A detection apparatus of a device with a camera

Abstract

The application relates to the field of automation, in particular to a detection device of a device with a camera. The first translation module comprises a first electric sliding table arranged along a first direction, two first tracks arranged on both sides of the first electric sliding table, a first sliding block slidably connected to the first tracks, and a bearing plate borne by the first electric sliding table and the first sliding block. The second translation module comprises a second electric sliding table and a second track arranged on the bearing plate along a second direction, a second sliding block slidably arranged on the second track and bearing a translation plate. The third translation module comprises a reinforcing frame supported on the translation plate along a third direction and corresponding to the second sliding block, a third electric sliding table borne by the reinforcing frame, and a support frame borne by the third electric sliding table. The first direction, the second direction and the third direction are perpendicular to each other. A first right-angle frame is connected to the support frame and can be controlled to rotate along the axis of the third direction. A second right-angle frame is connected to the first right-angle frame and can be controlled to rotate along the axis of the first direction.

Description

Technical Field

[0001] This utility model relates to the field of automation, and in particular to a detection device for a device equipped with a camera. Background Technology

[0002] When inspecting equipment including camera systems, the equipment must be directly facing the inspection image, and the image acquisition capability of the camera system must be tested at an accurate detection distance. Since the equipment needs to acquire image data from multiple inspection images sequentially during the inspection process, and the positions and corresponding detection distances of each image are different, the position and orientation of the equipment need to be frequently adjusted during the inspection.

[0003] Currently, six-axis robots are commonly used to achieve displacement and orientation of equipment during the inspection process. However, six-axis robots have a relatively weak load capacity and are prone to vibration when moving at high speeds and frequencies, which affects the stability of the equipment and consequently the image recognition capability of the camera system, thus hindering the improvement of the accuracy of the inspection results. Utility Model Content

[0004] The purpose of this invention is to provide a device transfer device with high stability.

[0005] To achieve the above objectives, this utility model provides the following technical solution: A detection device for a device with a camera, comprising: The first translation module includes a first electric slide, two first tracks, two first sliders, and a support plate. The first electric slide and the first tracks, which are disposed on the worktable, are both arranged along a first direction and are flush with each other. The two first tracks are respectively disposed on both sides of the first electric slide. The support plate is supported on the first electric slide. The two first sliders are connected to the surface of the support plate near the first electric slide and are respectively engaged with the two first tracks, so that the support plate is slidably connected to the first tracks. The second translation module includes a second electric slide, a second track, a second slider, and a translation plate. The second electric slide and the second track, which are supported on the carrier plate, are both arranged along a second direction and are flush with each other. The second direction is parallel to the carrier plate and perpendicular to the first direction. The translation plate is supported on the second electric slide. The second slider is connected to the surface of the translation plate near the second electric slide and is slidably connected to the second track. The third translation module includes a reinforcing frame, a third electric slide, and a support frame. The reinforcing frame is supported on the translation plate, corresponds to the second slider, and extends along a third direction, which is perpendicular to the first direction and the second direction. The third electric slide is arranged along the third direction, and the support frame is supported on the third electric slide. A first rotating module is connected to the support frame and includes a first right-angle frame, which is controllably rotatable relative to the support frame along an axis parallel to the third direction. The second rotating module is connected to the first right-angle frame and includes a second right-angle frame, which can be controllably rotated relative to the first right-angle frame along an axis parallel to the first direction. A third rotating module is connected to the second right-angle bracket and includes a third right-angle bracket, which is controllably rotatable relative to the second right-angle bracket along an axis parallel to the second direction, and the camera device to be tested is mounted on the third right-angle bracket.

[0006] Optionally, the first translation module, the second translation module, and the third translation module all include end-position components. The first electric slide, the second electric slide, and the third electric slide all include a wide rail, a platform slidably connected to the wide rail, and a drive motor for controllably sliding the platform. Each end-position component includes at least two linear sensors and a linear plate. Each linear sensor is connected to the wide rail, and the two linear sensors correspond to positions adjacent to both ends of the wide rail. Both linear sensors are through-beam photoelectric sensors. The linear plates are connected to the platform and correspond to the linear sensors.

[0007] Optionally, the first rotating module further includes a first rotating platform connected between the support frame and the first right-angle frame, the second rotating module further includes a second rotating platform connected between the first right-angle frame and the second right-angle frame, and the third rotating module further includes a third rotating platform connected between the second right-angle frame and the third right-angle frame, wherein the first rotating platform, the second rotating platform and the third rotating platform are all hollow rotating platforms.

[0008] Optionally, the first rotating module, the second rotating module, and the third rotating module all include an origin component, each of the origin components including a rotation sensor and a rotating plate. The first rotating platform, the second rotating platform, and the third rotating platform all include a fixed ring and a rotating ring that are coaxial and constructed in an annular shape. The rotating ring is controllably rotated relative to the fixed ring along its central axis under the drive of a rotating motor. The rotation sensor is connected to the fixed ring, and the rotating plate is connected to the rotating ring and its position corresponds to that of the rotation sensor.

