Inspection image acquisition mechanical arm

Abstract

The utility model discloses an inspection image acquisition mechanical arm which comprises a mechanical arm main body and an image acquisition part, the mechanical arm main body comprises a first rotating shaft arm with rotating displacement, a second rotating shaft arm which is arranged on the first rotating shaft arm and has rotating displacement, and a third rotating shaft arm which is arranged on the second rotating shaft arm and has rotating displacement; the image acquisition part is arranged on the third rotating shaft arm; the rotating axis of the first rotating shaft arm is parallel to the rotating axis of the second rotating shaft arm, the rotating axis of the second rotating shaft arm is parallel to the rotating axis of the third rotating shaft arm, and the image collecting direction of the image collecting part is perpendicular to the rotating axis of the first rotating shaft arm. Displacement driving of the image acquisition part in a plane can be realized through the mechanical arm main body, so that the image acquisition part runs safely. The requirement for deflection adjustment of the image acquisition direction of the image acquisition part is met, and inspection image acquisition data is more comprehensive and reliable.

Description

Technical Field

[0001] This utility model relates to a robotic arm for collecting inspection images, and belongs to the technical field of inspection image acquisition. Background Technology

[0002] In automated inspection operations, image acquisition is involved to collect image data to determine whether the inspection items are qualified. Generally, the image acquisition equipment is set on mobile turnover equipment, and automated image acquisition along the trajectory is carried out through the operation of the mobile turnover equipment.

[0003] In traditional inspections, the image acquisition end is relatively fixed, and fixed-point linear image acquisition is achieved by utilizing the linear displacement of mobile equipment. However, in inspection operations such as corridors, it is necessary to perform circumferential scanning image detection along the corridor wall. The traditional method is to use a rotating rocker arm to carry an image acquisition unit with telescopic displacement. That is, the circumferential sway is achieved by using the rotational displacement of the rotating rocker arm and the telescopic displacement of the image acquisition unit. The image acquisition angle of this type is fixed radially, while the cross-section of the corridor is generally rectangular. Therefore, it is not possible to achieve angle-adjustable image acquisition for the corridor wall, resulting in the acquired images failing to meet the requirements for accurate identification and judgment of the inspection items. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of the existing technology and to propose a robotic arm for inspection image acquisition, which addresses the problem that the relatively fixed angle of traditional image acquisition cannot meet the requirements for angle adjustment.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] A robotic arm for inspection image acquisition includes a robotic arm body and an image acquisition unit disposed on the robotic arm body;

[0007] The main body of the robotic arm includes a first rotating arm with rotational displacement, a second rotating arm with rotational displacement disposed on the first rotating arm, and a third rotating arm with rotational displacement disposed on the second rotating arm, wherein the image acquisition unit is disposed on the third rotating arm;

[0008] The rotation axis of the first rotating arm is parallel to the rotation axis of the second rotating arm, the rotation axis of the second rotating arm is parallel to the rotation axis of the third rotating arm, and the image acquisition direction of the image acquisition unit is perpendicular to the rotation axis of the first rotating arm.

[0009] Preferably, the robotic arm body includes a robotic arm platform for mounting on a mobile device and a first rotation drive source disposed on the robotic arm platform for connecting the first rotating shaft arm;

[0010] The first rotating shaft arm is provided with a second rotation drive source that is connected to the second rotating shaft arm in a transmission manner;

[0011] The second rotating shaft arm is provided with a third rotating drive source that is connected to the third rotating shaft arm in a transmission manner.

[0012] Preferably, the first rotating shaft arm and the second rotating shaft arm are respectively provided with internal cavity channels for electrical conduction wiring.

[0013] Preferably, the image acquisition unit includes a supplementary optical disc and an image acquisition end that is exposed through the axis of the supplementary optical disc.

[0014] Preferably, the image acquisition unit includes an image host base detachably mounted on the third rotating shaft arm, the image host base having the image acquisition end, and the supplementary optical disc detachably mounted on the image host base and / or the third rotating shaft arm.

[0015] Preferably, the supplementary optical disc includes a supplementary optical disc body and a U-shaped supplementary light bracket. The U-shaped supplementary light bracket is connected to the image host base and the third rotating shaft arm, respectively. The supplementary optical disc body is provided with a plurality of connecting support ribs connected to the U-shaped supplementary light bracket.

