A computer vision measurement device

Abstract

The present application relates to a kind of computer vision measuring equipment, belong to visual measurement technical field;Including remote control car, is provided with a group of support claw in the front and rear ends of remote control car, and the front and rear two groups of support claw are connected by drive mechanism, and the front and rear two groups of support claw are realized synchronous opening and synchronous contraction by drive mechanism;Connection plate is provided in the lower end of remote control car, and probe claw is provided in the lower end of connection plate, and connection plate is connected with drive mechanism by linkage mechanism, when drive mechanism controls the opening of the front and rear two groups of support claw, connection plate is retracted, when drive mechanism controls the contraction of the front and rear two groups of support claw, connection plate is released;Industrial camera is rotatably arranged in the middle of remote control car, and industrial camera is connected with drive mechanism by rotating mechanism, and industrial camera is driven to rotate synchronously by rotating mechanism when drive mechanism acts;Solve the problem that current small diameter steel pipe internal weld cannot be accurately positioned and cannot be accurately measured.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of visual measurement, and particularly relates to a computer visual measurement device. BACKGROUND

[0002] In water conservancy construction, the welding quality of steel pipes, as key water flow conveying and structural support components, directly affects the safety and reliability of the entire project; especially for those small-diameter steel pipes that are difficult for people to directly enter, the detection of the internal weld quality becomes a technical problem; traditional detection methods, such as manual visual inspection or the use of large detection equipment, not only have low efficiency, but also may not be implemented due to space limitations, and even cause damage to the steel pipe.

[0003] Firstly, the steel pipes used in water conservancy projects often have specific diameters and lengths to adapt to the requirements of water flow and pressure; for some small-diameter steel pipes, manual entry inspection is not only difficult, but also may miss potential weld defects due to the narrow space.

[0004] Secondly, as the key part of the steel pipe connection, the quality of the weld directly relates to the strength and sealing of the steel pipe; in the long-term operation of water conservancy projects, defects at the weld may cause water leakage, structural strength reduction, and even safety accidents; therefore, accurate and comprehensive detection of the weld quality is an important part of ensuring project quality.

[0005] However, when the existing computer visual measurement device is applied to the detection of internal welds of such small-diameter steel pipes, it needs to send the visual measurement device to the weld position through a remote control vehicle, but the accurate control of the weld position and the moving distance of the remote control vehicle is particularly difficult; on the one hand, when the remote control vehicle travels in the steel pipe, it is difficult to accurately determine when to reach the weld position in real time due to the narrow space and complex working conditions inside the pipe; on the other hand, there is a lack of effective positioning marks inside the steel pipe, resulting in a large measurement error of the moving distance of the remote control vehicle; this not only easily leads to the omission of part of the weld in the measurement process, but also may cause repeated detection of the same weld, greatly reducing the efficiency and accuracy of the detection work, and further affecting the project progress. SUMMARY

[0006] The present application overcomes the shortcomings of the prior art and provides a computer visual measurement device; solving the problems of inaccurate positioning and inaccurate measurement during the detection of internal welds of small-diameter steel pipes.

[0007] In order to achieve the above purpose, the present application is realized by the following technical scheme.

[0008] The utility model provides a computer vision measuring device, including remote control car, is provided with a group of props claw respectively at the front and back of remote control car, and the front and back two groups of props claw are connected through the drive mechanism, and the front and back two groups of props claw are realized through the drive mechanism synchronous opening and synchronous contraction, and the lower end of remote control car is provided with the connecting plate, and the lower end of connecting plate is provided with the probe claw, and the connecting plate is connected with the drive mechanism through the linkage mechanism, when the drive mechanism controls the opening of the front and back two groups of props claw, the connecting plate is taken in, when the drive mechanism controls the contraction of the front and back two groups of props claw, the connecting plate is put out, and the industrial camera is rotatably arranged in the middle of remote control car, and the industrial camera is connected with the drive mechanism through the rotating mechanism, and the industrial camera is driven to rotate synchronously through the rotating mechanism when the drive mechanism acts.

[0009] Further, a front and back through installation cylinder is arranged in the remote control car, a connecting ring is fixedly arranged at the opening of the front and back two ends of the installation cylinder, and the front and back two groups of props claw are rotatably arranged on the front and back two connecting rings respectively, and the plurality of props claw in each group is arranged in a circular array along the axis of the connecting ring, and a torsional spring is arranged at the hinge of the props claw and the connecting ring.

[0010] Further, the drive mechanism comprises a main shaft and a threaded ring, a main shaft is rotatably arranged in the installation cylinder of the remote control car, a threaded segment is arranged at the outer side of the front and back two ends of the main shaft respectively, and the outer thread rotation directions of the front and back two threaded segments are opposite, a threaded ring is screwed on each threaded segment of the front and back two threaded segments respectively, a circular array of clamping grooves is arranged on the outer cylindrical surface of the threaded ring, and each clamping groove of the front threaded ring is slidably clamped with a props claw of the front group, and each clamping groove of the rear threaded ring is slidably clamped with a props claw of the rear group.

