CN210771306U - Inspection robot - Google Patents

Abstract

The utility model provides a patrol and examine robot, including the arm, rotate the cloud platform of installing in arm one end, mount pad, robot, motor and fine-tuning, the arm is established on the mount pad, and fine-tuning is including setting up the action wheel at arm both ends and from driving wheel, conveyer belt, driving wheel axle and trailing axle, and the trailing axle links to each other with the cloud platform, the side of motor mount pad, and the driving wheel axle links to each other with the mount pad is fixed, and the output shaft of motor links to each other with the arm, and the cloud platform level sets up. When the motor drive arm rotates, drive the hold-in range in the arm and rotate round the mount pad from the driving wheel, and make the cloud platform rise to the target height, because hold-in range and from intermeshing when rotating, the hold-in range produces reverse friction to from the driving wheel, then the hold-in range drives from the driving wheel, the driven wheel shaft takes place the rotation, and makes the cloud platform opposite direction rotation the same angle, thereby make the cloud platform keep the level, so that shooing of cloud platform, this simple structure, its low in production cost.

Description

Inspection robot

Technical Field

The utility model relates to a technical field of robot especially provides a patrol and examine robot.

Background

At the present stage, along with the development of robot technology, various intelligent patrol inspection monitoring robots are more and more widely applied, because patrol inspection monitoring range is bigger and bigger, each monitoring point is also different in height, and the difference in height is also bigger and bigger, traditional can not cover the monitoring range comprehensively only by the rotation of a cloud platform, and the cloud platform needs to make the cloud platform and the target on the same horizontal plane when monitoring and identifying, can not shoot at an oblique angle, then urgent need a robot that can accomplish three-dimensional monitoring, therefore, robot elevating system takes place at will. In the prior art, the lifting of the tripod head is realized by matching a motor with a screw rod transmission mechanism, but the lifting height is limited due to the difficulty in manufacturing the ultra-long screw rod, so that the inspection monitoring range of the tripod head is limited. In addition, the cost of the lead screw is high, which results in high cost of the robot lifting mechanism.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a patrol and examine robot, the cloud platform that aims at solving among the prior art robot patrols and examines monitoring range little and robot elevating system's the high technical problem of cost of manufacture.

In order to achieve the above object, the utility model adopts the following technical scheme: the inspection robot comprises a mechanical arm, a holder rotatably mounted at one end of the mechanical arm, a mounting seat for supporting the mechanical arm, a robot main body for supporting the mounting seat, a motor for driving the mechanical arm to rotate on the mounting seat to drive the holder to lift and a fine adjustment mechanism for driving the holder to rotate so as to keep the holder horizontal, wherein the fine adjustment mechanism comprises a driving wheel and a driven wheel which are respectively arranged inside two ends of the mechanical arm, a driving wheel shaft for supporting the driving wheel, a driven wheel shaft for fixedly supporting the driven wheel and a synchronous belt sleeved on the driving wheel and the driven wheel, two ends of the driven wheel shaft respectively penetrate through two sides of the corresponding end of the mechanical arm and are fixedly connected with the holder, the motor is mounted on the side surface of the mounting seat, one end of the driving wheel shaft penetrates through the mechanical arm and is fixedly connected with the mounting seat, and the output shaft of the motor is connected with the mechanical arm.

Further, the arm include with the first round platform that the motor output end links to each other, with the second round platform that the cloud platform links to each other and connect first round platform with the connecting rod of second round platform, the action wheel is located in the first round platform, locate from the driving wheel in the second round platform, first round platform is located in the mount pad, the cloud platform is equipped with the confession the fluting that the second round platform was put into.

Furthermore, one side, deviating from the motor, of the first round table is provided with a first through hole, a first bearing is installed in the first through hole, and the first bearing is sleeved on the driving wheel shaft.

Furthermore, two groups of second through holes are formed in two sides of the second circular truncated cone, second bearings are installed in the second through holes, and the second bearings are sleeved on the driven wheel shaft.

Further, the inspection robot further comprises a speed reducer, and two ends of the speed reducer are respectively fixedly connected with the output end of the motor and the first round table.