[0009] Optionally, the camera device includes a mounting base, and the third right-angle bracket includes a mating portion parallel to the first direction and the second direction. The mating portion is used to support the mounting base. The mating portion is connected to two ears on both sides along the first direction. The ears support two clamping mechanisms, and the clamping mechanisms are used to clamp the mounting base to the mating portion of the third right-angle bracket.

[0010] Optionally, the equipment transfer device further includes a positioning element disposed on the mating part of the third right-angle frame. The positioning element has a plurality of limiting parts with partial protrusions on its surface, and the shape formed by the plurality of limiting parts fits into the mounting base to constrain the mounting base. The surface of the positioning element is also connected to at least two directional pins parallel to the third direction. The mounting base has at least two through holes, and the shape and position of the directional pins fit into the through holes for positioning the mounting base.

[0011] Optionally, the clamping mechanism includes a rotating base, a driving rod, a locking element, a driven rod, and a pressing pestle. The rotating base is connected to the ear of the third right-angle bracket. The end of the driving rod is rotatably connected to a first position of the rotating base along an axis parallel to the second direction. The end of the driven rod is rotatably connected to a second position of the rotating base along an axis parallel to the second direction. The second position is located away from the ear of the third right-angle bracket and away from the side of the camera device. The locking element includes a rotating piece and a locking piece. The two ends of the rotating piece are respectively rotatably connected to... The active rod and the driven rod rotate in a plane perpendicular to the second direction. The snap-fit ​​piece is vertically connected to the middle of the rotating piece. The snap-fit ​​piece is vertically connected to the end of the driven rod away from the rotating seat and extends towards the mounting seat. When the active rod is parallel to the third direction and the driven rod is parallel to the first direction, the rotating piece is parallel to the third direction, and the snap-fit ​​piece presses against the edge of the ear of the driven rod away from the third right-angle bracket. The downward pressing pestle presses the mounting seat against the mating part of the third right-angle bracket.

[0012] Optionally, the active rod includes two structural pieces, each structural piece being a long strip-shaped structure with a central protrusion. One end of each piece is rotatably connected to a first position of the rotating seat, and the other end is bent toward and connected to the other structural piece, forming a cavity between the two structural pieces. The driven rod passes through the cavity. The locking member includes two opposing rotating pieces, and the locking piece is connected between the two rotating pieces. When the active rod is parallel to the third direction, the locking member is sleeved inside the cavity and outside the driven rod.

[0013] Optionally, the first right-angle frame includes a first horizontal frame and a first vertical frame connected to each other, the first horizontal frame extending along the first direction toward a direction away from the reinforcing frame, and the first vertical frame extending along the third direction toward a direction away from the reinforcing frame; the second right-angle frame includes a second horizontal frame and a second vertical frame connected to each other, the second horizontal frame extending along the second direction, and the second vertical frame extending along the first direction; the third right-angle frame includes a third horizontal frame and a third vertical frame connected to each other, the third vertical frame extending along the third direction toward a direction close to the first horizontal frame, and the third horizontal frame extending along the second direction toward a direction away from the second vertical frame.

[0014] Optionally, the first right-angle frame further includes a right-angle plate, which is constructed as a right-angled triangle with one right-angle end and two acute-angle ends. Both acute-angle ends of the right-angle plate are expanded into a rectangular shape. The right-angle plate is connected between the first horizontal frame and the first vertical frame.

[0015] The beneficial effects of this utility model are as follows: Two first tracks are respectively set on both sides of the first electric slide, which together support the support plate, helping to improve the stability of the support plate during movement. Adding two first tracks helps to improve the constraint capacity on the support plate, thereby reducing movement errors caused by structural risks and improving accuracy. Setting a second track helps to improve the stability and accuracy of the translation plate movement. Positioning the reinforcing frame corresponding to the second slider allows the second electric slide to drive the translation plate, which in turn drives the reinforcing frame. The second slider directly supports the reinforcing frame throughout the movement, which helps to improve the stability of the reinforcing frame and prevents the heavy reinforcing frame from directly pressing on the second electric slide and damaging its internal structure, thus extending the module's service life. Combining the first translation module, second translation module, third translation module, first rotation module, second rotation module, and third rotation module allows the camera device to be inspected to move freely in position and direction, thus accommodating various detection images at different positions, orientations, and detection distances. The overall stability is high, it is not prone to shaking, and it has high accuracy and low cost.

[0016] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the detection device for a device with a camera, as shown in Embodiment 1 of this utility model; Figure 2 This is a schematic diagram of the structure of the third electric slide and the end position assembly shown in Embodiment 1 of this utility model; Figure 3 for Figure 1 Enlarged view of point A in the middle; Figure 4 This is a schematic diagram of the third right-angle frame and the clamping mechanism shown in Embodiment 1 of this utility model.

