Large-size test piece coordinate mapping scanning device

Abstract

A large-size test piece coordinate mapping scanning device provided by the present invention comprises a driving arm, a stabilizing mechanism and a scanning mechanism, the driving arm comprises a fixed arm, a movable arm and a driving mechanism, the middle of the fixed arm is provided with a mounting cavity with an opening at one end, one end of the movable arm moves in the mounting cavity through the driving mechanism, and the other end of the movable arm moves in the mounting cavity through the stabilizing mechanism. One end of the fixed arm is located outside the mounting cavity, the other end of the fixed arm is located outside the mounting cavity, the scanning mechanism is arranged at one end, outside the mounting cavity, of the movable arm and used for scanning a large-size test piece, and the stabilizing mechanism is arranged between the fixed arm and the movable arm and used for stabilizing the large-size test piece. The device is used for guaranteeing the stability of the moving arm in the scanning process of a large-size test piece after the moving arm extends. When the device is used, the movable table moves in a field domain, and after the device reaches a test piece area, according to the actual situation of a test piece, the position of the scanning mechanism can scan the test piece in a comprehensive and dead-corner-free mode through cooperation of the adjusting assembly and the driving arm.

Description

Technical Field

[0001] This invention pertains to automated engineering measurement equipment, and in particular relates to a coordinate mapping scanning device for large-size specimens. Background Technology

[0002] In engineering measurements involving large dimensions and multiple specimens, to achieve subsequent automated multi-parameter measurements, it is necessary to first scan all specimens within the site to obtain their spatial location, morphology, and dimensional data. The spatial coordinates of each specimen must then be accurately mapped to a unified coordinate system covering the entire site. This is a prerequisite for ensuring the consistency of subsequent measurement data and enabling lateral comparison of data from multiple specimens. Currently, the industry primarily relies on traditional manual operation or simple fixed devices for coordinate scanning and positioning of multiple specimens. Existing technologies often involve manual operation with handheld scanning equipment, scanning each specimen individually, or using a fixed single-station scanning device to complete the scanning of a single specimen. However, large-dimensional specimens in engineering sites, due to their size and weight, cannot be scanned across their entire surface without blind spots, easily leading to missing point cloud data and resulting in coordinate mapping deviations, thus affecting the accuracy of subsequent measurements.

[0003] Therefore, to solve the above problems, a device is needed that can realize automated scanning of multiple specimens, so as to solve the technical problems of low efficiency and poor accuracy of coordinate mapping of large-size specimens and the inability to achieve full-surface and blind-angle scanning in the existing technology. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a large-size specimen coordinate mapping scanning device to solve the technical problems of low efficiency, poor accuracy, and inability to achieve full-surface, dead-angle-free scanning in the prior art for large-size specimen coordinate mapping.

[0005] To achieve the above and other related objectives, the present invention provides a large-size specimen coordinate mapping scanning device, 1. comprising: A scanning assembly includes a drive arm, a stabilizing mechanism, and a scanning mechanism. The drive arm includes a fixed arm, a movable arm, and a driving mechanism. The fixed arm has a mounting cavity with one end open. One end of the movable arm moves within the mounting cavity via the driving mechanism, while the other end is located outside the mounting cavity. The scanning mechanism is located at one end of the movable arm outside the mounting cavity and is used to scan large-sized specimens. The stabilizing mechanism is located between the fixed arm and the movable arm to ensure the stability of the movable arm during the scanning process of large-sized specimens after it extends. An adjustment component is provided, wherein the scanning component is mounted on the adjustment component, and the angle of the scanning component is adjusted by the adjustment component to facilitate the scanning component to perform a comprehensive and blind-spot-free scan of large-sized specimens; A movable platform, wherein the adjustment component is disposed on the movable platform.

[0006] In this way, the mobile stage can move the invention within the field, enabling it to reach the specimen position more quickly and improving scanning efficiency. After arriving at the specimen area, the adjustment components, in conjunction with the drive arm, can ensure that the scanning mechanism can scan the specimen from all angles without any blind spots, based on the actual condition of the specimen. When the adjustment components adjust the drive arm and the drive arm drives the scanning mechanism, the stabilizing mechanism can reduce the swaying of the mobile arm, making it more stable and reducing the swaying of the scanning mechanism during the scanning process, thereby improving scanning and mapping accuracy.