[0016] The beneficial effects of this utility model are mainly reflected in:

[0017] 1. The robotic arm body can drive the image acquisition unit to move within a plane, thus making the operation of the image acquisition unit safer.

[0018] 2. Meets the image acquisition direction sway adjustment requirements of the image acquisition unit, making its inspection image acquisition data more comprehensive and reliable.

[0019] 3. Easy to assemble and disassemble, the assembly structure is sturdy, reliable and stable, and costs are effectively controlled. Attached Figure Description

[0020] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0021] Figure 1 This is a schematic diagram of the structure of a robotic arm for collecting inspection images according to this utility model.

[0022] Figure 2 This is an exploded structural diagram of a robotic arm for collecting inspection images according to this utility model.

[0023] Figure 3 This is a schematic diagram of the image acquisition unit in a robotic arm for inspection image acquisition according to this utility model.

[0024] Figure 4 This is a schematic diagram of the image acquisition unit in a robotic arm for inspection image acquisition, which is another perspective of the present invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0026] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the relevant utility model and not intended to limit the utility model. Furthermore, it should be noted that, for ease of description, only the parts relevant to the utility model are shown in the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described in the present application can be combined with each other.

[0027] This utility model provides a robotic arm for collecting inspection images, such as... Figures 1 to 4 As shown, it includes a robotic arm body 1 and an image acquisition unit 2 mounted on the robotic arm body 1.

[0028] like Figure 1 and Figure 2 As shown, the main body 1 of the robotic arm includes a first rotating arm 11 with rotational displacement, a second rotating arm 12 with rotational displacement disposed on the first rotating arm 11, a third rotating arm 13 with rotational displacement disposed on the second rotating arm 12, and an image acquisition unit 2 disposed on the third rotating arm.

[0029] The rotation axis of the first rotating arm 11 is parallel to the rotation axis of the second rotating arm, the rotation axis of the second rotating arm is parallel to the rotation axis of the third rotating arm, and the image acquisition direction of the image acquisition unit is perpendicular to the rotation axis of the first rotating arm.

[0030] Detailed implementation process and principle explanation:

[0031] The traditional inspection sampling fixed-point rotating swing arm is used to mount the image acquisition unit 2. The single-cycle drive causes the image acquisition direction of the image acquisition unit 2 to be fixed in the radial direction, which makes it difficult to meet the angle adjustment requirements. In addition, its rotation radius is relatively fixed, which requires the image acquisition unit 2 to be constantly focused and adjusted, making the control very cumbersome.

[0032] However, the axis changes of traditional multi-axis robots are very complex and costly, making it difficult to meet the flexible displacement adjustment requirements under space constraints, and the image acquisition unit 2 is prone to being damaged by collisions.

[0033] In this case, a robotic arm body 1 is adopted, which achieves a unified design of three axes through the first rotating arm 11, the second rotating arm 12, and the third rotating arm 13. Therefore, it can achieve adjustment of any point within an image acquisition plane, thereby meeting the focal length adaptation requirements without frequent focusing. In addition, the third rotating arm 13 can provide the tilt angle adjustment of the image acquisition unit 2, thereby making the image acquisition data richer and the detection effect significant.

[0034] In one specific embodiment, the robotic arm body 1 includes a robotic arm platform 10 for mounting on a mobile device and a first rotation drive source 110 disposed on the robotic arm platform for connecting a first rotating shaft arm.

[0035] The first rotating shaft arm is provided with a second rotating drive source 120 that is connected to the second rotating shaft arm for transmission.

[0036] The second rotating shaft arm is provided with a third rotating drive source 130 that is connected to the third rotating shaft arm for transmission.

[0037] That is, the first rotation drive source 110, the second rotation drive source 120 and the third rotation drive source 130 are used to achieve coordinated joint drive, so that the image acquisition unit 2 can reach its required acquisition point in a rotating plane.

[0038] In one specific embodiment, the first rotating shaft arm and the second rotating shaft arm are respectively provided with internal cavity channels for electrical conduction wiring.

[0039] This satisfies the requirements for both built-in electrical control cables and electrical connection.