[0011] Further, the drive mechanism further comprises a second spring, a friction ring and a driven bevel gear, a circular array of sliding grooves is arranged on the middle of the main shaft, a guide rod is fixedly arranged in each sliding groove, and a second spring is sleeved on the outer side of the guide rod; a friction ring is sleeved on the outer side of the middle of the main shaft, a circular array of sliding plates is fixedly arranged on the inner cylindrical surface of the friction ring, and a guide hole is arranged on each sliding plate; the sliding plates on the friction ring are inserted into the sliding grooves of the main shaft one by one, the guide holes on the sliding plates are slidably sleeved on the outer side of the guide rods, one end of the second spring is fixedly connected with the sliding plates, and the other end of the second spring is fixedly connected with the inner wall of the sliding groove; a driven bevel gear is further sleeved on the outer side of the middle of the main shaft, the driven bevel gear is located on the side of the friction ring away from the second spring, and the end face of the driven bevel gear and the end face of the friction ring are in sliding contact.

[0012] Further, the driving mechanism further comprises a driving motor and a driving bevel gear; the driving motor is fixedly arranged inside the remote control vehicle, and a square groove is arranged at the output shaft end of the driving motor; a fourth spring is sleeved on the outside of the output shaft of the driving motor, one end of the fourth spring is fixedly connected with the outside of the driving motor, and the other end of the fourth spring is fixedly arranged with a ring-shaped gasket, which is sleeved on the outside of the output shaft of the driving motor; a square rod is slidingly inserted into the square groove of the output shaft of the driving motor, a driving bevel gear is fixedly arranged at the outside end of the square rod, and the driving bevel gear is in rotating contact with the gasket; the driving bevel gear is in meshing with the driven bevel gear.

[0013] Further, the linkage mechanism comprises a receiving plate, a threaded rod, a threaded block and a first spring; an L-shaped receiving plate is fixedly arranged at the lower end surface of the remote control vehicle, the receiving plate comprises a horizontal plate and a vertical plate, the upper end of the vertical plate is fixedly connected with the lower end surface of the remote control vehicle, and the rear end of the horizontal plate is fixedly connected with the lower end of the vertical plate; a front-rear horizontal threaded rod is rotatably arranged inside the receiving plate, an external thread is arranged at the middle part of the outer surface of the threaded rod, a ring-shaped avoiding groove is arranged at each end of the outer surface of the threaded rod, a first spring is arranged in each avoiding groove, the first spring is sleeved on the outer side of the threaded rod, and the two first springs are fixedly connected with the ends of the two avoiding grooves away from each other; a threaded block is screwed on the outer side of the threaded rod, and the lower end surface of the threaded block is in sliding contact with the receiving plate; the upper end of the connecting plate is rotatably connected with the threaded block, and one end of the threaded rod is drivingly connected with the main shaft through a belt transmission mechanism.

[0014] Further, the rotating mechanism comprises a friction wheel, a one-way gear, a driving ring and a tooth ring; the same driving ring is rotatably sleeved on the outside of the friction ring and the driven bevel gear, the industrial camera is fixedly arranged on the outer surface of the driving ring, the tooth ring is fixedly arranged on the inner surface of the driving ring, and a rotating shaft is rotatably arranged in the region between the driven bevel gear and the driving ring, the friction wheel is fixedly sleeved on one end of the rotating shaft, the one-way gear is fixedly sleeved on the other end of the rotating shaft, and the one-way gear is in meshing with the tooth ring.

[0015] Further, the rotating mechanism further comprises three extrusion rings, three extrusion rings are fixedly arranged inside the friction ring, the three extrusion rings are located on the side of the sliding plate away from the second spring, the three extrusion rings are arranged along the axial direction of the friction ring, and the three extrusion rings are sleeved on the outer side of the main shaft; a trapezoidal notch is arranged on each extrusion ring, and the trapezoidal notches on the three extrusion rings are staggered arranged along the circumferential direction of the extrusion ring.

[0016] Further, the rotating mechanism further comprises a friction top rod, three sliding grooves arranged in a circular array are arranged on the driven bevel gear, the sliding grooves are T-shaped structures, the sliding grooves comprise a radial segment and a circular arc segment, the circular arc segment is arranged on the outer side of the driven bevel gear, the radial segment extends along the radial direction of the driven bevel gear, and the outer side of the radial segment is connected with the middle part of the circular arc segment in communication; a friction top rod is slidably arranged in each sliding groove, the friction top rod is a T-shaped structure, the friction top rod comprises a radial rod and a circular arc plate, the radial rod is slidably inserted into the radial segment of the sliding groove, the circular arc plate is slidably arranged in the circular arc segment of the sliding groove, and the outer side of the radial rod is fixedly connected with the middle part of the inner side of the circular arc plate; a third spring is arranged in the radial segment of the sliding groove, one end of the third spring is fixedly connected with the inner wall of the radial segment, and the other end of the third spring is fixedly connected with the circular arc plate.