[0007] Optionally, the drive mechanism includes a moving block, a threaded rod, a splined shaft, a threaded sleeve, and a first motor. The moving block is slidably disposed in the mounting cavity via a linear guide module, with its movement direction facing the opening of the mounting cavity. The threaded rod and the splined shaft are rotatably mounted in the mounting cavity, with their axes facing the opening of the mounting cavity and being horizontal to each other. The moving block has a threaded hole and a mounting hole that pass through both ends. The threaded rod is screwed into the threaded hole. The end of the threaded sleeve facing the bottom of the mounting cavity is rotatably mounted in the mounting hole of the moving block via a rolling bearing, and its axis is collinear with the splined shaft. The outer side of the threaded sleeve has an axially arranged thread, and the inner side has a hole that mates with the splined shaft. The splined shaft and the threaded sleeve are splinedly fitted within the threaded sleeve. The first motor is fixedly mounted on the fixed arm, and the output end of the first motor is fixedly connected to the end of the splined shaft near the bottom of the mounting cavity via a coupling. The splined shaft and the threaded rod are connected via a synchronous belt pulley mechanism. The system utilizes a splined shaft, threaded sleeve, threaded rod, and movable block. When the threaded rod rotates, it drives the movable block to move. During the movement of the movable block, it simultaneously drives the threaded sleeve to move. Because the threaded sleeve and splined shaft are splined together, they can rotate radially while the threaded sleeve moves axially. This causes the movable arm screwed onto the outside of the threaded sleeve to move. Through the movable block, the two-stage extension and retraction of the movable arm is achieved, allowing for a larger stroke and adaptability to specimens of different sizes.

[0008] Optionally, the spline shaft and the threaded rod are rotatably mounted at the bottom of the mounting cavity via rolling bearings, with one end near the mounting cavity passing through the fixed arm, located outside the fixed arm, and connected by a synchronous belt pulley mechanism. The first motor is fixedly mounted on the outside of the fixed arm, and drives the spline shaft to rotate via the first motor.

[0009] Optionally, the movable arm has a threaded hole, and the threaded sleeve is threadedly connected to the movable arm through the threaded hole. When the first motor is started, it drives the spline shaft, the threaded sleeve, and the threaded rod to rotate simultaneously. The rotation of the threaded sleeve and the threaded rod can respectively enable the movable arm and the movable block to move within the mounting cavity. When the movable block moves, it can enable the threaded sleeve to move axially.

[0010] Optionally, the scanning mechanism includes a rotating arm, a mounting base, and a scanner. One end of the rotating arm is rotatably mounted on the end of the movable arm located outside the mounting cavity and is driven to rotate by a second motor. The mounting base is rotatably mounted on the end of the rotating arm away from the movable arm and is driven to rotate by a third motor. The scanner is mounted inside the mounting base. By using the rotating arm to adjust the angle of the scanner, the scanner can be adapted to the surface of the specimen, achieving a comprehensive, blind-spot-free scan and improving scanning and mapping accuracy.

[0011] Optionally, several stabilizing mechanisms are distributed on the outer sides of the fixed arm and the movable arm, allowing the movable arm to be tensioned in all directions via the stabilizing mechanisms. Each stabilizing mechanism includes a pull rope, a fixed pulley, a tensioning part, and a pull rope retraction part. The fixed pulley is fixedly mounted on the fixed arm, located on the outer side near the opening of the mounting cavity. The tensioning part is located on the outer side of the fixed arm near the bottom of the mounting cavity. The pull rope retraction part is located between the fixed pulley and the tensioning part. One end of the pull rope is fixedly mounted on the pull rope retraction part, and the other end engages with the tensioning retraction part and the fixed pulley, and is then fixedly connected to the end of the movable arm located on the outer side of the mounting cavity. The retractable pull rope and tensioning part prevent the movable arm from swaying, ensuring stability during scanning. The independently configured pull rope and tensioning part in each direction can compensate according to the state of the movable arm.