Further, the mounting seat comprises a first mounting seat for supporting the motor and a second mounting seat arranged opposite to the first mounting seat, a mounting groove for placing the first round table is formed between the first mounting seat and the second mounting seat, the motor is arranged on the side surface of one side of the first mounting seat opposite to the mechanical arm, and the driving wheel shaft is mounted on the second mounting seat.

Further, the first mounting seat comprises a first supporting seat for supporting the motor and a first supporting plate connected with the first supporting seat, the first supporting seat is provided with a first accommodating groove for accommodating the speed reducer, the first supporting seat is provided with a through groove for allowing an output shaft of the motor to extend into, the through groove is communicated with the first accommodating groove, and the first supporting plate is fixedly connected with the robot main body.

Furthermore, a support for supporting the speed reducer is arranged in the first accommodating groove in a protruding mode, and the support is provided with an arc-shaped groove for accommodating the speed reducer.

Furthermore, the second mounting seat comprises a second supporting seat for supporting the driving wheel shaft and a second supporting plate connected with the second supporting seat, a second accommodating groove is formed in one surface, close to the mechanical arm, of the second supporting seat, and a protruding block placed in the second accommodating groove to position the mechanical arm is arranged on the first circular truncated cone in a protruding mode.

Further, the cloud platform is including being equipped with the camera and being used for supporting the base of camera, the base is close to the one end of arm is seted up the holding the fluting of arm.

The utility model has the advantages that: compared with the prior art, the utility model discloses a patrol and examine robot, inside through at the arm both ends is equipped with the action wheel and follows the driving wheel, and the cover is equipped with the hold-in range between action wheel and follow driving wheel, the trailing axle links to each other with the cloud platform, motor and leading axle set up the both sides at the mount pad respectively, and the output shaft of motor links to each other with the arm, and the cloud platform level sets up, then motor-driven arm rotates, drive the hold-in range in the arm and rotate round the mount pad from the driving wheel, and make the cloud platform rise to target height, because hold-in range and from the intermeshing when driving wheel rotates, the hold-in range produces reverse friction power to the driven wheel, then the hold-in range drives from the driving wheel, the rotation takes place for the cloud platform opposite direction, thereby make the cloud platform keep the level.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is a schematic view of a main view structure of an inspection robot according to an embodiment of the present invention;

fig. 2 is a schematic view of a vertical cross-section structure of the inspection robot provided by the embodiment of the present invention;

FIG. 3 is a sectional view taken along line A-A of FIG. 2;

fig. 4 is a schematic view of a overlooking structure of the inspection robot provided by the embodiment of the invention;

fig. 5 is a partial cross-sectional view of the inspection robot in another direction according to the embodiment of the present invention;

fig. 6 is an enlarged schematic view of a portion a in fig. 5.

Wherein, in the drawings, the reference numerals are mainly as follows:

1-a mechanical arm; 11-a first truncated cone; 12-a second circular table; 13-a connecting rod;

2-a tripod head; 21-a camera; 22-a base; 23-slotting;

3-mounting a base; 31-a first mount; 32-a second mount; 33-mounting grooves; 34-a first support; 35-a first plate; 36-a second support seat; 37-a second plate; 341-first receiving groove; 342-a through groove; 343-a support; 361-a second accommodation groove;

4-fine adjustment mechanism; 41-driving wheel; 42-a driven wheel; 43-driving axle; 44-a trailing axle; 45-synchronous belt; 46-a first bearing; 47-a second bearing;

5, a motor;

