction mechanism comprises an electrical box, a scanner is arranged inside the electrical box, a power supply / signal interface is arranged outside the electrical box, and a display screen and control buttons are also arranged on the electrical box;

[0024] The control button can send signal instructions to the driving device, the air pressure pump and the scanner respectively;

[0025] A transmission line is led out from the inside of the electrical box, and the inner core of the transmission line is communicated with the torsion motor and the scanning probe respectively.

[0026] Preferably, the transmission line is wound around the outer surface of the winding portion, and the transmission line enters into the interior of the traction tube from the interior of the air cavity.

[0027] Preferably, the winding portion comprises a winding disk, and an inner shaft portion of the winding disk is provided with a spacer, and the spacer can separate the transmission line and the traction tube.

[0028] The scanning method of the three-axis automatic three-dimensional scanning device comprises the following steps:

[0029] S1. Align the traction roller with the mouth of the object chamber, and pre-start the scanner by pressing the control button to make the scanning probe start working;

[0030] S2. Start the driving device by using the control button, drive the winding part to rotate by the driving device, and slowly drive the traction tube so that the traction head enters the interior of the object chamber at a uniform speed;

[0031] S3. When the traction head enters the object chamber, the torsion motor is controlled by the control button to drive the traction head to rotate circumferentially, thereby increasing the scanning range of the scanning probe;

[0032] S4, while performing step S2, synchronously starting the air pressure pump to inflate the support airbag and increase the hardness of the traction tube so that the traction tube can smoothly enter the interior of the object chamber;

[0033] S5. When the traction head penetrates into the cavity of the object and encounters resistance, the amount of gas inside the supporting airbag is adjusted by the air pressure pump to make the traction tube soft or hard. Softening allows the traction tube to enter the cavity with a larger curvature, while hardening can provide greater thrust to the traction head.

[0034] S6. During the scanning process of the scanning probe, the coordinate information in the object cavity is synchronously transmitted to the scanner inside the electrical box through the line for data integration;

[0035] S7, outputting the data through the power / signal interface to generate a three-dimensional model;

[0036] S8. After the scanning is completed, the reverse driving device retracts the traction tube into the inside of the protective shell. At the same time, the air pressure pump deflates the supporting airbag to make the traction tube easier to retract.

[0037] As described above, the three-axis automatic three-dimensional scanning device of the present invention has the following beneficial effects:

[0038] 1. The present invention supports the traction tube by arranging a support frame inside the traction tube, so that the traction tube can maintain its shape and bendable. At the same time, an isolation plate is arranged inside the traction tube to separate the space inside the traction tube. When scanning the inner cavity of an object, the traction tube can bend along the path of the inner cavity of the object, thereby achieving the effect of conveniently scanning the contour of the inner cavity of the object.

[0039] 2. The present invention sets a motor compartment at the end of the traction tube, and sets a torsion motor inside the motor compartment to drive the traction head to rotate, so that when scanning the object cavity, the scanning range of the scanning probe can be improved, and the angle of the traction roller can be adjusted so that the traction head can better pass through the turning point of the object cavity, thereby achieving the effect of further improving the convenience of scanning in the object cavity.

[0040] 3. The present invention arranges a supporting airbag inside the supporting frame and connects the supporting airbag to an air pressure pump. When the traction tube drives the traction head to enter the object cavity, the supporting airbag is inflated to increase the deformation resistance of the traction tube, so that the traction tube will not become weak when entering a longer object. When there are many bends in the object cavity, the supporting airbag is deflated to soften the traction tube, so that the traction tube can turn better in the object cavity, thereby achieving the effect of improving flexibility.

[0041] Therefore, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 Shown is a schematic structural diagram of the present invention.

[0043] Figure 2 Shown is a side view of the structure of the present invention.

[0044] Figure 3 Shown is a schematic structural diagram of the extension mechanism of the present invention.

[0045] Figure 4 Shown is a structural cross-sectional view of the extension mechanism of the present invention.

[0046] Figure 5 Shown as the present invention Figure 4 A schematic diagram of the enlarged structure at point A in the middle.