[0012] Optionally, the pull rope retraction part includes a fourth motor and a spool. The fourth motor and the spool are installed on the outside of the fixed arm. The rotation of the spool is driven by the fourth motor. One end of the pull rope is fixedly connected to the spool and, after being wound several times, cooperates with the tensioning part. The tensioning component includes a mounting block, a hinge plate, a pulley, and an electric telescopic rod. The mounting block is fixedly mounted on the fixed arm. Both ends of the hinge plate are rotatably connected to the mounting block and the pulley, respectively. One end of the electric telescopic rod is rotatably mounted on the mounting block via a hinge seat, and the other end is rotatably connected to the end of the hinge plate away from the mounting block via a hinge seat. When the electric telescopic rod extends or retracts, it pulls the hinge plate to rotate on the mounting block. The electric telescopic rod allows adjustment of the sliding angle, facilitating the adjustment of the tension on the moving arm via the pull rope, thus better maintaining the state of the moving arm.

[0013] Optionally, the movable arm and the fixed arm are provided with symmetrically arranged auxiliary support plates. Each auxiliary support plate has a linear slide rail module on both sides, which is connected to the movable arm and the inner wall of the mounting cavity, respectively. When the movable arm moves, the auxiliary support plates move simultaneously. By using the auxiliary support plates, support force is provided between the movable arm and the fixed wall, making the movable arm more stable during movement.

[0014] Optionally, the adjustment assembly includes a fixed frame, a rotating frame, and a moving part. The fixed arm is slidably mounted on the rotating frame via an electric slide rail module. The rotating frame is movably mounted on the fixed frame via the moving part. The fixed frame is fixedly installed on the moving platform. The moving part includes a lifting platform and a fifth motor. The rotating frame has a connecting frame in the middle. The connecting frame is rotatably mounted on the lifting platform via a rotating shaft and is driven to rotate by the fifth motor. The lifting platform is movably mounted on the fixed frame via an electric slide rail module.

[0015] The adjustment components enable the scanner to move within the spatial coordinate system, allowing for omnidirectional scanning of the specimen.

[0016] Optionally, the mobile platform includes an electronic control unit and a tracked mobile vehicle. The fixed frame is vertically fixedly mounted on the tracked mobile vehicle, and the electronic control unit is fixedly mounted on the tracked mobile vehicle. The electronic control unit controls the invention, enabling automated scanning and improving scanning and mapping accuracy.

[0017] The beneficial effects of this invention are as follows: When using this invention, the mobile stage moves within the field. After arriving at the specimen area, the position of the scanning mechanism can be fully and without blind spots by adjusting the components and cooperating with the drive arm, according to the actual situation of the specimen. When the adjustment components adjust the drive arm and the drive arm drives the scanning mechanism, the stabilizing mechanism can tighten the mobile arm from multiple directions. The fourth motor synchronously retracts and releases the pull rope in conjunction with the tensioning part to achieve real-time adaptive tensioning, effectively suppressing the shaking of the scanning arm, improving scanning efficiency, and accurately mapping the spatial coordinates of each specimen. This ensures the consistency of subsequent measurement data and enables lateral comparison of data from multiple specimens. Attached Figure Description

[0018] Figure 1 The diagram shown is a schematic representation of the overall structure of the present invention.

[0019] Figure 2 This is a schematic diagram of the overall structure of the present invention from another orientation.

[0020] Figure 3 Displayed as Figure 1 Enlarged diagram of point A in the middle.

[0021] Figure 4 Displayed as Figure 2 Enlarged diagram of point B in the middle.

[0022] Figure 5 This is a schematic diagram of the scanning component.

[0023] Figure 6 Sectional view of the installation structure for the splined shaft and threaded rod. Detailed Implementation

[0024] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0025] Please see Figures 1 to 5 It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0026] like Figure 1-5 As shown, a large-size specimen coordinate mapping scanning device includes: a tracked mobile vehicle 1 and an electronic control component 2, an adjustment component 3, and a scanning component 4 mounted on the tracked mobile vehicle 1. The electronic control component 2 has an electronic control system that can control the tracked mobile vehicle 1, the adjustment component 3, and the scanning component 4 according to a program. Sensors for monitoring and feedback of the position and status of each component are installed on the tracked mobile vehicle 1, the adjustment component 3, and the scanning component 4. The feedback signals from the sensors are used to control the device in real time through the electronic control component 2, thereby realizing automated scanning of multiple specimens, improving the efficiency and accuracy of large-size, multi-specimen coordinate mapping, and achieving full-surface, blind-angle scanning of the specimens.