6-speed reducer.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

Referring to fig. 1 and fig. 2 together, the inspection robot of the present invention will now be described. The inspection robot comprises a mechanical arm 1, a mounting seat 3, a robot main body (not shown), a motor 5 and a fine adjustment mechanism 4, wherein the robot main body can support various components, such as the mounting seat 3, the mechanical arm 1, the fine adjustment mechanism 4 and the like, the mounting seat 3 is arranged on the robot main body, the mounting seat 3 capable of containing the mechanical arm 1 is arranged on the mounting seat 3, and the mechanical arm 1 is arranged on the robot main body. And be equipped with cloud platform 2 on arm 1, motor 5 is as the power supply of this robot of patrolling and examining, can drive arm 1 and rotate and drive cloud platform 2 and go up and down to the target height, so that cloud platform 2 shoots, fine-tuning 4 then controls cloud platform 2 synchronous opposite direction rotation the same angle when motor 5 drive arm 1 rotates, make cloud platform 2 and horizontal plane remain the same angle throughout, so that cloud platform 2 can shoot the target environment clearly and form images, and carry the picture of shooing to the main control unit, thereby make the operator know the condition of monitoring the target in real time. Specifically, the fine adjustment mechanism 4 includes a driving wheel 41, a driven wheel 42, a driving wheel shaft 43, a driven wheel shaft 44 and a synchronous belt 45, the driving wheel 41 and the driven wheel 42 are respectively disposed at two ends of the robot arm 1, the two driving wheels are respectively disposed inside corresponding ends of the robot arm 1, the synchronous belt 45 is sleeved on the driving wheel 41 and the driven wheel 42, that is, the synchronous belt 45 is disposed inside the robot arm 1, the driving wheel 41 is sleeved on the driving wheel shaft 43, the driving wheel shaft 43 can support the driving wheel 41, the driven wheel shaft 44 is sleeved in the driven wheel shaft 44, the driven wheel shaft 44 can also support the driven wheel 42, two ends of the driven wheel shaft 44 respectively penetrate two sides of corresponding ends of the robot arm 1 and are fixedly connected with the pan-tilt head 2, the motor 5 and the driving wheel shaft 43 are respectively disposed at two sides of the mounting base 3, one end of the driving wheel shaft 43 is disposed on the mounting base 3, an output shaft of the motor 5 is connected with the mechanical arm 1, and the cloud platform 2 is arranged in parallel with the horizontal plane. Such structure, drive arm 1 when motor 5 rotates, and drive hold-in range 45 in the arm 1 and follow driving wheel 42 and rotate around mount pad 3, and make cloud platform 2 rise to the target height, because hold-in range 45 and follow driving wheel 42 intermeshing when rotating, hold-in range 45 produces reverse friction to following driving wheel 42, then hold-in range 45 drives from driving wheel 42, driven wheel shaft 44 takes place the rotation, and make cloud platform 2 opposite direction rotatory same angle, thereby make cloud platform 2 be in same water flat line with the shooting target, so that shooing of cloud platform 2, the steam generator is simple in structure, its low in production cost. In order to keep the pan/tilt head 2 parallel to the horizontal plane all the time when shooting, i.e. the pan/tilt head 2 can be still relative to the mechanical arm 1 even if the mechanical arm 1 does not rotate, it is necessary to ensure that the gravity of the pan/tilt head 2 is far less than the driving force for driving the synchronous belt 45 to rotate.

Further, please refer to fig. 1 and fig. 6 together, as a specific implementation manner of the inspection robot provided by the present invention, the mechanical arm 1 includes a first circular table 11, a second circular table 12 and a connecting rod 13, wherein the connecting rod 13 is disposed between the first circular table 11 and the second circular table 12 to structurally connect the first circular table 11 and the second circular table 12 together, one side of the first circular table 11 is connected to the output end of the motor 5, the second circular table 12 is connected to the cradle head 2, the driving wheel 41 is disposed in the first circular table 11, the driven wheel 42 is disposed in the second circular table 12, the first circular table 11 is disposed on the mounting base 3, and the output end of the motor 5 is connected to the first circular table 11, the cradle head 2 is disposed with a slot 23 for placing the second circular table 12, so that when the motor 5 can drive the first circular table 11 to rotate, and drive the synchronous belt 45 in the connecting rod 13, Driven wheel 42 and cloud platform 2 rotate around mount pad 3 in the second round platform 12, and make cloud platform 2 rise to the target height, because hold-in range 45 and driven wheel 42 intermeshing when rotating, hold-in range 45 produces reverse friction to driven wheel 42, then hold-in range 45 drives driven wheel 42, driven wheel shaft 44 takes place the rotation, and make cloud platform 2 opposite direction rotatory the same angle, thereby make cloud platform 2 be in the same water flat line with the shooting target, so that shooing of cloud platform 2, the structure is simple, its low in production cost. In addition, the two ends of the mechanical arm 1 are provided with the circular truncated cone structures, so that the driving wheels and the driving wheel shafts are conveniently arranged at the end part of the mechanical arm 1.