[0017] Further, the three extrusion rings on the friction ring are arranged on the inner side of the driven bevel gear, the inner side of the radial rod of the three friction top rods is respectively inserted into the trapezoidal notch of the three extrusion rings, and the friction wheel is located on the outer side of the driven bevel gear.

[0018] The beneficial effects of the present application relative to the prior art are:

[0019] 1. The remote control vehicle is provided with a naturally drooping probe claw, when the remote control vehicle travels in the steel pipe, the probe claw is always in contact with the inner wall of the steel pipe, and once the probe claw contacts the weld, the probe claw will stop the remote control vehicle from walking due to the obstruction of the weld, compared with the traditional equipment that cannot effectively sense the weld, the present application can accurately and in real time sense the position of the weld, solves the problem that the traditional equipment is difficult to determine when to reach the weld in narrow space and complex working conditions, greatly improves the accuracy of positioning the weld, and effectively avoids missing the weld.

[0020] 2. The equipment adopts computer vision measurement technology, an industrial camera continuously collects steel pipe inner wall images and transmits them to an external computer; the images are analyzed, the weld characteristics can be accurately identified, and the weld position is further confirmed; this not only provides secondary verification for the weld position sensed by the probe claw, but also can more comprehensively and accurately define the weld range under complex weld forms, compared with the incomplete inspection caused by space limitation in traditional manual visual inspection, the accuracy of judging the weld position is greatly improved.

[0021] 3. Through the ingenious transmission design between the main shaft and the driven bevel gear through the friction ring, after the support claw is unfolded and the main shaft is fixed, the transmission path can be switched smoothly to drive the industrial camera to rotate for measurement; the cooperation of the T-shaped friction top rod and the friction wheel ensures the stable operation of the industrial camera rotation, the whole measurement process is stable and reliable, compared with the traditional detection method, whether it is the subjectivity of manual visual inspection or the difficulty of large detection equipment to implement due to space limitation and the possibility of damaging the steel pipe, the device can more efficiently and accurately complete the detection work of the internal weld of the small diameter steel pipe, effectively guaranteeing the safety and reliability of the water conservancy project and speeding up the project progress. BRIEF DESCRIPTION OF DRAWINGS

[0022] The application will be further described in detail below in combination with the drawings:

[0023] Figure 1 is a working schematic diagram of the application;

[0024] Figure 2 is a structural schematic diagram of the application;

[0025] Figure 3 is a schematic diagram of the internal structure of the remote control vehicle;

[0026] Figure 4 is a structural schematic diagram of the linkage mechanism;

[0027] Figure 5 is an explosion diagram between the front and rear two groups of support claws and the driving mechanism;

[0028] Figure 6 is a connection schematic diagram between the main shaft, the friction ring, the driven bevel gear, the friction wheel and the one-way gear;

[0029] Figure 7 is a connection schematic diagram between the friction ring and the extrusion ring;

[0030] Figure 8 is a connection schematic diagram between the driven bevel gear and the friction top rod;

[0031] Figure 9 is an explosion schematic diagram between the driving motor and the driving bevel gear;

[0032] Among them, 1 is a remote control car, 2 is an industrial camera, 3 is a support claw, 4 is a connecting plate, 5 is a probe claw, 6 is a connecting ring, 7 is a storage plate, 8 is a threaded rod, 9 is a threaded slider, 10 is a first spring, 11 is a main shaft, 12 is a threaded section, 13 is a threaded ring, 14 is a sliding groove, 15 is a friction ring, 16 is a second spring, 17 is a driven bevel gear, 18 is a driving bevel gear, 19 is a friction wheel, 20 is a one-way gear, 21 is a drive ring, 22 is a gear ring, 23 is a compression ring, 24 is a friction push rod, 25 is a third spring, 26 is a washer, 27 is a third spring, 28 is a through groove, 29 is a square groove, and 30 is a square rod. Detailed Implementation

[0033] To make the technical problems to be solved, the technical solutions, and the beneficial effects of this invention clearer, the invention will be further described in detail with reference to the embodiments and accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. The technical solutions of this invention are described in detail below with reference to the embodiments and accompanying drawings, but the scope of protection is not limited thereto.