[0027] In this embodiment, the adjustment component 3 includes a fixed frame 31, a connecting frame 32, a rotating frame 33, a lifting platform 34, and a fifth motor 35. The fixed frame 31 is vertically fixed on the tracked mobile vehicle 1. The lifting platform 34 is vertically and movably mounted on the fixed frame 31 via an electric slide rail module. The connecting frame 32 is fixedly mounted with a rotating shaft whose axis is horizontally set. The rotating shaft is rotatably engaged with the lifting platform 34. The fifth motor 35 is fixedly mounted on the lifting platform 34. The fifth motor 35 can drive the rotating shaft and its connecting frame 32 to rotate. The connecting frame 32 is fixedly mounted in the middle of the rotating frame 33.

[0028] Specifically, an electric slide rail module is provided on the rotating frame 33, and the scanning component 4 is slidably mounted on the rotating frame 33 via the electric slide rail module.

[0029] In this embodiment, the scanning component 4 includes a drive arm 41, a stabilizing mechanism 42, and a scanning mechanism 43. The drive arm 41 is movably mounted on the rotating frame 33 via an electric slide rail module, allowing it to move within the rotating frame 33. During the scanning process, the scanning mechanism 43 can be positioned at any point on the surface of the specimen, achieving omnidirectional and blind-spot-free scanning. Both the stabilizing mechanism 42 and the scanning mechanism 43 are mounted on the drive arm 41. The stabilizing mechanism 42 is used to maintain the stability of the drive arm 41 and prevent it from shaking, thereby reducing the shaking of the scanning mechanism 43 during the scanning process and improving the scanning accuracy. This facilitates the precise mapping of the spatial coordinates of each specimen to a unified coordinate system covering the entire site.

[0030] In this embodiment, the drive arm 41 includes a fixed arm 411, a movable arm 412, a movable block 413, a threaded rod 414, a splined shaft 415, a threaded sleeve 416, and a first motor 417. The fixed arm 411 has a mounting cavity 4111 with one end open. The threaded rod 414 and the splined shaft 415 are rotatably mounted in the mounting cavity 4111, with their axes parallel to each other and facing the opening direction of the mounting cavity 4111. The threaded rod 414 has external threads and is screwed onto the movable block 413. The threaded rod 414 and the splined shaft 415 are both rotatably mounted at the bottom of the mounting cavity 4111 through rolling bearings and pass through the fixed arm 411. One end is located outside the fixed arm 411 and is connected by a synchronous belt pulley mechanism 418.

[0031] Specifically, the first motor 417 is fixedly mounted on the fixed arm 411. The output end of the first motor 417 is fixedly connected to the outer end of the spline shaft 415 through a coupling. The first motor 417 drives the spline shaft 415 to rotate. After the spline shaft 415 rotates, it drives the threaded rod 414 to rotate through the synchronous belt pulley mechanism 418.

[0032] Specifically, the movable block 413 is movably mounted in the mounting cavity 4111 via the linear slide rail module 419. The movable block 413 has a through mounting hole 4131 and a threaded hole 4132, and the axial directions of the mounting hole 4131 and the threaded hole 4132 are the same as the movement direction of the movable block 413. The movable block 413 is screwed to the threaded rod 414 through the threaded hole 4132. The threaded sleeve 416 is splined to the spline shaft 415. One end of the threaded sleeve 416 near the bottom of the mounting cavity 4111 is rotatably mounted in the mounting hole 4131 of the movable block 413 via a rolling bearing. The threaded sleeve 416 has an external thread, and the movable arm 412 has an internal thread along its length. The movable arm 412 is screwed to the threaded sleeve 416.

