Stereoscopic holographic detection holder

Abstract

The utility model discloses a three-dimensional holographic detection cradle head, which belongs to the inspection robot technology, solves the problem that the three-dimensional holographic space variation detection of a target object cannot be realized in the prior art, and adopts the technical scheme that the three-dimensional holographic detection cradle head mainly comprises a first bin and a second bin, the second bin is provided with a 3D laser module, a high-definition camera module and / or an infrared module, and the 3D laser module, the high-definition camera module and the infrared module can be in signal connection with the robot. The horizontal driver is used for driving the first bin and the second bin to rotate horizontally, the pitching driver is used for driving the second bin to rotate in a pitching mode, and the horizontal driver can lock the first bin and the second bin at a target horizontal angle. The pitch driver is capable of locking the second bin at a target pitch angle. The three-dimensional holographic space change detection device is mainly used for detecting the three-dimensional holographic space change of the target object.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to a three-dimensional holographic detection pan-tilt head. Background Technique

[0002] With the continuous advancement of the industrial process, technologies such as image processing, machine learning, artificial intelligence, and big data have been successfully applied to various fields. In fields such as smart grids, pipe galleries, tunnels, and rail transit, inspection robots are usually used for inspection.

[0003] In the prior art, for example, the utility model patent CN216266068U discloses a multi-functional mine inspection robot. A cross-shaped protective shell is arranged on the vehicle body chassis. The detection module includes a high-definition camera installed on the right side of the cross-shaped protective shell, and a 3D lidar arranged on the cross-shaped protective shell. The 3D lidar is fixedly installed by two hexagonal screws. The detection range of the 3D lidar is fixed, and it can only complete inspections of image type, temperature measurement type, and sound type, and cannot complete inspections of spatial change types (such as displacement, loss, fracture, misalignment, deformation, settlement, etc.). Content of the Utility Model

[0004] The purpose to be achieved by the utility model is to provide a three-dimensional holographic detection pan-tilt head, which solves the problem in the prior art that the three-dimensional holographic spatial change detection of the target object cannot be realized, and realizes the three-dimensional holographic spatial change detection of the target object.

[0005] To achieve the above purpose, the utility model adopts the following technical scheme: A three-dimensional holographic detection pan-tilt head includes a first bin and a second bin. The first bin is used to connect with an inspection robot. The second bin is provided with a 3D laser module, a high-definition camera module, and / or an infrared module. The 3D laser module, the high-definition camera module, and the infrared module can all be signal-connected to the robot. The three-dimensional holographic detection pan-tilt head further includes a horizontal driver for driving the first bin and the second bin to rotate horizontally and a pitching driver for driving the second bin to rotate in a pitching manner. The horizontal driver can lock the first bin and the second bin at the target horizontal angle, and the pitching driver can lock the second bin at the target pitching angle.

[0006] After adopting the above technical scheme, the utility model has the following advantages: The 3D laser module located in the second bin is combined with the high-definition camera module and / or the infrared module, and through the setting of the horizontal driver and the pitching driver with mechanical self-locking functions, the second bin can rotate horizontally and in a pitching manner and be accurately positioned at as many angles as possible, so as to complete the three-dimensional holographic detection of the target object, synchronously obtain spatial change information such as displacement, loss, fracture, misalignment, deformation, and settlement of the target object, as well as visible light and / or infrared images.

[0007] Further, there are two second bins, which are respectively arranged on both sides of the first bin. Two of the 3D laser module, the infrared module, and the high-definition camera module are arranged on one of the second bins, and the remaining one of the 3D laser module, the infrared module, and the high-definition camera module is arranged on the other second bin.

[0008] With the foregoing technical solution, by setting two second bins, which are respectively arranged on both sides of the first bin, the distributed module layout can reduce the occlusion between modules. Especially when the first bin and the second bin rotate, it can ensure that each module can fully capture the information of the surrounding environment, and can also distribute the weight to both sides of the first bin, which helps to maintain the overall balance of the combination of the first bin and the second bin, and reduces the unstable factors caused by overweight on one side. According to different application scenarios, different module combinations can be selected to meet specific task requirements.

[0009] Further, the 3D laser module and the high-definition camera module or the infrared module on the same side are arranged side by side.