[0034] like Figure 1 As shown in Figure 9, this invention provides a computer vision measurement device, including a remote-controlled vehicle 1. A set of support claws 3 are respectively arranged at the front and rear ends of the remote-controlled vehicle 1. The two sets of support claws 3 are connected by a drive mechanism, which enables the two sets of support claws 3 to open and retract synchronously. A connecting plate 4 is arranged at the lower end of the remote-controlled vehicle 1, and a probe claw 5 is arranged at the lower end of the connecting plate 4. The connecting plate 4 is connected to the drive mechanism through a linkage mechanism. When the drive mechanism controls the two sets of support claws 3 to open, the connecting plate 4 is retracted; when the drive mechanism controls the two sets of support claws 3 to retract, the connecting plate 4 is extended. An industrial camera 2 is rotatably arranged in the middle of the remote-controlled vehicle 1. The industrial camera 2 is connected to the drive mechanism through a rotation mechanism. When the drive mechanism is activated, it drives the industrial camera 2 to rotate synchronously through the rotation mechanism.

[0035] Two sets of rollers are rotatably installed on the lower end face of the remote control car 1. A drive device is installed inside the remote control car 1. The drive device is connected to the rollers and drives the rollers to rotate, thereby driving the remote control car 1 to move back and forth.

[0036] A front-to-rear through mounting cylinder is arranged inside the remote control vehicle 1, and the axis of the mounting cylinder is arranged horizontally front-to-rear. A connecting ring 6 is fixedly arranged at each of the front and rear openings of the mounting cylinder, the connecting ring 6 is annular in structure, and the axis of the connecting ring 6 coincides with the axis of the mounting cylinder. Two groups of support claws 3 are rotatably arranged on the front and rear connecting rings 6 respectively, and the plurality of support claws 3 in each group are arranged in a circular array along the axis of the connecting ring 6. The support claws 3 at the front side extend forward from the end of the connecting ring 6 away from the support claws 3, and the support claws 3 at the rear side extend rearward from the end of the connecting ring 6 away from the support claws 3. A torsion spring is arranged at the hinge between the support claw 3 and the connecting ring 6, and when the support claw 3 is not subjected to external force, the support claw 3 is in a retracted state.

[0037] The driving mechanism includes a main shaft 11, a threaded ring 13, a friction ring 15, a second spring 16, a driven bevel gear 17, a driving bevel gear 18, and a driving motor.

[0038] A main shaft 11 is rotatably arranged inside the mounting cylinder of the remote control vehicle 1, and the main shaft 11 is coaxially arranged with the mounting cylinder. The front and rear ends of the main shaft 11 extend out of the front and rear openings of the mounting cylinder respectively. A threaded section 12 is arranged on the outside of each of the front and rear ends of the main shaft 11, and the outer threads of the front and rear threaded sections 12 are opposite in rotation direction. A threaded ring 13 is screwed onto each of the front and rear threaded sections 12 of the main shaft 11, and a circular array of clamping grooves is arranged on the outer cylindrical surface of the threaded ring 13. A group of support claws 3 at the front side are slidingly clamped in each of the clamping grooves of the threaded ring 13 at the front side, and a group of support claws 3 at the rear side are slidingly clamped in each of the clamping grooves of the threaded ring 13 at the rear side.

[0039] A circular array of sliding grooves 14 is arranged on the middle part of the main shaft 11, and a guide rod is fixedly arranged in each of the sliding grooves 14. The axis of the guide rod is parallel to the axis of the main shaft 11. A second spring 16 is sleeved on the outside of the guide rod. A friction ring 15 is sleeved on the outside of the middle part of the main shaft 11, and the friction ring 15 is annular in structure. A circular array of sliding plates is fixedly arranged on the inner cylindrical surface of the friction ring 15, and a guide hole is arranged on each of the sliding plates. Each of the sliding plates of the friction ring 15 is inserted into the sliding groove 14 of the main shaft 11, the guide hole of the sliding plate is slidingly sleeved on the outside of the guide rod, one end of the second spring 16 is fixedly connected with the sliding plate, and the other end of the second spring 16 is fixedly connected with the inner wall of the sliding groove 14.

[0040] A driven bevel gear 17 is also sleeved on the outside of the middle part of the main shaft 11, and the driven bevel gear 17 is located on the side of the friction ring 15 away from the second spring 16. The end face of the driven bevel gear 17 is in sliding contact with the end face of the friction ring 15.

[0041] A driving motor is fixedly arranged inside the remote control vehicle 1, an output shaft of the driving motor is horizontally arranged along the front-rear direction, a square groove 29 is arranged at the end of the output shaft of the driving motor, a fourth spring 27 is sleeved outside the output shaft of the driving motor, one end of the fourth spring 27 is fixedly connected with the outside of the driving motor, the other end of the fourth spring 27 is fixedly arranged with a circular gasket 26, and the gasket 26 is sleeved outside the output shaft of the driving motor. A square rod 30 is slidingly inserted into the square groove 29 of the output shaft of the driving motor, one end of the square rod 30 is fixedly arranged with a driving bevel gear 18, and the driving bevel gear 18 is in rotating contact with the gasket 26. The driving bevel gear 18 is in meshing with a driven bevel gear 17.