[0018] Legend: 101-Camera equipment, 102-Mounting base, 1-First translation module, 11-First electric slide, 111-Wide rail, 112-Platform, 113-Drive motor, 12-First track, 13-First slider, 14-Bearing plate, 2-Second translation module, 21-Second electric slide, 22-Second track, 23-Second slider, 24-Translation plate, 3-Third translation module, 31-Reinforcing frame, 311 - Base plate, 312 - Vertical plate, 313 - Side plate, 32 - Third electric slide, 33 - Support frame, 331 - Horizontal support plate, 332 - Vertical support plate, 333 - Support frame, 34 - Support platform, 4 - First rotating module, 41 - First right-angle frame, 411 - First horizontal frame, 412 - First vertical frame, 413 - Right-angle plate, 42 - First rotating platform, 421 - Fixed ring, 422 - Rotating ring, 43 - First rotating motor 5-Second rotating module, 51-Second right-angle frame, 52-Second rotating platform, 53-Second rotating motor, 6-Third rotating module, 61-Third right-angle frame, 611-Third horizontal frame, 612-Third vertical frame, 613-Matching part, 614-Ear part, 62-Third rotating platform, 63-Third rotating motor, 7-End position assembly, 71-Linear sensor, 72-Linear insertion plate, 8-Origin assembly, 81-Rotation sensor 82-Rotating insert plate, 9-Pressure mechanism, 91-Rotating seat, 92-Active rod, 921-Structural piece, 922-Handle part, 93-Clamping piece, 931-Rotating piece, 932-Clamping piece, 94-Driven rod, 941-Passing part, 942-Split part, 95-Pressing pestle, 951-Pepper rod, 952-Washer, 953-Nut, 954-Pressure head, 96-Positioning part, 961-Limiting part, 962-Directional pin. Detailed Implementation

[0019] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0020] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0022] Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0023] This utility model application protects a detection device for an equipment with a camera, including a first translation module 1, a second translation module 2, a third translation module 3, a first rotation module 4, a second rotation module 5, and a third rotation module 6. The first translation module 1 includes a first electric slide 11, two first tracks 12, two first sliders 13, and a support plate 14. The first electric slide 11 and the first tracks 12, which are disposed on a worktable, are both arranged along a first direction and are flush with each other. The two first tracks 12 are respectively disposed on both sides of the first electric slide 11. The support plate 14 is supported on the first electric slide 11. The two first sliders 13 are connected to the surface of the support plate 14 near the first electric slide 11 and are respectively engaged with the two first tracks 12, so that the support plate 14 is slidably connected to the first tracks 12. The second translation module 2 includes a second electric slide 21, a second track 22, a second slider 23, and a translation plate 24. The second electric slide 21 and the second track 22, supported on the support plate 14, are both arranged along a second direction and are flush with each other. The second direction is parallel to the support plate 14 and perpendicular to the first direction. The translation plate 24 is supported on the second electric slide 21. The second slider 23 is connected to the surface of the translation plate 24 near the second electric slide 21 and is slidably connected to the second track 22. The third translation module 3 includes a reinforcing frame 31, a third electric slide 32, and a support frame 33. The reinforcing frame 31 is supported on the translation plate 24, corresponds to the second slider 23, and extends along a third direction, which is perpendicular to both the first and second directions. The third electric slide 32 is arranged along the third direction, and the support frame 33 is supported on the third electric slide 32. The first rotation module 4 is connected to the support frame 33 and includes a first right-angle frame 41. The first right-angle frame 41 can be controllably rotated relative to the support frame 33 along an axis parallel to the third direction. The second rotating module 5 is connected to the first right-angle bracket 41 and includes a second right-angle bracket 51, which is controllably rotatable relative to the first right-angle bracket 41 along an axis parallel to a first direction. The third rotating module 6 is connected to the second right-angle bracket 51 and includes a third right-angle bracket 61, which is controllably rotatable relative to the second right-angle bracket 51 along an axis parallel to a second direction, and the camera device 101 to be tested is mounted on the third right-angle bracket 61.

[0024] Two first tracks 12 are respectively set on both sides of the first electric slide 11, which together support the support plate 14, helping to improve the stability of the support plate 14 during movement. Adding two first tracks 12 helps to improve the constraint capacity on the support plate 14, thereby reducing movement errors caused by structural risks and improving accuracy. Setting a second track 22 helps to improve the stability and accuracy of the translation plate 24's movement. Positioning the reinforcing frame 31 corresponding to the second slider 23 allows the second electric slide 21 to drive the translation plate 24, which in turn drives the reinforcing frame 31. The second slider 23 directly supports the reinforcing frame 31 throughout the movement, which helps to improve the stability of the reinforcing frame 31 and prevents the heavy reinforcing frame 31 from directly pressing on the second electric slide 21 and damaging its internal structure, thus extending the module's service life. By combining the first translation module 1, the second translation module 2, the third translation module 3, the first rotation module 4, the second rotation module 5, and the third rotation module 6, the camera device 101 to be inspected can move freely in position and direction, thereby cooperating with various detection images at different positions, orientations, and detection distances. The overall stability is high, it is not easy to shake, and it has high accuracy and low cost.