[0047] Figure 6 Shown is a schematic structural diagram of the motor compartment of the present invention.

[0048] Figure 7 Shown is a schematic structural diagram of the support skeleton of the present invention.

[0049] Figure 8 Shown as the present invention Figure 7A magnified schematic diagram of the structure at point B in the middle.

[0050] Fig. 9 Shown is a structural cross-sectional view of the protective shell of the present invention.

[0051] Fig.10 It is a schematic diagram showing the structure of the connection between the traction tube, the transmission line and the winding part of the present invention.

[0052] Component number description

[0053] 1. Power transmission mechanism; 101. Protective shell; 102. Driving device; 103. Air pressure pump; 104. Winding part; 1041. Winding disk; 1042. Isolation sheet; 105. Air cavity; 106. Inlet and outlet channel;

[0054] 2. Human-computer interaction mechanism; 201. Electrical box; 202. Power / signal interface; 203. Display screen; 204. Control button; 205. Transmission line;

[0055] 3. Extension mechanism; 301. Traction tube; 302. Isolation plate; 303. Support frame; 3031. Frame sheet; 3032. Female connector; 3033. Male connector; 304. Support airbag; 305. Motor compartment; 306. Torsion motor; 307. Lead groove;

[0056] 4. Scanning mechanism; 401. Traction head; 402. Traction roller; 403. Scanning probe; 404. Protective cover. DETAILED DESCRIPTION

[0057] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0058] See also Figures 1 to 10 . It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0059] like Figure 1 and Figure 2As shown, the present invention provides a three-axis automatic three-dimensional scanning device, including a power transmission mechanism 1, a human-machine interaction mechanism 2, an extension mechanism 3 and a scanning mechanism 4. The human-machine interaction mechanism 2 is arranged on the outer surface of the power transmission mechanism 1, and the human-machine interaction mechanism 2 can be used to perform human-machine interaction to control the power output of the power transmission mechanism 1.

[0060] The extension mechanism 3 is arranged inside the power transmission mechanism 1, and one end of the extension mechanism 3 extends from the inside of the power transmission mechanism 1 to the outside of the power transmission mechanism 1. The extension mechanism 3 is bendable and is used to enter the inside of an object with a curved inner cavity.

[0061] The scanning mechanism 4 is arranged at the end of the extension mechanism 3, and the extension mechanism 3 can pull the scanning mechanism 4 into the cavity of the object to scan the inside of the object, so that the scanning mechanism 4 goes deep into the cavity of the object to automatically perform contour scanning on the three axes of X, Y and Z axes.

[0062] The extension mechanism 3 includes a traction tube 301, which is used to push the scanning mechanism 4 into the cavity of the object and protect the circuit of the scanning mechanism 4. A support frame 303 is arranged inside the traction tube 301 to support the traction tube 301, so that the traction tube 301 can bend while being soft and can maintain its shape through the support of the support frame 303, just like a bendable snake. The circuits connecting the human-machine interaction mechanism 2 and the scanning mechanism 4 are arranged inside the traction tube 301, so that the power supply circuit and the data circuit can bend with the bending of the traction tube 301, and the circuits are protected to prevent the circuits from being damaged due to scratches on the edges of the inner cavity of the object when entering and exiting the inner cavity of the object.

[0063] like Figure 3-Figure 5 As shown, in some embodiments, a soft isolation plate 302 is provided inside the traction tube 301 of the present invention, and the isolation plate 302 divides the inside of the traction tube 301 into two halves, thereby separating the support frame 303 and the line, so as to prevent the support frame 303 from causing damage to the line when bending. The support frame 303 is wrapped with a support airbag 304 inside, and the support airbag 304 extends to the inside of the power transmission mechanism 1 and can be inflated and deflated. When the inside of the support airbag 304 is filled with gas, the hardness of the support airbag 304 will increase, thereby increasing the hardness of the traction tube 301. When the traction tube 301 pushes the scanning mechanism 4 forward, its pushing ability is stronger. When the gas in the support airbag 304 is reduced, the hardness of the support airbag 304 will decrease and soften, thereby increasing the flexibility of the traction tube 301 to bend, and improving the flexibility of moving in the object cavity.