Further, please refer to fig. 2 and fig. 5 together, as a specific embodiment of the inspection robot of the present invention, the driving wheel shaft 43 is sleeved with the first bearing 46, and one side of the first round table 11 corresponding to the first bearing 46 is provided with a first through hole (not shown), and the shape of the first through hole is adapted to the shape of the first bearing 46, so as to place the first bearing 46 into the first through hole. By providing the bearing on the driving wheel shaft 43, the bearing plays a role of supporting the driving wheel shaft 43, and reduces friction and loss between the driving wheel shaft 43 and the first circular truncated cone 11 on the robot arm 1, so that the driving wheel shaft 43 is stably fixed on the mounting seat 3. Preferably, the first bearing 46 is a deep groove ball bearing, which is simple and inexpensive to install and cost effective.

Further, please refer to fig. 1 to fig. 6 together, as a specific embodiment of the inspection robot provided by the present invention, two sets of second bearings 47 are sleeved on two ends of the driven wheel shaft 44, a second through hole (not shown) is disposed at a position of the second round table 12 corresponding to each second bearing 47, and the shape of the second through hole is adapted to the shape of the second bearing 47, so as to place the second bearing 47 into the second through hole. By providing the bearing on the driven wheel shaft 44, the bearing functions to support the driven wheel shaft 44, and reduces friction and wear between the driven wheel shaft 44 and the second circular table 12 on the robot arm 1, so that the driven wheel shaft 44 and the driven wheel 42 can smoothly rotate under the function of the timing belt 45. Preferably, the second bearing 47 is a deep groove ball bearing, which is simple in structure, cheap, easy to install and cost-effective.

Further, please refer to fig. 2 and fig. 6 together, as a specific implementation manner of the inspection robot provided by the present invention, the inspection robot further includes a speed reducer 6, and two ends of the speed reducer 6 are respectively fixedly connected with the output end of the motor 5 and the first round table 11. In this embodiment, the speed reducer 6 is used as a speed reduction transmission device between the motor 5 and the mechanical arm 1, and is used for reducing the rotating speed of the output end of the motor 5, so that the mechanical arm 1 slowly rotates, the pan/tilt head 2 is driven to smoothly rise to a target height, the shaking force of the pan/tilt head 2 and the mechanical arm 1 during rotation is reduced, and the safety of operation is improved.

Further, please refer to fig. 1 and fig. 6 together, as a specific embodiment of the inspection robot provided by the present invention, the mounting base 3 includes a first mounting base 31 and a second mounting base 32, wherein the first mounting base 31 can be used for supporting the motor 5, the second mounting base 32 is disposed opposite to the first mounting base 31, a mounting groove 33 for placing the first circular table 11 is formed between the first mounting base 31 and the second mounting base 32, the motor 5 is disposed on one side of the first mounting base 31 opposite to the mechanical arm 1, and the driving wheel shaft 43 is mounted on the second mounting base 32. The installation seat 3 is arranged on the first installation seat 31 and the second installation seat 32 in a split mode, so that the size of the installation groove 33 can be automatically adjusted according to the size of the first round table 11, and the first round table 11 can be conveniently placed in the installation groove 33. In addition, the motor 5 and the driving wheel shaft 43 are respectively arranged on different mounting seats 3, so that the layout is reasonable, and the mounting and the dismounting of the motor 5 and the driving wheel shaft 43 are convenient. Preferably, the reducer 6 is a harmonic drive reducer, which has a simple structure, a small volume and a light weight, and is conveniently mounted on the first mounting seat 31. Specifically, the output end of the speed reducer 6 is connected with the first circular truncated cone 11 on the mechanical arm 1 through a screw, so that the torque output by the speed reduction of the speed reducer 6 from the power output by the motor 5 is transmitted to the mechanical arm 1, and the motor 5 drives the mechanical arm 1 to rotate around the mounting base 3, so as to drive the cloud deck 2 to ascend to the target height, and facilitate the cloud deck 2 to monitor the target.