[0025] Please refer to the following examples for details.

[0026] Example 1: Please see Figure 1 The device transfer device shown in a preferred embodiment of this application is used to controllably move and rotate the camera device 101, thereby enabling the camera device 101 to acquire image data on the detection image at a preset position and in a preset direction. In this embodiment, the camera device 101 is the head of a bionic robot, with cameras positioned at the simulated eye and ear 614 locations, meaning the camera device 101 includes four cameras in different positions. During detection, each camera must be directly facing the image and acquiring image data at a preset detection distance. The bottom of the camera device 101 in this embodiment, i.e., the bottom of the simulated neck, is provided with a connecting flange, i.e., a mounting base 102, on which multiple through-hole-shaped insertion holes are evenly arranged circumferentially. The device transfer device in this embodiment includes a first translation module 1, a second translation module 2, a third translation module 3, a first rotation module 4, a second rotation module 5, a third rotation module 6, and a clamping mechanism 9. The camera device 101 is fixedly supported on the third rotation module 6 by the clamping mechanism 9.

[0027] Please see Figure 1 and Figure 2The first translation module 1 includes a first electric slide 11, two first tracks 12, two first sliders 13, and a support plate 14. The first electric slide 11 is an embedded screw slide, which is purchased and includes a wide rail 111, a platform 112 slidably connected to the wide rail 111, and a drive motor 113 connected to the wide rail 111 and used to controllably slide the platform 112. The wide rail 111 is arranged along a horizontal first direction on a horizontal worktable and is mounted on the worktable. The two first tracks 12 are respectively arranged on both sides of the first electric slide 11, and both ends are flush with the first electric slide 11. The two first sliders 13 are slidably connected to the two first tracks 12 and arranged along a horizontal second direction, which is perpendicular to the first direction. The support plate 14 is horizontally arranged and supports the platform 112 and the two first sliders 13 of the first electric slide 11, and can controllably slide along the first direction under the drive of the drive motor 113.

[0028] The first translation module 1 also includes an end-positioning component 7. The end-positioning component 7 includes three linear sensors 71 and a linear insertion plate 72. All three linear sensors 71 are connected to the wide rail 111, with two linear sensors 71 corresponding to positions near both ends of the wide rail 111, and the third linear sensor 71 adjacent to the linear sensor 71 at the end of the wide rail 111. Each linear sensor 71 is a through-beam photoelectric sensor, with its transmitting and receiving ends perpendicular to the wide rail 111. The linear insertion plate 72 is connected to the platform 112 and is perpendicular to the wide rail 111. When the platform 112 corresponds to the position of a linear sensor 71, the insertion plate is inserted between the transmitting and receiving ends of the linear sensor 71, blocking the photoelectric signal. This indicates that the platform 14 has moved to its extreme positions at both ends and also indicates that the platform 112 needs to decelerate near its end.

[0029] The second translation module 2 includes a second electric slide 21, a second track 22, a second slider 23, a translation plate 24, and another end-positioning component 7. The second electric slide 21 and the second track 22 are both disposed along a second direction on the upper surface of the support plate 14 and are flush with each other. The second slider 23 is slidably connected to the second track 22, and the horizontal translation plate 24 is connected to the second electric slide 21 and the second slider 23. The structure of the second electric slide 21 is the same as that of the first electric slide 11, and the relative positions of the second electric slide 21 and the corresponding end-positioning component 7 are the same as those of the first electric slide 11.

[0030] The third translation module 3 includes a reinforcing frame 31, a third electric slide 32, and a support frame 33. The reinforcing frame 31 is supported by the translation plate 24, extends along a vertical third direction, and is positioned corresponding to the second slide block 23. The reinforcing frame 31 includes a rectangular and horizontal base plate 311, a vertical plate 312 parallel to the second direction, and a side plate 313 connecting the base plate 311 and the vertical plate 312. The two opposing side plates 313 are both parallel to the first direction and correspond to the two side edges of the vertical plate 312, respectively. The side plate 313 has a frame structure, is generally a right-angled trapezoid, and has at least one reinforcing rib extending along the first direction inside. The side plate 313 is connected to the side of the vertical plate 312 away from the second electric slide 21. The third electric slide 32 is positioned along a vertical third direction and is connected to the side of the vertical plate 312 near the second electric slide 21. The support frame 33 is supported on the platform 112 of the third electric slide 32. The support frame 33 includes a horizontal support plate 331, a vertical support plate 332, and two opposing support frames 333. Both the horizontal support plate 331 and the vertical support plate 332 are flat, perpendicular to each other, and their ends are connected to form right angles. The side of the vertical support plate 332 away from the horizontal support plate 331 is attached to the platform 112 of the third electric slide 32, making the horizontal support plate 331 horizontal and extending along a first direction. The support frame 333 is constructed as an isosceles right-angled triangle and is connected near the edge between the horizontal support plate 331 and the vertical support plate 332 to reinforce the structure. The length of the horizontal support plate 331 along the first direction is greater than the length of the vertical support plate 332 along the third direction, and the dimensions of the support frame 333 are fitted to the vertical support plate 332. A hollow rectangular barrel-shaped support platform 334 is fixedly connected to the distal end of the horizontal support plate 331, separated from the support frame 333.