[0064] like Figure 7As shown, in some embodiments, the support skeleton 303 of the present invention includes a plurality of skeleton pieces 3031, and a female joint 3032 is provided at the bottom of one side of each skeleton piece 3031, and a male joint 3033 is provided at the bottom of the other side of each skeleton piece 3031. The female joints 3032 and the male joints 3033 on two adjacent skeleton pieces 3031 are hinged to form a skeleton of the same length as the traction tube 301. The hinged skeleton pieces 3031 can rotate around the hinge point as an axis, so that the formed skeleton can bend freely like a snake. At the same time, the skeleton that is the same length as the traction tube 301 can support the traction tube 301 as a whole, so that it will not be severely deformed after being compressed, resulting in the inability to push the scanning mechanism 4 to move in the object cavity.

[0065] like Figure 6 As shown, in some embodiments, a motor compartment 305 is provided at the connection between the traction tube 301 and the scanning mechanism 4 of the present invention, and a torsion motor 306 is provided inside the motor compartment 305, and the torsion motor 306 can drive the scanning mechanism 4 to rotate. When scanning the object cavity, the scanning direction of the scanning mechanism 4 is limited. Therefore, driving the scanning mechanism 4 to rotate can greatly improve the scanning angle of the scanning mechanism 4, thereby improving the scanning efficiency.

[0066] like Figure 3 , Figure 4 and Figure 6 As shown, in some embodiments, the scanning mechanism 4 of the present invention includes a traction head 401, one end of which is connected to the torsion motor 306. The other end of the traction head 401 is provided with a rollable traction roller 402, so that when entering the object cavity, the friction between the traction head 401 and the object is converted into rolling friction, reducing wear. At the same time, when bending, the rollable traction roller 402 can better make the end of the traction head 401 turn along the arc in the object cavity.

[0067] A scanning probe 403 is provided on the side of the traction head 401, which is used to transmit and receive scanning laser signals, thereby obtaining the three-dimensional coordinate points in the object cavity, and transmitting the coordinate point information to the interior of the human-machine interaction mechanism 2 for further processing. The scanning probe 403 is recessed into the interior of the traction head 401 for protection, to prevent the scanning probe 403 from being scratched or collided with the inner wall of the object when the traction head 401 is pushed. The outer surface of the scanning probe 403 is covered with a protective cover 404, which is used to further protect the scanning probe 403 and prevent the surface of the traction head 401 from being recessed, which makes it inconvenient to move in the inner cavity of the object.

[0068] The motor compartment 305 is provided with a lead slot 307 for the wire of the scanning probe 403 to pass through. When the traction head 401 rotates, the wire can rotate at a certain angle along the track of the lead slot 307 to avoid the problem of serious wire tension. The power line of the torsion motor 306 and the wire of the scanning probe 403 are extended to the inside of the human-machine interaction mechanism 2, so that the speed and direction of the torsion motor 306 can be controlled through the interaction area of ​​the human-machine interaction mechanism 2.

[0069] like Fig. 9 and Fig.10 As shown, in some embodiments, the power transmission mechanism 1 of the present invention includes a protective shell 101, which is used to protect, support and limit. The outer surface of the protective shell 101 is symmetrically provided with a driving device 102 and an air pressure pump 103. The driving device 102 is used to provide power for the extension and retraction of the traction tube 301, and the air pressure pump 103 is used to inflate and deflate the interior of the support airbag 304.

[0070] A rotatable winding portion 104 is provided inside the protective shell 101, and the winding portion 104 is driven by the driving device 102. When scanning the object in the cavity, the driving device 102 drives the winding portion 104 to rotate to retract and release the traction tube 301, thereby realizing the control of the extension and retraction of the traction tube 301. An air cavity 105 is provided at the axis of the winding portion 104, and the air cavity 105 is connected to the air pressure pump 103. The traction tube 301 is wound on the outer surface of the winding portion 104, and the end of the traction tube 301 extends to the inside of the air cavity 105. When the air pressure pump 103 is working, the air pressure generated by the air pressure pump 103 will enter the inside of the air cavity 105, and then be transmitted to the inside of the support airbag 304 through the traction tube 301, so that the support airbag 304 expands to change the hardness of the traction tube 301.