Further, please refer to fig. 1 and fig. 6 together, as an embodiment of the present invention, the first mounting seat 31 includes a first supporting seat 34 and a first supporting plate 35, wherein the first supporting plate 35 is connected to the first supporting seat 34, the first supporting seat 34 can be used to support the motor 5, the first supporting seat 34 is provided with a first accommodating groove 341, the first supporting seat 34 is provided with a through groove 342, the through groove 342 is communicated with the first accommodating groove 341, and the first supporting plate 35 is fixedly connected to the robot body. Such structure, after stabilizing reduction gear 6 in first storage tank 341, and make the output shaft of motor 5 stretch into in first storage tank 341, and link to each other the output shaft of motor 5 with reduction gear 6, and reduction gear 6 and arm 1 fixed connection, alright transmit the moment of torsion with motor 5 to arm 4 via reduction gear 6 like this, so that arm 4 drives hold-in range 45 and follows driving wheel 42 and rotate, and make cloud platform 2 rise to the target height, because hold-in range 45 and follow driving wheel 42 intermeshing when rotating, hold-in range 45 produces reverse friction to following driving wheel 42, then hold-in range 45 drives from driving wheel 42, driven wheel shaft 44 takes place the rotation, and make cloud platform 2 opposite direction rotation the same angle, thereby make cloud platform 2 keep the level, so that shooing of cloud platform 2, the structure is simple, and its production cost is low. In addition, the first receiving groove 341 is formed in the first mounting seat 31, so that the speed reducer 6 is stably fixed in the first mounting seat 31. Preferably, a first connecting plate (not shown) is arranged at an end of the first support plate 35 away from the first support seat 34 and extends towards the second mounting seat 32, and the first connecting plate is tightly attached to the robot body so as to fix the first mounting seat 31 on the robot body.

Further, please refer to fig. 1 and fig. 6 together, as a specific embodiment of the inspection robot provided by the present invention, a support 33 for supporting the speed reducer 6 is disposed in the first accommodating groove 341, the support 33 is provided with an arc-shaped groove (not shown), and the shape of the arc-shaped groove is adapted to the shape of the outer end cap of the speed reducer 6, so that when the speed reducer 6 is disposed in the arc-shaped groove, the outer end cap of the speed reducer 6 is tightly attached to the inner wall surface of the arc-shaped groove, so that the speed reducer 6 is fixed in the support 33.

Further, please refer to fig. 1 and fig. 2 together, as an embodiment of the inspection robot provided by the present invention, the second mounting seat 32 includes a second supporting seat 36 and a second supporting plate 37, wherein the second supporting plate 37 is connected to the second supporting seat 36, the second supporting seat 36 can be used to support the driving wheel shaft 43, a second accommodating groove 361 is disposed on a surface of the second supporting seat 36 close to the robot arm 1, a protruding block (not shown) is disposed on a surface of the first circular truncated cone 11 close to the second accommodating groove 361, when the protruding block is disposed in the second accommodating groove 361, the second accommodating groove 361 limits a displacement of the protruding block, so as to facilitate the mounting and fixing of the robot arm 1, and the second supporting plate 37 is of an "L" shape structure, so as to facilitate the second supporting plate 37 to be fixedly connected to the robot body.

Further, please refer to fig. 1 and fig. 2 together, as a specific implementation manner of the inspection robot of the present invention, the cloud deck 2 includes a camera 21 and a base 22, the camera 21 is disposed on the base 22, the base 22 plays a role of supporting the camera 21, and the camera 21 can monitor and image the target and send the image to the operator, so that the operator can connect the target in real time. The base 22 has a slot 23 formed at an end thereof adjacent to the robot arm 1, and the slot 23 can be used for accommodating the robot arm 1. Specifically, the shape and size of the slot 23 are adapted to the shape and size of the second circular truncated cone 12, so that the second circular truncated cone 12 can be conveniently placed into the slot 23.