[0031] The first rotation module 4 includes a first rotation platform 42, a first rotation motor 43, a first right-angle bracket 41, and an origin assembly 8. The first rotation platform 42 is connected to a support platform 334 and is a purchased hollow rotation platform, including a coaxial, annular fixed ring 421 and a rotating ring 422. The fixed ring 421 has a larger diameter and a vertically downward-opening input end. The motor shaft of the first rotation motor 43 is fixedly connected to the fixed ring 421 of the first rotation platform 42, driving the rotating ring 422 to rotate controllably along its central axis. The origin assembly 8 includes a rotation sensor 81 and a rotation insert 82. The rotation sensor 81 is a photoelectric sensor identical to the linear sensor 71 and is connected to the fixed ring 421. The rotation insert 82 is a rectangular thin plate with the same structure as the linear insert 72 and is connected to the rotating ring 422. When the rotating ring 422 is in its initial position, the rotation insert 82 is inserted between the transmitting and receiving ends of the linear sensor 71. The first right-angle frame 41 is constructed in a right-angle shape, including a first horizontal frame 411 and two first vertical frames 412 connected to each other, and a right-angle plate 413 connecting the first horizontal frame 411 and the first vertical frames 412. The first horizontal frame 411 is constructed as a horizontally arranged plate, one end of which is arc-shaped and connected to the rotating ring 422 of the first rotating platform 42, and the other end extends away from the reinforcing frame 31. The first vertical frames 412 are constructed as long strip-shaped plates, with the two first vertical frames 412 arranged opposite each other and adjacent to the two side edges of the ends of the first horizontal frame 411. The first vertical frames 412 are vertically connected to the upper surface of the end of the first horizontal frame 411 away from the first rotating platform 42, extending upward along a third direction and parallel to the extension direction of the first horizontal frame 411. When the rotating ring 422 is in the initial position, the first horizontal frame 411 extends along a first direction. The right-angle plate 413 is constructed in the shape of a right triangle, with one right-angle end and two acute-angle ends, and the two acute-angle ends of the right-angle plate 413 are both expanded into a rectangular shape. The two right-angle plates 413 correspond to the two first vertical frames 412 respectively, and are connected between the first horizontal frame 411 and the first vertical frame 412.

[0032] The second rotating module 5 includes a second rotating platform 52, a second rotating motor 53, a second right-angle frame 51, and another origin component 8. The second rotating platform 52 is connected between two first vertical frames 412 and to the end of each first vertical frame 412 away from the first horizontal frame 411. The structure of the second rotating platform 52 is the same as that of the first rotating platform 42. The second rotating motor 53 is fixedly connected to the input end of the fixed ring 421 of the second rotating platform 52 and is used to drive the rotating ring 422 of the second rotating platform 52 to rotate controllably. The second right-angle frame 51 includes a second horizontal frame and a second vertical frame that are perpendicularly connected to each other, and also includes two right-angle plates 413. The right-angle plates 413 of the second right-angle frame 51 are the same as those of the first right-angle frame 411 except for their size, and are connected between the second horizontal frame and the second vertical frame. Both the second horizontal frame and the second vertical frame are constructed as plate structures. The two ends of the second horizontal frame are respectively connected to the rotating ring 422 of the second rotating platform 52 and the second vertical frame. The central axis of the second rotating platform 52 is parallel to the first direction, and the second crossbeam is perpendicular to the first direction. When the rotation ring 422 of the second rotating platform 52 is in the initial position, the second crossbeam is parallel to the second direction, and the second longitudinal frame is perpendicular to the second direction.

[0033] The third rotating module 6 includes a third rotating platform 62, a third rotating motor 63, a third right-angle frame 61, and another origin component 8. The third rotating platform 62 is connected to the end of the second vertical frame away from the second horizontal frame, and its structure is the same as that of the first rotating platform 42, with its central axis parallel to the second direction. The third rotating motor 63 is fixedly connected to the input end of the fixed ring 421 of the third rotating platform 62, and is used to drive the rotating ring 422 of the third rotating platform 62 to rotate controllably. The third right-angle frame 61 includes a third horizontal frame 611 and a third vertical frame 612 that are perpendicularly connected to each other, and also includes two right-angle plates 413. Both the third horizontal frame 611 and the third vertical frame 612 are constructed as plate structures. The two ends of the third vertical frame 612 are respectively connected to the rotating ring 422 of the third rotating platform 62 and the third vertical frame 612, and the third horizontal frame 611 extends in a direction away from the second vertical frame. When the rotating ring 422 of the third rotating platform 62 is in the initial position, the third horizontal frame 611 is horizontal and located below the third rotating platform 62. The right-angle plate 413 of the third right-angle bracket 61 is the same as that of the second right-angle bracket 51, except for its size, and is connected between the third horizontal bracket 611 and the third vertical bracket 612. The distal end of the third horizontal bracket 611 expands to form a circle and fits into the mating part 613 of the mounting base 102. The mating part 613 extends laterally along both sides of the first direction to form ears 614, which are used to support the clamping mechanism 9 and the camera equipment 101.