[0010] With the foregoing technical solution, arranging side by side can minimize the overlapping area between the fields of view of the two modules. Since the distance is close and the viewing angles are the same, the data collected is more consistent in spatial coordinates, which is beneficial to subsequent data fusion and analysis, and can also make the internal space of the second bin more reasonably utilized, contributing to the compactness of the overall structure.

[0011] Further, there is one second bin, which is arranged on the top of the first bin, and the 3D laser module, the high-definition camera module, and the infrared module are all installed in the same second bin.

[0012] With the foregoing technical solution, all detection modules are centrally installed in one second bin, reducing the number of second bins, making the overall structure simpler and more compact. All modules are installed in the same second bin, with relatively fixed positions, simplifying the calibration process, improving the accuracy and efficiency of calibration, facilitating unified management and maintenance, and also being beneficial to synchronous data processing. Installing on the top of the first bin can minimize the occlusion from the robot itself to ensure that each module can observe the environment without dead angles.

[0013] Further, both the horizontal driver and the pitching driver are arranged in the first bin.

[0014] With the foregoing technical solution, by arranging the horizontal driver and the pitching driver in the first bin and arranging the 3D laser module, the high-definition camera module, and / or the infrared module in the second bin, they are separated from each other, reducing mutual interference and influence.

[0015] Furthermore, the first compartment is provided with an opening, a bearing is provided in the opening, and the output shaft of the pitch actuator is supported by the bearing and fixedly connected to the second compartment.

[0016] By adopting the above-mentioned technical solution, the pitch drive realizes the pitch movement of the second compartment and at the same time realizes the connection between the first compartment and the second compartment, thereby realizing that the first compartment and the second compartment can rotate horizontally synchronously.

[0017] Furthermore, the horizontal drive includes a horizontal drive motor and a horizontal rotating worm gear reducer, and the pitch drive includes a pitch drive motor and a pitch rotating worm gear reducer, the horizontal drive motor is connected to the horizontal rotating worm gear reducer via a synchronous belt and a synchronous wheel, the pitch drive motor is connected to the pitch rotating worm gear reducer via a synchronous belt and a synchronous wheel, the output shaft of the pitch rotating worm gear reducer is connected to the second warehouse, the first warehouse may be provided with a pan-tilt column for connecting to the inspection robot, and the output shaft of the horizontal rotating worm gear reducer is connected to the pan-tilt column.

[0018] By adopting the above technical solution, high-precision rotation control can be achieved using a worm gear reducer, which is crucial for detection tasks that require precise angle adjustment. Secondly, the worm gear transmission has good self-locking characteristics, which can prevent accidental reversal and effectively reduce the impact of external jitter on the rotational positioning accuracy of the second bin, ensuring that the second bin can run smoothly in any position. In addition, the worm gear reducer can withstand large loads and is suitable for carrying heavier detection modules.

[0019] Furthermore, two second bins are provided, and the two second bins are respectively arranged on both sides of the first bin, and the output shaft of the pitch-rotating worm gear reducer includes a first connecting section for connecting to one of the second bins, and a second connecting section connected to the other second bin, the first connecting section is connected to the worm gear of the pitch-rotating worm gear reducer, and the first connecting section and the second connecting section are fixedly connected.

[0020] By adopting the above technical solution, the fixed connection can ensure that the two second compartments remain synchronized during the pitching movement, thereby improving the stability of the overall structure.

[0021] Furthermore, the axes of the first connecting section and the second connecting section tend to coincide with or coincide with those of the second bin.

[0022] The adoption of the above technical solution helps to maintain the balance of the second compartment during movement, reduce the shaking and deviation of the second compartment, and also reduce the torque generated by the second compartment during the pitching process, making driving easier and improving power efficiency.

[0023] Furthermore, the horizontal driver is arranged in the first compartment, and the pitch driver is arranged in the second compartment.