[0071] The side of the protective shell 101 is provided with an inlet and outlet channel 106 to guide the traction tube 301 in and out of the protective shell 101, so as to ensure that the traction tube 301 can maintain a consistent angle when initially coming out of the protective shell 101, avoiding tilting and causing insufficient thrust. When the traction tube 301 is retracted, the position of the traction tube 301 entering the protective shell 101 is ensured to be consistent.

[0072] like Figure 2 and Fig. 9As shown, in some embodiments, the human-machine interaction mechanism 2 of the present invention includes an electrical box 201, and a scanner is provided inside the electrical box 201 and connected to the scanning probe 403, which is used to obtain the coordinate information scanned by the scanning probe 403 and process it. A power / signal interface 202 is provided outside the electrical box 201, which is connected to the power / signal interface 202 through a line to realize power supply, information interaction and function expansion. A display screen 203 and a control button 204 are also provided on the electrical box 201. The display screen 203 is used to display the status information of the driving device 102, the air pressure pump 103 and the scanning probe 403 and the instructions issued by the control button 204. The control button 204 is used to set the instructions, and the control button 204 can send signal instructions to the driving device 102, the air pressure pump 103 and the scanner respectively, which can be a physical button or a virtual button.

[0073] A transmission line 205 is led out from the inside of the electrical box 201 , and the inner core of the transmission line 205 is connected to the torsion motor 306 and the scanning probe 403 respectively, so as to enable the torsion motor 306 and the scanning probe 403 to exchange information with the human-machine interaction mechanism 2 .

[0074] like Fig.10 As shown, in some embodiments, the transmission line 205 of the present invention is wound around the outer surface of the winding portion 104, and the transmission line 205 enters from the inside of the air cavity 105 into the inside of the traction tube 301, thereby connecting with the torsion motor 306 and the scanning probe 403 through the traction tube 301 to achieve power supply and information interaction.

[0075] like Fig.10 As shown, in some embodiments, the winding part 104 of the present invention includes a winding disc 1041, and the middle of the winding disc 1041 is recessed inward to form an inner shaft portion for winding and limiting the traction tube 301 and the transmission line 205. The inner shaft portion of the winding disc 1041 is provided with a spacer 1042, and the spacer 1042 can separate the transmission line 205 and the traction tube 301. When the winding disc 1041 rotates, the transmission line 205 and the traction tube 301 are prevented from being entangled together. At the same time, the traction tube 301 is prevented from causing damage to the transmission line 205.

[0076] The specific use process of the present invention is as follows:

[0077] The following steps are involved:

[0078] S1, align the traction roller 402 with the opening of the object chamber, and pre-start the scanner by controlling the button 204 to make the scanning probe 403 start working;

[0079] S2, starting the driving device 102 through the control button 204, driving the winding part 104 to rotate through the driving device 102, slowly driving the traction tube 301, so that the traction head 401 enters the interior of the object chamber at a uniform speed;

[0080] S3, when the traction head 401 enters the object chamber, the torsion motor 306 is controlled by the control button 204 to drive the traction head 401 to rotate circumferentially, thereby increasing the scanning range of the scanning probe 403;

[0081] S4, when performing step S2, the air pressure pump 103 is started synchronously to expand the support airbag 304, thereby increasing the hardness of the traction tube 301, so that the traction tube 301 can smoothly enter the interior of the object chamber;

[0082] S5. When the traction head 401 penetrates into the cavity of the object and encounters resistance, the air pressure pump 103 adjusts the amount of gas in the supporting airbag 304 to make the traction tube 301 soft or hard. Softening allows the traction tube 301 to enter the cavity with a larger curvature, while hardening provides a greater thrust to the traction head 401.