[0034] The clamping mechanism 9 includes a positioning element 96. The positioning element 96 is circular in shape, with its bottom surface fixedly connected to the mating part 613 of the third right-angle bracket 61. A portion of its upper surface protrudes upwards at its edge, forming multiple inverted arc-shaped limiting parts 961. The inner wall of the limiting parts 961 forms a circle that fits into the mounting base 102, used for positioning the mounting base 102. Two directional pins 962, arranged along a second direction, are partially protruded from the upper surface of the positioning element 96, and each directional pin 962 corresponds to one of the two insertion holes, used for the orientation of the camera device 101.

[0035] Please see Figure 1 and Figure 2 The clamping mechanism 9 also includes two sets of pressing components consisting of a rotating seat 91, an active rod 92, a locking piece 93, a driven rod 94, and a pressing pestle 95. The two pressing components are respectively disposed on the two ears 614 of the third right-angle bracket 61, and are used to press the mounting seat 102 against the positioning piece 96 from two directions.

[0036] The rotating base 91 is constructed in the shape of an isosceles right triangle, vertically arranged and parallel to the first direction, with its hypotenuse facing another pressing component. The end of the driving rod 92 is rotatably connected to a first position of the rotating base 91 along an axis parallel to the second direction, the first position being adjacent to the middle of the hypotenuse of the rotating base 91. The driving rod 92 includes two structural pieces 921 and a handle portion 922. Each structural piece 921 is a long, strip-shaped structure with a central protrusion; one end is rotatably connected to the rotating base 91, and the other end is bent towards and connected to another structural piece 921, forming a cavity between the two structural pieces 921. One end of the handle portion 922 is connected to the junction of the two structural pieces 921 for rotating the structural pieces 921. The end of the driven rod 94 is rotatably connected to a second position of the rotating base 91 along an axis parallel to the second direction, the second position being adjacent to the top of the rotating base 91. The driven rod 94 includes a through portion 941 and a split portion 942 connected to each other. The driven rod 94's through-part 941 passes through the cavity, and its end away from the rotating seat 91 is vertically split in the middle, forming a long strip-shaped annular structure parallel to the first direction, namely the split part 942. The locking member 93 includes two opposing rotating pieces 931 that are generally perpendicular to the second direction and a locking piece 932 connecting the two rotating pieces 931. The two ends of the rotating pieces 931 are rotatably connected to the driving rod 92 and the driven rod 94, respectively, and rotate in a plane perpendicular to the second direction. When the rotating pieces 931 rotate to the vertical direction, the driving rod 92 is vertical and the driven rod 94 is horizontal. At this time, the locking member 93 is sleeved inside the cavity and on the outside of the driven rod 94 corresponding to the position of the driving rod 92. The snap-fit ​​piece 932 is vertically connected to the side edge of the rotating piece 931 near the mounting base 102. One end of the snap-fit ​​piece corresponds to the lower center of the rotating piece 931, and the other end is bent horizontally away from the mounting base 102, with a rounded corner. When the rotating piece 931 rotates to the vertical direction, the bottom end face of the snap-fit ​​piece 932 abuts against the upper surface of the driving rod 92. At this time, due to the mutual interference of the components, the driving rod 92 and the driven rod 94 are not easily rotated. The pressing pestle 95 includes a pestle rod 951, a washer 952, a nut 953, and a pressing head 954. The pestle rod 951 is constructed as a cylindrical straight rod, which passes vertically through the inner side of the split portion 942 of the driven rod 94 and abuts against the inner wall of the end of the split portion 942 away from the through portion 941. Two integrally annular washers 952 are both disposed on the outer side of the pestle rod 951 and abut against the upper and lower surfaces of the driven rod 94, respectively. The area of ​​the pestle 951 adjacent to the washer 952 has threads. The nut 953 is locked into the threads, clamping the washer 952 between the nut 953 and the driven rod 94, thereby fixing the pestle 951 to the driven rod 94. A pressure head 954 is connected to one end of the pestle 951 near the mounting base 102. The pressure head 954 is composed of two mating and interconnected frustum-shaped structures, with its diameter increasing and decreasing from top to bottom. The bottom surface of the pressure head 954 is a circular plane with a diameter larger than the insertion hole.When the driven rod 94 is horizontal, the bottom surface of the pressure head 954 abuts against the upper surface of the mounting base 102.