[0024] With the above technical solution, the horizontal drive and the pitching drive are arranged separately. Correspondingly, the volumes and weights of the first bin and the second bin are more likely to be the same, making the three-dimensional holographic detection cloud platform more balanced during movement and further reducing shaking and deviation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention will be further described below in conjunction with the accompanying drawings:

[0026] Figure 1 It is a schematic structural diagram of the three-dimensional holographic detection cloud platform in the present invention;

[0027] Figure 2 It is a schematic structural diagram of the three-dimensional holographic detection cloud platform from another perspective in the present invention;

[0028] Figure 3 It is a schematic structural diagram of the three-dimensional holographic detection cloud platform from yet another perspective in the present invention;

[0029] Figure 4 It is a sectional view of the three-dimensional holographic detection cloud platform in the present invention;

[0030] Figure 5 It is a schematic diagram of the partial structure of the first bin of the present invention;

[0031] Figure 6 It is a schematic diagram of the partial structure of the first bin of the present invention from another perspective;

[0032] In the figure, 100, the first bin; 110, the horizontal drive motor; 120, the horizontal rotary worm and worm gear reduction box; 130, the pitching drive motor; 140, the pitching rotary worm and worm gear reduction box; 141, the first connection section; 142, the second connection section; 143, the connecting piece; 144, the connecting plate; 200, the second bin; 300, the 3D laser module; 400, the high-definition camera module; 500, the infrared module. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0034] In the description, claims and above-mentioned drawings of the present utility model, terms such as "first", "second", "third", "fourth", etc. (if any) are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present utility model described herein can be implemented in an order other than those illustrated or described herein.

[0035] It should be understood that in various embodiments of the present utility model, regarding the magnitudes of the serial numbers of the respective processes, it does not mean the sequence of execution is prior or subsequent. The execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present utility model.

[0036] It should be understood that in the present utility model, "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0037] It should be understood that in the present utility model, "a plurality of" means two or more. "And / or" is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, X and / or Y may represent: X exists alone, X and Y exist simultaneously, and Y exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "Including X, Y, and Z", "including X, Y, Z" means that all of X, Y, and Z are included, "including X, Y, or Z" means that any one of X, Y, and Z is included, and "including X, Y, and / or Z" means that any one or any two or all three of X, Y, and Z are included.

[0038] The technical solutions of the present utility model will be described in detail below with specific embodiments. These several specific embodiments below can be combined or replaced according to the actual situation. For the same or similar concepts or processes, they may not be described again in some embodiments.

[0039] Such as Figures 1 to 6As shown in the figure, the present utility model provides a three-dimensional holographic detection pan-tilt head, which includes a first bin 100 and a second bin 200. The first bin 100 is used to connect with an inspection robot. The second bin 200 is provided with a 3D laser module 300, a high-definition camera module 400 and an infrared module 500. The 3D laser module 300, the high-definition camera module 400 and the infrared module 500 can all be signal-connected to the robot. Inside the three-dimensional holographic detection pan-tilt head, there is a horizontal driver for driving the first bin 100 and the second bin 200 to rotate horizontally and a pitch driver for driving the second bin 200 to rotate in pitch. The horizontal driver can lock the first bin 100 and the second bin 200 at the target horizontal angle, and the pitch driver can lock the second bin 200 at the target pitch angle.

[0040] The 3D laser module 300 located in the second bin 200 is combined with the high-definition camera module 400 and the infrared module 500. Through the settings of the horizontal driver and the pitch driver with mechanical self-locking functions, the second bin 200 can rotate horizontally and in pitch and be accurately positioned at as many angles as possible, so as to complete the three-dimensional holographic detection of the target object, and synchronously obtain spatial change information such as displacement, loss, fracture, dislocation, deformation and settlement of the target object, as well as visible light and infrared images.

[0041] It should be noted that the 3D laser module 300, the high-definition camera module 400 and the infrared module 500 can be signal-connected to the robot by using cables, with less signal interference and loss. Of course, a wireless transmission method can also be used for signal connection to reduce wiring and make it more convenient to use. The second bin 200 can rotate continuously 360° horizontally and can rotate + / -90° in pitch, so that the 3D laser module 300, the high-definition camera module 400 and the infrared module 500 can patrol as many angles as possible.

[0042] Among them, there are two second bins 200, which are respectively arranged on both sides of the first bin 100. The 3D laser module 300 and the infrared module 500 are arranged in one of the second bins 200, and the high-definition camera module 400 is arranged in the other second bin 200. The distributed module layout can reduce the occlusion between the modules. Especially when the second bin 200 rotates, it can ensure that each module can fully capture the information of the surrounding environment, and can also distribute the weight to both sides of the first bin 100, which helps to maintain the overall balance of the second bin 200 and reduce the unstable factors caused by overweight on one side.