[0083] S6. During the scanning process of the scanning probe 403, the coordinate information in the object cavity is synchronously transmitted to the scanner inside the electrical box 201 through the line for data integration;

[0084] S7, outputting the data through the power / signal interface 202 to generate a three-dimensional model;

[0085] S8. After the scanning is completed, the driving device 102 is driven in reverse to roll up the traction tube 301 into the inside of the protective shell 101. At the same time, the air pressure pump 103 deflates the supporting airbag 304 to make the traction tube 301 easier to roll up.

[0086] In summary, the three-axis automatic three-dimensional scanning device of the present invention supports the traction tube 301 by setting a support frame 303 inside the traction tube 301, so that the traction tube 301 can maintain its shape and can be bent. At the same time, an isolation plate 302 is set inside the traction tube 301 to separate the space inside the traction tube 301. When scanning the inner cavity of an object, the traction tube 301 can bend along the path of the inner cavity of the object, thereby achieving the effect of facilitating scanning of the contour of the inner cavity of the object.

[0087] By setting a motor compartment 305 at the end of the traction tube 301 and setting a torsion motor 306 inside the motor compartment 305 to drive the traction head 401 to rotate, the scanning range of the scanning probe 403 can be improved when scanning the object cavity, and the angle of the traction roller 402 can be adjusted so that the traction head 401 can better pass through the turning point of the object cavity, thereby achieving the effect of further improving the convenience of scanning the object cavity.

[0088] By arranging a support airbag 304 inside the support frame 303 and connecting the support airbag 304 to the air pressure pump 103, when the traction tube 301 drives the traction head 401 to enter the interior of the object cavity, the support airbag 304 is inflated to increase the deformation resistance of the traction tube 301, so that it will not become weak when entering a longer object. When there are many bends in the object cavity, the support airbag 304 is deflated to soften the traction tube 301, so that the traction tube 301 can turn better in the object cavity, thereby achieving the effect of improving flexibility.

[0089] Therefore, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0090] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A three-axis automatic three-dimensional scanning device, characterized in that: include: A power transmission mechanism (1), a human-machine interaction mechanism (2), an extension mechanism (3) and a scanning mechanism (4); The human-machine interaction mechanism (2) is arranged on the outer surface of the power transmission mechanism (1), and the human-machine interaction mechanism (2) can be used to perform human-machine interaction to control the power output of the power transmission mechanism (1); The extension mechanism (3) is arranged inside the power transmission mechanism (1), and one end of the extension mechanism (3) extends from the inside of the power transmission mechanism (1) to the outside of the power transmission mechanism (1), and the extension mechanism (3) is bendable; The scanning mechanism (4) is arranged at the end of the extension mechanism (3), and the extension mechanism (3) can pull the scanning mechanism (4) into the cavity of the object to scan the interior of the object; The extension mechanism (3) comprises a traction tube (301), a support frame (303) is arranged inside the traction tube (301) to support the traction tube (301), and a line connecting the human-machine interaction mechanism (2) and the scanning mechanism (4) is arranged inside the traction tube (301).

2. The three-axis automatic three-dimensional scanning device according to claim 1, characterized in that: An isolation plate (302) is provided inside the traction tube (301), and the isolation plate (302) divides the inside of the traction tube (301) into two halves; and a support airbag (304) is wrapped inside the support frame (303); The support airbag (304) extends to the interior of the power transmission mechanism (301) and can be inflated and deflated.

3. The three-axis automatic three-dimensional scanning device according to claim 2, characterized in that: The support frame (303) comprises a plurality of frame pieces (3031), the bottom of one side of each frame piece (3031) being provided with a female connector (3032), and the bottom of the other side of each frame piece (3031) being provided with a male connector (3033); The female joints (3032) and the male joints (3033) on two adjacent skeleton pieces (3031) are hingedly connected to form a skeleton having the same length as the traction tube (301).

4. The three-axis automatic three-dimensional scanning device according to claim 1, characterized in that: A motor compartment (305) is provided at the connection between the traction tube (301) and the scanning mechanism (4), and a twisting motor (306) is provided inside the motor compartment (305). The twisting motor (306) can drive the scanning mechanism (4) to rotate.