[0037] When installing the camera device 101, it is necessary to ensure that the mating part 613 of the third right-angle bracket 61 is horizontal. In this embodiment, the rotating rings 422 of the first rotating module 4, the second rotating module 5, and the third rotating module 6 are all in their initial positions. It is also necessary to ensure that the angle between the active rod 92 and the mating part 613 of the third right-angle bracket 61 is an obtuse angle, at which point the pressure head 954 is away from the positioning member 96. Place the camera device 101 on the positioning member 96, so that the mounting base 102 is fitted inside each limiting part 961 and abuts against each limiting seat. Insert the two directional pins 962 into the two insertion holes respectively. Since the distance between the insertion holes is relatively large, the initial installation direction can be determined visually. Rotate the active rod 92 by pushing the handle part 922 until the active rod 92 is vertical. Under the interference of the components, the active rod 92 reaches the vertical pressing position, which can be judged by touch. At this point, the pressure head 954 presses against the mounting base 102. Disassembly is performed by reversing the process. The installation and disassembly of the camera device 101 using the method in this embodiment is simple to operate and has a strong constraint on the mounting base 102, making it highly practical.

[0038] In this invention, the camera device 101 is locked to the third right-angle bracket 61 by the clamping mechanism 9. The orientation of the camera device 101 is adjusted by the first rotating module 4, the second rotating module 5, and the third rotating module 6, and the position of the camera device 101 is adjusted by the first translation module 1, the second translation module 2, and the third translation module 3. This allows for the acquisition of image data from detection images positioned at different locations and facing different directions, thereby completing the detection. The device transfer device in this invention has high stability and accuracy. During the detection process of the camera device 101, the camera device 101 moves smoothly and is not prone to shaking, and the accuracy of the detection position and direction is high. The device transfer device in this embodiment has low cost, which helps to reduce detection costs.

[0039] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0040] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A detection device for an equipment with a camera, characterized in that, include: The first translation module (1) includes a first electric slide (11), two first tracks (12), two first sliders (13) and a support plate (14). The first electric slide (11) and the first tracks (12) on the worktable are both arranged along the first direction and are flush with each other. The two first tracks (12) are respectively arranged on both sides of the first electric slide (11). The support plate (14) is supported on the first electric slide (11). The two first sliders (13) are connected to the surface of the support plate (14) near the first electric slide (11) and are respectively matched with the two first tracks (12), so that the support plate (14) is slidably connected to the first tracks (12). The second translation module (2) includes a second electric slide (21), a second track (22), a second slider (23), and a translation plate (24). The second electric slide (21) and the second track (22), which are supported on the carrier plate (14), are both arranged along a second direction and are flush with each other. The second direction is parallel to the carrier plate (14) and perpendicular to the first direction. The translation plate (24) is supported on the second electric slide (21). The second slider (23) is connected to the surface of the translation plate (24) near the second electric slide (21) and is slidably connected to the second track (22). The third translation module (3) includes a reinforcing frame (31), a third electric slide (32), and a support frame (33). The reinforcing frame (31) is supported on the translation plate (24), corresponds to the second slider (23), and extends along a third direction, which is perpendicular to the first direction and the second direction. The third electric slide (32) is arranged along the third direction, and the support frame (33) is supported on the third electric slide (32). A first rotating module (4) is connected to the support frame (33) and includes a first right-angle frame (41), which is controllably rotatable relative to the support frame (33) along an axis parallel to the third direction. The second rotating module (5) is connected to the first right-angle frame (41) and includes a second right-angle frame (51), which is controllably rotated relative to the first right-angle frame (41) along an axis parallel to the first direction. The third rotating module (6) is connected to the second right-angle bracket (51) and includes a third right-angle bracket (61), which is controllably rotatable relative to the second right-angle bracket (51) along an axis parallel to the second direction, and the camera device (101) to be tested is mounted on the third right-angle bracket (61).

2. The detection device as described in claim 1, characterized in that, The first translation module (1), the second translation module (2), and the third translation module (3) all include end components (7). The first electric slide (11), the second electric slide (21), and the third electric slide (32) all include a wide rail (111), a platform (112) slidably connected to the wide rail (111), and a drive motor (113) for controllably sliding the platform (112). Each end component (7) includes at least two linear sensors (71) and a linear insert (72). Each linear sensor (71) is connected to the wide rail (111). The two linear sensors (71) correspond to the positions of the two ends of the wide rail (111), and both linear sensors (71) are through-beam photoelectric sensors. The linear insert (72) is connected to the platform (112) and corresponds to the linear sensor (71).

3. The detection device as described in claim 1, characterized in that, The first rotating module (4) further includes a first rotating platform (42) connected between the support frame (33) and the first right-angle frame (41), the second rotating module (5) further includes a second rotating platform (52) connected between the first right-angle frame (41) and the second right-angle frame (51), and the third rotating module (6) further includes a third rotating platform (62) connected between the second right-angle frame (51) and the third right-angle frame (61). The first rotating platform (42), the second rotating platform (52) and the third rotating platform (62) are all hollow rotating platforms.