[0043] Furthermore, the 3D laser module 300 and the infrared module 500 on the same side are arranged side by side. The side-by-side arrangement can increase the overlapping area between the fields of view of the two modules. Since the distance is close and the viewing angles are the same, the collected data is more consistent in spatial coordinates, which is beneficial to subsequent data fusion and analysis. It can also make the internal space of the second bin 200 more reasonably utilized, contributing to the compactness of the overall structure. Preferably, the 3D laser module 300 is located above the infrared module 500. Of course, in other embodiments, the 3D laser module 300 can also be located below the infrared module 500.

[0044] It should be noted that the 3D laser module 300 and the infrared module 500 on the same side can be arranged horizontally left and right or vertically up and down. They are fixedly connected to move synchronously. Among them, the fixed connection between the two can be achieved by screw connection.

[0045] Preferably, both the horizontal driver and the pitching driver are arranged in the first bin 100, so that the 3D laser module 300, the high-definition camera module 400, and the infrared module 500 are separated from each other, reducing mutual interference and influence.

[0046] Among them, the first bin 100 is provided with an opening, and a bearing is arranged in the opening. The output shaft of the pitching driver is supported by the bearing and fixedly connected to the second bin 200. While the pitching driver realizes the pitching movement of the second bin 200, it also realizes the connection between the first bin 100 and the second bin 200, so as to realize the synchronous horizontal rotation of the first bin 100 and the second bin 200.

[0047] In order to achieve the horizontal rotation of the first bin 100 and the second bin 200, the horizontal drive includes a horizontal drive motor 110 and a horizontal rotary worm and worm gear reduction box 120. The horizontal drive motor 110 is connected to the horizontal rotary worm and worm gear reduction box 120 through a synchronous belt and a synchronous pulley. A pan-tilt support column for connecting with the inspection robot may be provided on the first bin 100, and the output shaft of the horizontal rotary worm and worm gear reduction box 120 is connected to the pan-tilt support column. Specifically, a synchronous pulley is fixedly connected to the output shaft of the horizontal drive motor 110, and another synchronous pulley is fixedly connected to the worm of the horizontal rotary worm and worm gear reduction box 120. The two synchronous pulleys are driven by a synchronous belt. The worm wheel of the horizontal rotary worm and worm gear reduction box 120 can be rotatably installed on the pan-tilt support column through a bearing. The worm of the horizontal rotary worm and worm gear reduction box 120 drives the worm wheel of the horizontal rotary worm and worm gear reduction box 120 to rotate, so that the first bin 100 rotates relative to the pan-tilt support column. The horizontal rotary worm and worm gear reduction box 120 can achieve high-precision rotation control, which is crucial for inspection tasks that require precise angle adjustment. Secondly, the worm and worm gear drive has good self-locking characteristics, enabling the first bin 100 and the second bin 200 to be locked at the target horizontal angle after adjustment, preventing accidental reverse rotation and effectively reducing the influence of external jitter on the rotation positioning accuracy of the second bin 200, ensuring the stable operation of the first bin 100 and the second bin 200 at any position. Moreover, the horizontal rotary worm and worm gear reduction box 120 can bear a large load and is suitable for carrying heavier inspection modules.

[0048] In order to realize the pitch rotation of the second warehouse 200, the pitch drive includes a pitch drive motor 130 and a pitch rotation worm gear reducer 140. The pitch drive motor 130 is connected to the pitch rotation worm gear reducer 140 through a synchronous belt and a synchronous wheel, and the output shaft of the pitch rotation worm gear reducer 140 is connected to the second warehouse 200. Specifically, a synchronous wheel is fixedly connected to the output shaft of the pitch driving motor 130, and another synchronous wheel is fixedly connected to the worm of the pitch rotating worm gear reducer 140. The two synchronous wheels are driven by a synchronous belt. The worm wheel of the pitch rotating worm gear reducer 140 is fixed to the output shaft of the pitch rotating worm gear reducer 140. The output shaft of the pitch rotating worm gear reducer 140 is rotatably connected to the first bin 100 through a bearing, and is fixedly connected to the two second bins 200. The worm of the pitch rotating worm gear reducer 140 drives the worm wheel of the pitch rotating worm gear reducer 140 to rotate, and the worm wheel of the pitch rotating worm gear reducer 140 drives the pitch The output shaft of the rotating worm gear reducer 140 rotates, causing the two second bins 200 to rotate relative to the first bin 100. The pitch rotating worm gear reducer 140 can achieve high-precision rotation control, which is essential for detection tasks that require precise angle adjustment. Secondly, the worm gear transmission has good self-locking characteristics, which allows the second bin 200 to be locked at the target pitch angle after adjustment. It can also prevent accidental reversal and effectively reduce the impact of external jitter on the rotational positioning accuracy of the second bin 200, ensuring that the second bin 200 can operate smoothly in any position. In addition, the pitch rotating worm gear reducer 140 can withstand a large load and is suitable for carrying heavier detection modules.