5. The three-axis automatic three-dimensional scanning device according to claim 4, characterized in that: The scanning mechanism (4) comprises a traction head (401), one end of the traction head (401) is connected to the torsion motor (306), and the other end of the traction head (401) is provided with a rollable traction roller (402); A scanning probe (403) is arranged on the side of the traction head (401), the scanning probe (403) is recessed into the interior of the traction head (401), and the outer surface of the scanning probe (403) is covered with a protective cover (404); The motor compartment (305) is provided with a lead groove (307) for the lead wire of the scanning probe (403) to pass through, and the power line of the torsion motor (306) and the lead wire of the scanning probe (403) are extended to the inside of the human-machine interaction mechanism (2).

6. The three-axis automatic three-dimensional scanning device according to claim 5, characterized in that: The power transmission mechanism (1) comprises a protective shell (101), and a driving device (102) and an air pressure pump (103) are symmetrically arranged on the outer surface of the protective shell (101); A rotatable winding portion (104) is arranged inside the protective shell (101), the winding portion (104) is driven by a driving device (102), an air cavity (105) is arranged at the axis of the winding portion (104), and the air cavity (105) is connected to an air pressure pump (103); The traction tube (301) is wound around the outer surface of the winding portion (104), and the end of the traction tube (301) extends into the interior of the air cavity (105); An inlet and outlet channel (106) is provided on the side of the protective shell (101) to guide the traction tube (301) to enter and exit the interior of the protective shell (101).

7. The three-axis automatic three-dimensional scanning device according to claim 6, characterized in that: The human-machine interaction mechanism (2) comprises an electrical box (201), a scanner is arranged inside the electrical box (201), a power supply / signal interface (202) is arranged outside the electrical box (201), and a display screen (203) and control buttons (204) are also arranged on the electrical box (201); The control button (204) can send signal instructions to the driving device (102), the air pressure pump (103) and the scanner respectively; A transmission line (205) is led out from the interior of the electrical box (201), and the inner core of the transmission line (205) is respectively connected to the torsion motor (306) and the scanning probe (403).

8. The three-axis automatic three-dimensional scanning device according to claim 7, characterized in that: The transmission line (205) is wound around the outer surface of the winding portion (104), and the transmission line (205) enters the interior of the traction tube (301) from the interior of the air cavity (105).

9. The three-axis automatic three-dimensional scanning device according to claim 8, characterized in that: The winding portion (104) comprises a winding disk (1041), and an inner shaft portion of the winding disk (1041) is provided with an isolation sheet (1042), and the isolation sheet (1042) can separate the transmission line (205) and the traction tube (301).

10. A scanning method of the three-axis automatic three-dimensional scanning device according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, aligning the traction roller (402) with the opening of the object chamber, and pre-activating the scanner through the control button (204) to start the scanning probe (403) to work; S2, starting the driving device (102) by pressing the control button (204), driving the winding portion (104) to rotate by the driving device (102), and slowly driving the traction tube (301), so that the traction head (401) enters the interior of the object chamber at a uniform speed; S3, when the traction head (401) enters the object chamber, the torsion motor (306) is controlled by the control button (204) to operate, so as to drive the traction head (401) to rotate in a circumferential direction, thereby increasing the scanning range of the scanning probe (403); S4, when performing step S2, the air pressure pump (103) is started synchronously to expand the support airbag (304), thereby increasing the hardness of the traction tube (301) so that the traction tube (301) can smoothly enter the interior of the object chamber; S5. When the traction head (401) penetrates into the cavity of the object and encounters resistance, the amount of gas in the supporting airbag (304) is adjusted by the air pressure pump (103) to make the traction tube (301) soft or hard. When it softens, it can enter the cavity with a larger bending degree, and when it hardens, it can provide a greater thrust to the traction head (401); S6. During the scanning process of the scanning probe (403), the coordinate information in the object cavity is synchronously transmitted to the scanner inside the electrical box (201) through the line for data integration; S7, outputting the data through the power / signal interface (202) to generate a three-dimensional model; S8. After the scanning is completed, the driving device (102) is driven in reverse to roll the traction tube (301) into the interior of the protective shell (101). At the same time, the air pressure pump (103) deflates the supporting airbag (304) to make the traction tube (301) easier to roll up.

Images