[0033] Specifically, in the initial position, the moving block 413 is located at the bottom of the mounting cavity 4111, and the distance between the threaded sleeve 416, the splined shaft 415, and the moving arm 412 is at its shortest. The end of the threaded sleeve 416 furthest from the bottom of the mounting cavity 4111 is completely screwed into the moving arm 412, and the end of the splined shaft 415 furthest from the bottom of the mounting cavity 4111 is completely located within the threaded sleeve 416. After the first motor 417 starts, the splined shaft 415 and the threaded rod 414 rotate simultaneously under the action of the synchronous belt pulley mechanism 418. The rotation of the threaded rod 414... The movement enables the movable block 413 to move toward the opening of the mounting cavity 4111. One end of the threaded sleeve 416 is rotatably connected to the movable block 413. When the movable block 413 moves, it drives the threaded sleeve 416 to move synchronously. The spline shaft 415 is splinedly engaged with the threaded sleeve 416. The rotation of the spline shaft 415 enables the threaded sleeve 416 to rotate without affecting the axial movement of the threaded sleeve 416 along the spline shaft 415. Both the rotation and axial movement of the threaded sleeve 416 enable the movable arm 412 to move toward the outside of the opening of the mounting cavity 4111.

[0034] In this embodiment, an auxiliary support plate 4112 is also provided inside the mounting cavity 4111. The auxiliary support plates 4112 are symmetrically arranged and are located between the moving arm 412 and the side wall of the mounting cavity 4111. The two sides of the auxiliary support plate 4112 are connected to the moving arm 412 and the side wall of the mounting cavity 4111 respectively through a linear slide rail module. In the initial position, the slider of the linear slide rail module between the auxiliary support plate 4112 and the moving arm 412 is installed at one end of the auxiliary support plate 4112 near the opening of the mounting cavity 4111, and the slider of the linear slide rail module between the auxiliary support plate 4112 and the side wall of the mounting cavity 4111 is installed at one end of the auxiliary support plate 4112 near the bottom of the mounting cavity 4111.

[0035] In this embodiment, there are three stabilizing mechanisms 42, which are respectively arranged in different directions on the outside of the fixed arm 411 and the movable arm 412. They tighten and stabilize the movable arm 412 in multiple directions, making the movable arm 412 more stable and improving the scanning accuracy.

[0036] Specifically, the stabilizing mechanism 42 includes a pull rope 421, a fixed pulley 422, a tensioning part 423, a fourth motor 424, and a coil 425. The fixed pulley 422 is mounted on the fixed arm 411 and located outside the opening of the mounting cavity 4111. The tensioning part 423 is located outside the bottom of the mounting cavity 4111. The coil 425 is rotatably disposed between the fixed pulley 422 and the tensioning part 423. The fourth motor 424 is fixedly mounted on the outside of the fixed arm 411 and drives the coil 425 to rotate. One end of the pull rope 421 is fixedly mounted on the coil 425. After being wound several times on the coil 425, it is sequentially engaged with the tensioning part 423 and the fixed pulley 422. The other end is fixedly connected to the top of the end of the movable arm 412 located outside the mounting cavity 4111. When the movable arm 412 extends or retracts, the length of the pull rope 421 is synchronously adjusted by the fourth motor 424. With the cooperation of the tensioning part 423, the pull rope 421 can be tensioned. The tension in multiple directions is more stable when the movable arm 412 moves or after it moves, preventing the movable arm 412 from shaking. This allows the scanning mechanism 43 to scan the specimen with higher accuracy.

[0037] Specifically, the tensioning part 423 includes a mounting block 4231, a hinge plate 4232, a pulley 4233, and an electric telescopic rod 4234. The mounting block 4231 is fixedly mounted on the fixed arm 411 and located on the outer side near the bottom of the mounting cavity 4111. The two ends of the hinge plate 4232 are rotatably connected to the mounting block 4231 and the pulley 4233, respectively. One end of the electric telescopic rod 4234 is rotatably mounted on the mounting block 4231 through a hinge seat, and the other end is hinged to the mounting block 4231. The seat is rotatably connected to the end of the hinge plate 4232 away from the mounting block 4231. When the electric telescopic rod 4234 extends or retracts, it pulls the hinge plate 4232 to rotate on the mounting block 4231, thereby causing the pulley 4233 to rotate around the mounting block 4231. The pull rope 421 passes through the spool 425 and then cooperates with the pulley 4233 and the fixed pulley 422 in sequence. The rotation of the pulley 4233 can make the pull rope 421 tensioned on the pulley 4233, the fixed pulley 422 and the spool 425.