[0049] Specifically, the output shaft of the pitch rotation worm gear reducer 140 includes a first connecting section 141 for connecting to one of the second bins 200, and a second connecting section 142 connected to the other second bin 200. The first connecting section 141 is connected to the worm gear of the pitch rotation worm gear reducer 140, and the first connecting section 141 and the second connecting section 142 are fixedly connected, which can ensure that the two second bins 200 remain synchronized during the pitch movement and improve the stability of the overall structure. The first connecting section 141 and the second connecting section 142 can be connecting tubes, which are matched by a connecting sheet 143 and connected by screws. The other end of the connecting tube is connected to a connecting plate 144, and the connecting plate 144 is connected to the second bin 200 by screws.

[0050] In order to further reduce the shaking of the second warehouse 200 during rotation, the axis of the first connecting section 141 and the second connecting section 142 coincide with the center of gravity of the second warehouse 200, which helps to maintain the balance of the second warehouse 200 during movement, reduce the shaking and deviation of the second warehouse 200, and also reduce the torque generated by the second warehouse 200 during the pitch process, making driving easier and improving power efficiency.

[0051] Furthermore, the pitch-rotation worm gear speed reducer 140 is located above the horizontal-rotation worm gear speed reducer 120. The stacked design can minimize the lateral dimension of the first bin 100, increase the installation space for the second bin 200, and also reduce the lateral dimension of the overall combination of the first bin 100 and the second bin 200, making the overall structure more compact.

[0052] Among them, the output shaft of the horizontal drive motor 110 is in the horizontal direction, and the output shaft of the pitch drive motor 130 is in the vertical direction. The output shafts in the horizontal and vertical directions can avoid physical interference between the motors. The different directions of the output shafts help simplify the wiring path and facilitate the maintenance and inspection of each component. The horizontal output shaft of the horizontal drive motor 110 can reduce the vibration generated during horizontal rotation and improve the stability of the first bin 100 and the second bin 200.

[0053] It should be noted that the high-definition camera module 400 can be a high-definition camera, the infrared module 500 can be an infrared thermal imager, and the 3D laser module 300 can be a 3D measurement laser. By emitting a laser beam to irradiate the surface of the object to be measured, receiving the reflected light, and calculating the distance from the emission point to the reflection point, the point cloud data of the object surface can be obtained. These point cloud data can truly reflect information such as the shape and size of the object surface.

[0054] It can be understood that in other embodiments, only the 3D laser module and the high-definition camera module can be provided on the second bin, or only the 3D laser module and the infrared module can be provided. Selecting and installing appropriate detection components according to the usage and application requirements can reduce the weight of the second bin.

[0055] It can be understood that in other embodiments, there are two second bins, which are respectively arranged on both sides of the first bin. The high-definition camera module and the 3D laser module are arranged in one of the second bins, and the infrared module is arranged in the other second bin. Different module combinations can be selected according to different application scenarios to meet specific task requirements. Moreover, the 3D laser module and the high-definition camera module on the same side are arranged side by side, and the overall width of the combination of the first bin and the second bin is smaller.

[0056] It can be understood that in other embodiments, there are two second bins, which are respectively arranged on both sides of the first bin. The infrared module and the high-definition camera module are arranged in one of the second bins, and the 3D laser module is arranged in the other second bin.

[0057] It can be understood that in other embodiments, there is one second bin, and one second bin is provided at the top of the first bin. The 3D laser module, the high-definition camera module, and the infrared module are all installed in the same second bin, reducing the number of second bins and making the overall structure simpler and more compact. All the modules are installed in the same second bin, with fixed relative positions, simplifying the calibration process, improving the calibration accuracy and efficiency, facilitating unified management and maintenance, and also being conducive to synchronous data processing. Installing it at the top of the first bin can minimize the occlusion from the robot itself, ensuring that each module can observe the environment without dead angles.