[0040] In one specific embodiment, the image acquisition unit 2 includes a supplementary optical disc 21 and an image acquisition end 22 that penetrates the axis of the supplementary optical disc 21 and is exposed.

[0041] That is, the supplementary optical disc 21 is used for supplementary lighting and illumination, while the image acquisition terminal 22 performs image acquisition operations.

[0042] In one specific embodiment, the image acquisition unit 2 includes an image host base 3 detachably mounted on a third rotating shaft arm. The image host base 3 has an image acquisition end 22, and the supplementary optical disc 21 is detachably mounted on the image host base 3 and / or the third rotating shaft arm.

[0043] Specifically, the image host base 3 and the image acquisition terminal 22 are an integrated unit. The integrated unit is detachably connected to the third rotating shaft arm, which facilitates assembly, disassembly, repair and maintenance.

[0044] In one specific embodiment, the supplementary optical disc 21 includes a supplementary optical disc body 211 and a U-shaped supplementary light bracket 212. The U-shaped supplementary light bracket 212 is connected to the image host base 3 and the third rotating shaft arm 13 respectively. The supplementary optical disc body is provided with a plurality of connecting support ribs 4 connected to the U-shaped supplementary light bracket.

[0045] Specifically, the U-shaped fill light bracket 212 enables the integrated assembly of the image host base 3 and the third rotating shaft arm 13, thus preventing loosening. The connecting support rib 4 provides effective connection and support for the fill light disc body, making its mounting more reliable and stable.

[0046] As described above, this utility model provides a robotic arm for inspection image acquisition. The main body of the robotic arm enables the image acquisition unit to move within a plane, thus ensuring safer operation. It meets the image acquisition direction yaw adjustment requirements of the image acquisition unit, resulting in more comprehensive and reliable inspection image data. It is easy to assemble and disassemble, with a robust, reliable, and stable assembly structure, effectively controlling costs.

[0047] The term "comprising" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent in such process, method, article, or apparatus / device.

[0048] The technical solution of this utility model has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the protection scope of this utility model is obviously not limited to these specific embodiments. Without departing from the principle of this utility model, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of this utility model.

Claims

1.A kind of inspection image acquisition mechanical arm, comprising mechanical arm body and image acquisition part being arranged on mechanical arm body, it is characterized in that: The mechanical arm body includes the first rotating shaft arm with rotating displacement, the second rotating shaft arm with rotating displacement being arranged on the first rotating shaft arm, the third rotating shaft arm with rotating displacement being arranged on the second rotating shaft arm, and the image acquisition part is arranged on the third rotating shaft arm; The rotating axis of the first rotating shaft arm is parallel to the rotating axis of the second rotating shaft arm, the rotating axis of the second rotating shaft arm is parallel to the rotating axis of the third rotating shaft arm, and the image acquisition direction of the image acquisition part is perpendicular to the rotating axis of the first rotating shaft arm. 2.The inspection image acquisition mechanical arm according to claim 1, wherein: The mechanical arm body includes a mechanical arm pile for being carried on a mobile device, and a first rotation driving source for connecting the first rotating shaft arm is arranged on the mechanical arm pile; The first rotating shaft arm is provided with a second rotation driving source in transmission connection with the second rotating shaft arm; The second rotating shaft arm is provided with a third rotation driving source in transmission connection with the third rotating shaft arm. 3.The inspection image acquisition mechanical arm according to claim 2, wherein: The first rotating shaft arm and the second rotating shaft arm are respectively provided with an inner cavity channel for electrically conducting wiring. 4.The inspection image acquisition mechanical arm according to any one of claims 1-3, wherein: The image acquisition part includes a light supplement disc and an image acquisition end exposed through the axis of the light supplement disc. 5.The inspection image acquisition mechanical arm according to claim 4, wherein: The image acquisition part includes an image main seat detachably arranged on the third rotating shaft arm, the image main seat is provided with the image acquisition end, and the light supplement disc is detachably arranged on the image main seat and / or the third rotating shaft arm. 6.The inspection image acquisition mechanical arm according to claim 5, wherein: The light supplement disc includes a light supplement disc body and a U-shaped light supplement support, the U-shaped light supplement support is connected with the image main seat and the third rotating shaft arm respectively, and the light supplement disc body is provided with a plurality of connecting support ribs connected with the U-shaped light supplement support.

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