4. The detection device as described in claim 3, characterized in that, The first rotating module (4), the second rotating module (5), and the third rotating module (6) all include an origin component (8). Each origin component (8) includes a rotation sensor (81) and a rotating insert (82). The first rotating platform (42), the second rotating platform (52), and the third rotating platform (62) all include a coaxial fixed ring (421) and a rotating ring (422) in an annular shape. The rotating ring (422) is controllably rotated relative to the fixed ring (421) along its central axis under the drive of the rotating motor. The rotation sensor (81) is connected to the fixed ring (421), and the rotating insert (82) is connected to the rotating ring (422) and its position corresponds to that of the rotation sensor (81).

5. The detection device as described in claim 1, characterized in that, The camera device (101) includes a mounting base (102), and the third right-angle bracket (61) includes a mating part (613) parallel to the first direction and the second direction. The mating part (613) is used to support the mounting base (102). The mating part (613) is connected to two ears (614) on both sides along the first direction. The ears (614) support two pressing mechanisms (9). The pressing mechanisms (9) are used to press the mounting base (102) against the mating part (613) of the third right-angle bracket (61).

6. The detection device as described in claim 5, characterized in that, It also includes a positioning element (96), which is disposed on the mating part (613) of the third right-angle bracket (61). The surface of the positioning element (96) is partially raised to form a plurality of limiting parts (961), and the shape of the plurality of limiting parts (961) is fitted to the mounting base (102) to constrain the mounting base (102). The surface of the positioning element (96) is also connected to at least two directional pins (962) parallel to the third direction. The mounting base (102) is formed with at least two through holes, and the shape and position of the directional pins (962) are fitted to the through holes for positioning the mounting base (102).

7. The detection device as described in claim 5, characterized in that, The clamping mechanism (9) includes a rotating base (91), a driving rod (92), a locking piece (93), a driven rod (94), and a pressing pestle (95). The rotating base (91) is connected to the ear (614) of the third right-angle bracket (61). The end of the driving rod (92) is rotatably connected to the first position of the rotating base (91) along an axis parallel to the second direction. The end of the driven rod (94) is rotatably connected to the second position of the rotating base (91) along an axis parallel to the second direction. The second position is located away from the ear (614) of the third right-angle bracket (61) and away from the side of the camera device (101) at the first position. The locking piece (93) includes a rotating plate (931) and a locking piece (932). The two ends of the rotating plate (931) are respectively rotatably connected to... Connected to the active rod (92) and the driven rod (94), it rotates in a plane perpendicular to the second direction. The snap-fit ​​piece (932) is vertically connected to the middle of the rotating piece (931). The end of the driven rod (94) that is perpendicular to the rotating seat (91) extends toward the mounting seat (102). When the active rod (92) is parallel to the third direction and the driven rod (94) is parallel to the first direction, the rotating piece (931) is parallel to the third direction, and the snap-fit ​​piece (932) presses the edge of the ear (614) of the driven rod (94) away from the third right-angle bracket (61). The pressing pestle (95) presses the mounting seat (102) against the mating part (613) of the third right-angle bracket (61).

8. The detection device as described in claim 7, characterized in that, The active rod (92) includes two structural pieces (921). The structural piece (921) is constructed as a long strip-shaped structure with a central protrusion. One end of the structural piece (921) is rotatably connected to the first position of the rotating seat (91), and the other end is bent toward the other structural piece (921) and connected to the other structural piece (921), so that a cavity is formed between the two structural pieces (921). The driven rod (94) passes through the cavity. The locking piece (93) includes two oppositely arranged rotating pieces (931) and the locking piece (932) is connected between the two rotating pieces (931). When the active rod (92) is parallel to the third direction, the locking piece (93) is sleeved on the inside of the cavity and on the outside of the driven rod (94).

9. The detection device as described in claim 1, characterized in that, The first right-angle frame (41) includes a first horizontal frame (411) and a first vertical frame (412) connected to each other. The first horizontal frame (411) extends along the first direction toward a direction away from the reinforcing frame (31), and the first vertical frame (412) extends along the third direction toward a direction away from the reinforcing frame (31). The second right-angle frame (51) includes a second horizontal frame and a second vertical frame connected to each other. The second horizontal frame extends along the second direction, and the second vertical frame extends along the first direction. The third right-angle frame (61) includes a third horizontal frame (611) and a third vertical frame (612) connected to each other. The third vertical frame (612) extends along the third direction toward a direction close to the first horizontal frame (411), and the third horizontal frame (611) extends along the second direction toward a direction away from the second vertical frame.

10. The detection device as described in claim 9, characterized in that, The first right-angle frame (41) also includes a right-angle plate (413), which is constructed as a right-angled triangle with one right-angle end and two acute-angle ends. The two acute-angle ends of the right-angle plate (413) are expanded into a rectangular shape. The right-angle plate (413) is connected between the first horizontal frame (411) and the first vertical frame (412).

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