[0058] It can be understood that in other embodiments, the axes of the first connecting section and the second connecting section tend to coincide with the center of gravity of the second bin. This helps to further maintain the balance of the second bin during movement, thereby further reducing the shaking and offset of the second bin.

[0059] It can be understood that in other embodiments, the output shaft of the horizontal drive motor is in the vertical direction, and the output shaft of the pitching drive motor is in the horizontal direction. Of course, the output shafts of the horizontal drive motor and the pitching drive motor can also be in other directions.

[0060] It can be understood that in other embodiments, the horizontal driver is installed in the first bin, and the pitching driver is installed in the second bin, so that the horizontal driver and the pitching driver are separated. Correspondingly, the volumes and weights of the first bin and the second bin are more likely to be the same, making the three-dimensional holographic detection cloud platform more balanced during movement and further reducing shaking and offset.

[0061] In addition to the above preferred embodiments, the present utility model has other implementation manners. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope claimed by the present utility model.

Claims

1. A stereoscopic holographic detection platform for inspection robots, characterized in that: It includes a first warehouse and a second warehouse, the first warehouse is used to connect with the inspection robot, the second warehouse is provided with a 3D laser module, a high-definition camera module and / or an infrared module, the 3D laser module, the high-definition camera module and the infrared module can be connected with the robot signal, the three-dimensional holographic detection gimbal also includes a horizontal driver for driving the first warehouse and the second warehouse to rotate horizontally and a pitch driver for driving the second warehouse to rotate in pitch, the horizontal driver can lock the first warehouse and the second warehouse at a target horizontal angle, and the pitch driver can lock the second warehouse at a target pitch angle.

2. The stereoscopic holographic detection platform according to claim 1, characterized in that: There are two second warehouses, and the two second warehouses are respectively arranged on both sides of the first warehouse, two of the 3D laser module, infrared module and high-definition camera module are arranged on one of the second warehouses, and the remaining one of the 3D laser module, infrared module and high-definition camera module is arranged on the other second warehouse.

3. The stereoscopic holographic detection platform according to claim 2, characterized in that: The 3D laser module and the high-definition camera module or infrared module on the same side are arranged side by side.

4. The stereoscopic holographic detection platform according to claim 1, characterized in that: The second warehouse is provided with one, and the second warehouse is arranged on the top of the first warehouse, and the 3D laser module, high-definition camera module and infrared module are all installed in the same second warehouse.

5. The stereoscopic holographic detection platform according to claim 1, characterized in that: The horizontal drive and the pitch drive are both arranged in the first compartment.

6. The stereoscopic holographic detection platform according to claim 5, characterized in that: The first compartment is provided with an opening, a bearing is provided in the opening, and the output shaft of the pitch actuator is supported by the bearing and fixedly connected to the second compartment.

7. The stereoscopic holographic detection platform according to claim 6, characterized in that: The horizontal drive includes a horizontal drive motor and a horizontal rotating worm gear reducer, and the pitch drive includes a pitch drive motor and a pitch rotating worm gear reducer. The horizontal drive motor is connected to the horizontal rotating worm gear reducer via a synchronous belt and a synchronous wheel, and the pitch drive motor is connected to the pitch rotating worm gear reducer via a synchronous belt and a synchronous wheel. The output shaft of the pitch rotating worm gear reducer is connected to the second bin, and the first bin may be provided with a pan-tilt column for connecting to the inspection robot, and the output shaft of the horizontal rotating worm gear reducer is connected to the pan-tilt column.

8. The stereoscopic holographic detection platform according to claim 7, characterized in that: There are two second bins, and the two second bins are respectively arranged on both sides of the first bin. The output shaft of the pitch-rotating worm gear reducer includes a first connecting section for connecting to one of the second bins, and a second connecting section connected to the other second bin. The first connecting section is connected to the worm gear of the pitch-rotating worm gear reducer, and the first connecting section and the second connecting section are fixedly connected.

9. The stereoscopic holographic detection platform according to claim 8, characterized in that: The axes of the first connecting section and the second connecting section tend to coincide with or coincide with the center of gravity of the second bin.

10. The stereoscopic holographic detection platform according to claim 1, characterized in that: The horizontal driver is arranged in the first compartment, and the pitch driver is arranged in the second compartment.

Images