[0042] The linkage mechanism comprises a receiving plate 7, a threaded rod 8, a threaded block 9, and a first spring 10.

[0043] An L-shaped receiving plate 7 is fixedly arranged at the lower end surface of the remote control vehicle 1, the receiving plate 7 comprises a horizontal plate and a vertical plate, the upper end of the vertical plate is fixedly connected with the lower end surface of the remote control vehicle 1, and the rear end of the horizontal plate is fixedly connected with the lower end of the vertical plate. A front-rear horizontal threaded rod 8 is rotatably arranged inside the receiving plate 7, a middle part of the outer side surface of the threaded rod 8 is provided with an external thread, and two circular annular avoiding grooves are respectively arranged at both ends of the outer side surface of the threaded rod 8 and located on both sides of the middle external thread. A first spring 10 is respectively arranged in each avoiding groove, the first spring 10 is sleeved outside the threaded rod 8, and the two first springs 10 are respectively fixedly connected with the ends of the two avoiding grooves away from each other. A threaded block 9 is screwed outside the threaded rod 8, and the lower end surface of the threaded block 9 is in sliding contact with the receiving plate 7. The upper end of the connecting plate 4 is rotatably connected with the threaded block 9, and a through groove 28 for avoiding the threaded rod 8 is arranged on the connecting plate 4. One end of the threaded rod 8 is drivingly connected with the main shaft 11 through a belt transmission mechanism.

[0044] The rotating mechanism comprises a friction wheel 19, a one-way gear 20, a driving ring 21, a tooth ring 22, a pressing ring 23, and a friction top rod 24.

[0045] The same driving ring 21 is rotatably sleeved outside the friction ring 15 and the driven bevel gear 17, the industrial camera 2 is fixedly arranged on the outer side surface of the driving ring 21, and the industrial camera 2 rotates synchronously with the driving ring 21. The tooth ring 22 is fixedly arranged on the inner side surface of the driving ring 21, a rotating shaft is rotatably arranged in the region between the driven bevel gear 17 and the driving ring 21, the friction wheel 19 is fixedly sleeved at one end of the rotating shaft, the one-way gear 20 is fixedly sleeved at the other end of the rotating shaft, and the one-way gear 20 is in meshing with the tooth ring 22.

[0046] Three extrusion rings 23 are fixedly arranged inside the friction ring 15, the extrusion rings 23 are circular ring structures, the three extrusion rings 23 are located on the side of the sliding plate away from the second spring 16, the three extrusion rings 23 are arranged along the axial direction of the friction ring 15, and the three extrusion rings 23 are sleeved on the outer side of the main shaft 11. A trapezoidal notch is arranged on each extrusion ring 23, the trapezoidal notch is an isosceles trapezoidal structure, the trapezoidal notch is communicated with the inner and outer sides of the extrusion ring 23, and the outer side width of the trapezoidal notch is greater than the inner side width. The trapezoidal notches on the three extrusion rings 23 are staggered along the circumferential direction of the extrusion ring 23.

[0047] Three circular array sliding grooves are arranged on the driven bevel gear 17, the sliding grooves are T-shaped structures, the sliding grooves include a radial segment and a circular arc segment, the circular arc segment is arranged on the outer side of the driven bevel gear 17, the radial segment extends along the radial direction of the driven bevel gear 17, and one end of the outer side of the radial segment is communicated with the middle part of the circular arc segment. A friction top rod 24 is slidably arranged in each sliding groove, the friction top rod 24 is a T-shaped structure, the friction top rod 24 includes a radial rod and a circular arc plate, the radial rod is slidably inserted into the radial segment of the sliding groove, the circular arc plate is slidably arranged in the circular arc segment of the sliding groove, and one end of the outer side of the radial rod is fixedly connected with the middle part of the inner side of the circular arc plate. A third spring 25 is arranged in the radial segment of the sliding groove, one end of the third spring 25 is fixedly connected with the inner wall of the radial segment, and the other end of the third spring 25 is fixedly connected with the circular arc plate.

[0048] The three extrusion rings 23 on the friction ring 15 are arranged inside the driven bevel gear 17, and the inner side of the radial rod of the three friction top rods 24 is respectively inserted into the trapezoidal notch of the three extrusion rings 23.

[0049] The friction wheel 19 is located on the outer side of the driven bevel gear 17, and when the friction top rod 24 slides to the outer side of the sliding groove, the outer side of the circular arc plate of the friction top rod 24 is in sliding contact with the friction wheel 19.