[0038] In this embodiment, the scanning mechanism 43 includes a rotating arm 431 and a mounting base 432. One end of the rotating arm 431 is rotatably mounted on the end of the movable arm 412 located on the outside of the mounting arm, and is driven to rotate by a second motor 433. The mounting base 432 is rotatably mounted on the other end of the rotating arm 431 and is driven to rotate by a third motor 434. The mounting base 432 has a universal mounting port, which can quickly install and remove different scanners, probes, and cameras.

[0039] This invention uses a tracked mobile vehicle as the mobile carrier and an electronic control component as the control core. It controls the operation of each component according to a preset program, and coordinates with sensors to provide real-time feedback signals, ensuring operational accuracy. The device follows the principle of "mobile positioning + multi-degree-of-freedom adjustment + stable scanning." The tracked mobile vehicle performs coarse positioning, adapting to various specimen scenarios. The adjustment component, through a lifting platform, rotating shaft, rotating frame, and electric slide rail, achieves multi-dimensional attitude adjustment of the scanning component. The drive arm is driven by a first motor, and through structures such as splined shafts and threaded rods, the mobile arm achieves smooth extension and retraction, while the auxiliary support plate enhances stability. The stabilization mechanism, through pull ropes, a fourth motor, and a tensioning part, tightens the mobile arm in multiple directions to suppress swaying. The scanning mechanism, through a motor-driven rotating arm and mounting base, adjusts the angle. The universal mounting port is compatible with various testing equipment, accurately mapping the local coordinates of the specimen to a unified global coordinate system, completing a full-surface scan without blind spots.

[0040] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can 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 those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A coordinate mapping scanning device for large-size specimens, characterized in that, include: A scanning assembly includes a drive arm, a stabilizing mechanism, and a scanning mechanism. The drive arm includes a fixed arm, a movable arm, and a driving mechanism. The fixed arm has a mounting cavity with one end open. One end of the movable arm moves within the mounting cavity via the driving mechanism, while the other end is located outside the mounting cavity. The scanning mechanism is located at one end of the movable arm outside the mounting cavity and is used to scan large-sized specimens. The stabilizing mechanism is located between the fixed arm and the movable arm to ensure the stability of the movable arm during the scanning process of large-sized specimens after it extends. An adjustment component is provided, wherein the scanning component is mounted on the adjustment component, and the angle of the scanning component is adjusted by the adjustment component to facilitate the scanning component to perform a comprehensive and blind-spot-free scan of large-sized specimens; A movable platform, wherein the adjustment component is disposed on the movable platform.

2. The large-size specimen coordinate mapping scanning device according to claim 1, characterized in that: The drive mechanism includes a moving block, a threaded rod, a splined shaft, a threaded sleeve, and a first motor. The moving block is slidably disposed within the mounting cavity via a linear guide module and moves linearly between the bottom and opening of the mounting cavity. The threaded rod and the splined shaft are rotatably mounted within the mounting cavity, with their axes facing the opening of the mounting cavity and being horizontal to each other. The moving block has a threaded hole and a mounting hole that extend through both ends. The threaded rod is screwed into the threaded hole. The end of the threaded sleeve facing the bottom of the mounting cavity is rotatably mounted within the mounting hole of the moving block via a rolling bearing, and its axis is collinear with the splined shaft. The outer side of the threaded sleeve has an axially arranged thread, and the inner side has a hole that mates with the splined shaft. The splined shaft and the threaded sleeve are splinedly fitted within the threaded sleeve. The first motor is fixedly mounted on the fixed arm, and the output end of the first motor is fixedly connected to the end of the splined shaft near the bottom of the mounting cavity via a coupling. The splined shaft and the threaded rod are connected via a synchronous belt pulley mechanism.

3. The large-size specimen coordinate mapping scanning device according to claim 2, characterized in that: The splined shaft and the threaded rod are rotatably mounted at the bottom of the mounting cavity via rolling bearings, with one end near the mounting cavity passing through the fixed arm and located outside the fixed arm. They are connected by a synchronous belt pulley mechanism. The first motor is fixedly mounted on the outside of the fixed arm and drives the splined shaft to rotate.