Further, please refer to fig. 1 and fig. 2 together, as a specific embodiment of the inspection robot provided by the present invention, the mechanical arm 1 is a hollow structure inside, so that the driving wheel 41, the driven wheel 42, the synchronous belt 45, etc. are conveniently installed in the mechanical arm 1, thereby improving the space utilization rate of the mechanical arm 1. In addition, compared with a solid rod piece, the mass of the mechanical arm 1 is relatively small, so that the mechanical arm 1 can be driven to rotate by using a small acting force, the power of the motor 5 is reduced, and the energy consumption is saved. Preferably, the first pan-tilt 2 structure, the second round table 12 and the connecting rod 13 in the mechanical arm 1 are connected together in a welding manner, so that the mechanical arm 1 is ensured to have good connection strength, and the operation is simple and convenient.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. An inspection robot comprises a mechanical arm, a holder rotatably mounted at one end of the mechanical arm, a mounting seat supporting the mechanical arm, a robot main body supporting the mounting seat, a motor for driving the mechanical arm to rotate on the mounting seat to drive the holder to lift, and a fine adjustment mechanism for driving the holder to rotate to keep the holder horizontal, wherein the fine adjustment mechanism comprises a driving wheel and a driven wheel respectively arranged inside two ends of the mechanical arm, a driving wheel shaft supporting the driving wheel, a driven wheel shaft fixedly supporting the driven wheel, and a synchronous belt sleeved on the driving wheel and the driven wheel, two ends of the driven wheel shaft respectively penetrate through two sides of the corresponding end of the mechanical arm and are fixedly connected with the holder, the motor is mounted on the side surface of the mounting seat, one end of the driving wheel shaft penetrates through the mechanical arm and is fixedly connected with the mounting seat, and the output shaft of the motor is connected with the mechanical arm.

2. The inspection robot according to claim 1, wherein the mechanical arm includes a first round table connected to the output end of the motor, a second round table connected to the cloud deck, and a connecting rod connecting the first round table and the second round table, the driving wheel is disposed in the first round table, the driven wheel is disposed in the second round table, the first round table is disposed in the mounting seat, and the cloud deck is provided with a slot for the second round table to be placed in.

3. The inspection robot according to claim 2, wherein a first through hole is formed in one side, away from the motor, of the first round table, a first bearing is installed in the first through hole, and the first bearing is sleeved on the driving wheel shaft.

4. The inspection robot according to claim 2, wherein two sets of second through holes are formed in two sides of the second round table, second bearings are mounted in the second through holes, and the second bearings are sleeved on the driven wheel shafts.

5. The inspection robot according to claim 2, further including a reducer, wherein two ends of the reducer are respectively fixedly connected to the output end of the motor and the first round table.

6. The inspection robot according to claim 5, wherein the mounting base includes a first mounting base for supporting the motor and a second mounting base disposed opposite to the first mounting base, wherein a mounting groove into which the first round table is inserted is formed between the first mounting base and the second mounting base, the motor is disposed on a side surface of the first mounting base opposite to the side of the robot arm, and the driving wheel shaft is mounted on the second mounting base.

7. The inspection robot according to claim 6, wherein the first mounting seat includes a first supporting seat for supporting the motor and a first support plate connected with the first supporting seat, the first supporting seat is provided with a first accommodating groove for accommodating the speed reducer, the first supporting seat is provided with a through groove into which an output shaft of the motor extends, the through groove is communicated with the first accommodating groove, and the first support plate is fixedly connected with the robot body.

8. The inspection robot according to claim 7, wherein a support for supporting the speed reducer is arranged in the first accommodating groove in a protruding mode, and the support is provided with an arc-shaped groove for accommodating the speed reducer.

9. The inspection robot according to claim 6, wherein the second mounting seat includes a second support seat for supporting the driving wheel shaft and a second support plate connected to the second support seat, a second receiving groove is formed in a surface of the second support seat adjacent to the robot arm, and a protrusion is protruded from the first circular table and is received in the second receiving groove to position the robot arm.

10. The inspection robot according to any one of the claims 2-9, wherein the cloud deck includes a camera and a base for supporting the camera, and one end of the base, which is close to the robotic arm, is provided with the slot for accommodating the robotic arm.

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