[0050] The working principle of the present application is as follows:

[0051] The remote control vehicle 1 is placed at one end of the welded steel pipe, the driving device drives the roller to rotate, so as to drive the remote control vehicle 1 to move forward in the steel pipe. In the initial state, the threaded sliding block 9 is located on the side of the horizontal plate of the storage plate 7 away from the vertical plate, at this time, the connecting plate 4 is located on the outer side of the storage plate 7, the probe claw 5 at the lower end of the connecting plate 4 naturally droops and is in an inclined state, and the end of the probe claw 5 moves forward along the inner side of the steel pipe.

[0052] When the probe claw 5 contacts the weld on the inner wall of the steel pipe, the probe claw 5 prevents the remote control vehicle 1 from continuing to move forward due to the existence of the weld, at this time, the driving motor in the remote control vehicle 1 is started.

[0053] When the driving motor rotates, the driving motor drives the driving bevel gear 18 to rotate through the square rod 30 and the square groove 29, the driving bevel gear 18 drives the driven bevel gear 17 to rotate, the driven bevel gear 17 drives the friction ring 15 to rotate through the friction force, the second spring 16 ensures the stable contact between the driven bevel gear 17 and the friction ring 15, thereby ensuring the stable rotation of the friction ring 15. The friction ring 15 drives the main shaft 11 to rotate through the sliding plate and the sliding groove 14, the two threaded segments 12 at both ends of the main shaft 11 are screwed with the two threaded rings 13 respectively, thereby driving the two threaded rings 13 to move close to each other, the two threaded rings 13 continuously move close to the connecting ring 6 on the same side, the threaded ring 13 continuously extrudes the support claw 3 on the same side, thereby continuously opening the support claw 3, until the end of the support claw 3 away from the connecting ring 6 contacts the inner wall of the steel pipe. When the ends of the front and rear groups of support claws 3 away from the connecting ring 6 contact the inner wall of the steel pipe, the front and rear groups of support claws 3 cannot continue to open, at this time, the axis of the main shaft 11 in the remote control vehicle 1 coincides with the axis of the steel pipe, thereby realizing the mutual positioning of the remote control vehicle 1 and the steel pipe. Since the ends of the front and rear groups of support claws 3 away from the connecting ring 6 have contacted the inner wall of the steel pipe, the support claw 3 cannot continue to open, the two threaded rings 13 cannot continue to move close to each other, and the main shaft 11 cannot continue to rotate, then the driven bevel gear 17 and the friction ring 15 start to slip, and the second spring 16 is compressed.

[0054] When the driven bevel gear 17 and the friction ring 15 rotate synchronously, the inner side of the radial rod of the three friction top rods 24 is always inserted into the trapezoidal notch of the three extrusion rings 23, and the friction top rod 24 rotates synchronously with the extrusion ring 23. When the driven bevel gear 17 and the friction ring 15 start to slip, the friction ring 15 stops rotating, the driven bevel gear 17 continues to rotate, and the driven bevel gear 17 drives the three friction top rods 24 to continue to rotate, then the inner side of the radial rod of the three friction top rods 24 slides relative to the trapezoidal notch on the extrusion ring 23, the inner side of the radial rod slides in contact with the inclined inner wall of the trapezoidal notch, the inner side of the radial rod moves to contact the outer side of the extrusion ring 23, the radial rod moves outward along the radial segment of the sliding groove, the radial rod drives the circular arc plate to move outward, and the outer side of the circular arc plate contacts the friction wheel 19. With the continuous rotation of the driven bevel gear 17, the circular arc plate of the friction top rod 24 drives the friction wheel 19 to rotate, the friction wheel 19 drives the one-way gear 20 to rotate through the rotating shaft, the one-way gear 20 drives the gear ring 22 to rotate, the gear ring 22 drives the driving ring 21 to rotate, the driving ring 21 drives the industrial camera 2 to rotate, and the industrial camera 2 in rotation takes pictures and measures the inside of the steel pipe.

[0055] When the main shaft 11 starts to rotate, the main shaft 11 drives the threaded rod 8 to rotate through the belt transmission mechanism, the threaded rod 8 drives the threaded block 9 to slide to the inside of the storage plate 7, the threaded block 9 in sliding drives the connecting plate 4 to gradually withdraw to the inside of the storage plate 7, and the probe claw 5 is out of contact with the inner wall of the steel pipe. When the threaded block 9 moves to the innermost side of the storage plate 7, the threaded block 9 enters the avoiding slot at the end of the threaded rod 8, the threaded block 9 is no longer screwed with the external thread of the threaded rod 8, the threaded block 9 no longer moves, and the first spring 10 in the avoiding slot is compressed.

[0056] The rear end of the remote control vehicle 1 is fixedly connected with a wire, and the wire is electrically connected with a computer arranged at one end of the steel pipe. Image data photographed by the industrial camera 2 is transmitted to the computer through the wire, so that subsequent analysis and measurement operations are carried out.