4. The large-size specimen coordinate mapping scanning device according to claim 2, characterized in that: The movable arm has a threaded hole, and the threaded sleeve is threaded into the movable arm through the threaded hole. When the first motor is started, it drives the spline shaft, the threaded sleeve and the threaded rod to rotate simultaneously. The rotation of the threaded sleeve and the threaded rod can respectively move the movable arm and the movable block in the mounting cavity. When the movable block moves, it can cause the threaded sleeve to move axially.

5. The large-size specimen coordinate mapping scanning device according to claim 1, characterized in that: The scanning mechanism includes a rotating arm, a mounting base, and a scanner. One end of the rotating arm is rotatably mounted on the end of the movable arm located outside the mounting cavity and is driven to rotate by a second motor. The mounting base is rotatably mounted on the end of the rotating arm away from the movable arm and is driven to rotate by a third motor. The scanner is mounted inside the mounting base.

6. The large-size specimen coordinate mapping scanning device according to claim 1, characterized in that: The stabilizing mechanism comprises several components distributed on the outer sides of the fixed arm and the movable arm, thereby tensioning the movable arm in all directions via the stabilizing mechanism. Each stabilizing mechanism includes a pull rope, a fixed pulley, a tensioning part, and a pull rope retraction part. The fixed pulley is fixedly mounted on the fixed arm, located on the outer side near the opening of the mounting cavity. The tensioning part is located on the outer side of the fixed arm near the bottom of the mounting cavity. The pull rope retraction part is located between the fixed pulley and the tensioning part. One end of the pull rope is fixedly mounted on the pull rope retraction part, and the other end sequentially engages with the tensioning part and the fixed pulley, and is then fixedly connected to the end of the movable arm located on the outer side of the mounting cavity.

7. The large-size specimen coordinate mapping scanning device according to claim 5, characterized in that: The pull rope take-up and release part includes a fourth motor and a spool. The fourth motor and the spool are installed on the outside of the fixed arm. The rotation of the spool is driven by the fourth motor. One end of the pull rope is fixedly connected to the spool and, after being wound several times, cooperates with the tensioning part. The tensioning part includes a mounting block, a hinge plate, a pulley, and an electric telescopic rod. The mounting block is fixedly mounted on the fixed arm. Both ends of the hinge plate are rotatably connected to the mounting block and the pulley, respectively. One end of the electric telescopic rod is rotatably mounted on the mounting block via a hinge seat, and the other end is rotatably connected to the end of the hinge plate away from the mounting block via a hinge seat. When the electric telescopic rod extends or retracts, it pulls the hinge plate to rotate on the mounting block. The pull rope passes through a reel and then engages with the pulley and the fixed pulley in sequence.

8. The large-size specimen coordinate mapping scanning device according to claim 2, characterized in that: The movable arm and the fixed arm are symmetrically arranged with auxiliary support plates. Both sides of the auxiliary support plates have linear slide rail modules, which are connected to the movable arm and the inner wall of the mounting cavity, respectively. When the movable arm moves, the auxiliary support plates move simultaneously.

9. The large-size specimen coordinate mapping scanning device according to claim 1, characterized in that: The adjustment assembly includes a fixed frame, a rotating frame, and a movable part. The fixed arm is slidably mounted on the rotating frame via an electric slide rail module. The rotating frame is movably mounted on the fixed frame via the movable part. The fixed frame is fixedly installed on the movable platform. The moving part includes a lifting platform and a fifth motor. The rotating frame has a connecting frame in the middle. The connecting frame is rotatably mounted on the lifting platform via a rotating shaft and is driven to rotate by the fifth motor. The lifting platform is movably mounted on the fixed frame via an electric slide rail module.

10. The large-size specimen coordinate mapping scanning device according to claim 8, characterized in that: The mobile platform includes an electronic control unit and a tracked mobile vehicle. The fixed frame is vertically fixed on the tracked mobile vehicle, and the electronic control unit is fixedly installed on the tracked mobile vehicle.

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