[0057] When the measurement is completed, the control driving motor reversely rotates, the driving motor drives the driving bevel gear 18 to reversely rotate, the driving bevel gear 18 drives the driven bevel gear 17 to reversely rotate, the driven bevel gear 17 stably contacts with the friction ring 15 under the rebound force of the second spring 16, the driven bevel gear 17 drives the friction ring 15 to reversely rotate, the friction ring 15 drives the main shaft 11 to reversely rotate, so that the two threaded rings 13 are away from each other, the threaded ring 13 no longer presses the same side group of supporting claws 3, and the front and rear groups of supporting claws 3 continuously shrink under the action force of the torsion spring until the supporting claws 3 return to the initial state. When the main shaft 11 reversely rotates, the main shaft 11 drives the threaded rod 8 to reversely rotate through the belt transmission mechanism, the threaded block 9 is screwed with the external thread of the threaded rod 8 again under the rebound force of the first spring 10, and the threaded block 9 slides to the outside opening of the storage plate 7, so that the connecting plate 4 reaches the outside of the storage plate 7 again, and the end of the probe claw 5 contacts with the inner wall of the steel pipe again.

[0058] It is apparent to those skilled in the art that the application is not limited to the details of the foregoing exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the application. The present embodiments are therefore considered in all respects to be illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. No limitation is intended to the scope of the claims based on any embodiment illustrated in the drawings.

Claims

1. A computer vision measurement device, characterized by: The utility model provides a remote control car (1), and a set of support claws (3) are arranged at the front and back ends of the remote control car (1) respectively, and the front and back sets of support claws (3) are connected through a driving mechanism, and the front and back sets of support claws (3) are realized synchronous opening and synchronous contraction through the driving mechanism;A connecting plate (4) is arranged at the lower end of the remote control car (1), and a probe claw (5) is arranged at the lower end of the connecting plate (4), and the connecting plate (4) is connected with the driving mechanism through a linkage mechanism, when the driving mechanism controls the opening of the front and back sets of support claws (3), the connecting plate (4) is retracted, when the driving mechanism controls the contraction of the front and back sets of support claws (3), the connecting plate (4) is put out;An industrial camera (2) is rotatably arranged in the middle of the remote control car (1), and the industrial camera (2) is connected with the driving mechanism through a rotating mechanism, and when the driving mechanism acts, the industrial camera (2) is driven to rotate synchronously through the rotating mechanism; A front and back through mounting cylinder is arranged in the remote control car (1), the driving mechanism includes a main shaft (11), a threaded ring (13), a second spring (16), a friction ring (15) and a driven bevel gear (17), a main shaft (11) is rotatably arranged in the mounting cylinder of the remote control car (1), a threaded section (12) is arranged on the outer side of the front and back ends of the main shaft (11) respectively, and the outer thread rotation directions of the front and back threaded sections (12) are opposite;A threaded ring (13) is screwed on the front and back threaded sections (12) of the main shaft (11) respectively, a circular array of clamping grooves is arranged on the outer cylindrical surface of the threaded ring (13), a set of support claws (3) on the front side are respectively slidably clamped in each clamping groove of the threaded ring (13) on the front side, and a set of support claws (3) on the rear side are respectively slidably clamped in each clamping groove of the threaded ring (13) on the rear side;A circular array of sliding grooves (14) is arranged on the middle of the main shaft (11), a guide rod is fixedly arranged in each sliding groove (14), and a second spring (16) is sleeved on the outer side of the guide rod;A friction ring (15) is sleeved on the outer side of the middle of the main shaft (11), a circular array of sliding plates is fixedly arranged on the inner cylindrical surface of the friction ring (15), and a guide hole is arranged on each sliding plate;The sliding plates on the friction ring (15) are inserted into the sliding grooves (14) of the main shaft (11) one by one, the guide holes on the sliding plates are slidably sleeved on the outer sides of the guide rods, one end of the second spring (16) is fixedly connected with the sliding plates, and the other end of the second spring (16) is fixedly connected with the inner wall of the sliding groove (14);A driven bevel gear (17) is further sleeved on the outer side of the middle of the main shaft (11), the driven bevel gear (17) is located on the side, away from the second spring (16), of the friction ring (15), and the end face of the driven bevel gear (17) and the end face of the friction ring (15) are in sliding contact. The linkage mechanism comprises a receiving plate (7), a threaded rod (8) and a threaded slider (9), an L-shaped receiving plate (7) is fixedly arranged on the lower end surface of the remote control vehicle (1), a front-to-back horizontal threaded rod (8) is rotatably arranged in the receiving plate (7), a threaded slider (9) is screwed on the outer side of the threaded rod (8), and the lower end surface of the threaded slider (9) is in sliding contact with the receiving plate (7); the upper end of the connecting plate (4) is rotatably connected with the threaded slider (9), and one end of the threaded rod (8) is drivingly connected with the main shaft (11) through a belt transmission mechanism. The rotating mechanism comprises a friction wheel (19), a one-way gear (20), a driving ring (21) and a tooth ring (22); the same driving ring (21) is rotatably sleeved on the outer side of the friction ring (15) and the driven bevel gear (17), the industrial camera (2) is fixedly arranged on the outer side of the driving ring (21), the tooth ring (22) is fixedly arranged on the inner side of the driving ring (21), a rotating shaft is rotatably arranged in the region between the driven bevel gear (17) and the driving ring (21), the one end of the rotating shaft is fixedly sleeved with the friction wheel (19), the other end of the rotating shaft is fixedly sleeved with the one-way gear (20), and the one-way gear (20) is engaged with the tooth ring (22).

2. A computer vision measurement device according to claim 1, characterized in that: A connecting ring (6) is fixedly arranged at the opening of each of the front and rear ends of the installation cylinder, and the front and rear groups of supporting claws (3) are rotatably arranged on the front and rear connecting rings (6), respectively. The plurality of supporting claws (3) in each group are arranged in a circular array along the axis of the connecting ring (6), and a torsional spring is arranged at the hinge between the supporting claw (3) and the connecting ring (6).

3. A computer vision measurement device according to claim 1, wherein: The driving mechanism further comprises a driving motor and a driving bevel gear (18); the driving motor is fixedly arranged in the remote control vehicle (1), and a square groove (29) is arranged at the output shaft end of the driving motor; a fourth spring (27) is sleeved on the outer side of the output shaft of the driving motor, one end of the fourth spring (27) is fixedly connected with the outer side of the driving motor, the other end of the fourth spring (27) is fixedly provided with a circular gasket (26), and the gasket (26) is sleeved on the outer side of the output shaft of the driving motor; a square rod (30) is slidingly inserted into the square groove (29) of the output shaft of the driving motor, the outer side of one end of the square rod (30) is fixedly provided with the driving bevel gear (18), and the driving bevel gear (18) is in rotating contact with the gasket (26); the driving bevel gear (18) is in engagement with the driven bevel gear (17).

4. The computer vision measurement device of claim 1, wherein: The linkage mechanism further comprises a first spring (10); the receiving plate (7) comprises a horizontal plate and a vertical plate, the upper end of the vertical plate is fixedly connected with the lower end surface of the remote control vehicle (1), and the rear end of the horizontal plate is fixedly connected with the lower end of the vertical plate; a section of external thread is arranged on the middle part of the outer side of the threaded rod (8), a circular annular avoiding groove is arranged at each end of the outer side of the threaded rod (8), and a first spring (10) is arranged in each avoiding groove, the first spring (10) is sleeved on the outer side of the threaded rod (8), and the two first springs (10) are fixedly connected with the ends away from each other of the two avoiding grooves, respectively.

5. The computer vision measurement device of claim 1, wherein: The rotating mechanism further comprises three extrusion rings (23) fixedly arranged inside the friction ring (15), the three extrusion rings (23) are located on the side of the sliding plate away from the second spring (16), the three extrusion rings (23) are arranged along the axial direction of the friction ring (15), and the three extrusion rings (23) are sleeved on the outer side of the main shaft (11); each extrusion ring (23) is provided with a trapezoidal notch, and the trapezoidal notches of the three extrusion rings (23) are arranged in a staggered manner along the circumferential direction of the extrusion ring (23).

6. A computer vision measurement device according to claim 5, wherein: The rotating mechanism further comprises three friction top rods (24), and the driven bevel gear (17) is provided with three circular array sliding grooves, the sliding grooves are T-shaped structures, the sliding grooves comprise a radial segment and a circular segment, the circular segment is arranged on the outer side of the driven bevel gear (17), the radial segment extends along the radial direction of the driven bevel gear (17), and the outer side of the radial segment is connected with the middle portion of the circular segment; each sliding groove is slidably provided with a friction top rod (24) inside, the friction top rod (24) is a T-shaped structure, the friction top rod (24) comprises a radial rod and a circular plate, the radial rod is slidably inserted into the radial segment of the sliding groove, the circular plate is slidably arranged in the circular segment of the sliding groove, and the outer side of the radial rod is fixedly connected with the middle portion of the inner side of the circular plate; the radial segment of the sliding groove is provided with a third spring (25), one end of the third spring (25) is fixedly connected with the inner wall of the radial segment, and the other end of the third spring (25) is fixedly connected with the circular plate.

7. A computer vision measurement device according to claim 6, wherein: The three extrusion rings (23) on the friction ring (15) are arranged inside the driven bevel gear (17), the inner side of the radial rod of the three friction top rods (24) is respectively inserted into the trapezoidal notch of the three extrusion rings (23), and the friction wheel (19) is located outside the driven bevel gear (17); when the friction top rod (24) slides to the outside of the sliding groove, the outer side of the circular plate of the friction top rod (24) is in sliding contact with the friction wheel (19).

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