KR20180012136A - Unmanned aerial vehicle for facilities examination - Google Patents

Abstract

The present invention discloses a mobile robot attached to a surface for inspection of a facility. According to the present invention, constructed is a robot capable of being attached to a surface in contact with a wall surface or a ceiling surface of a facility, thereby regardless of the proficiency of adjustment, wind, and GPS reception, enabling an imaging device mounted on the robot to closely photograph a condition of the facility (e.g. cracks, breaks, etc.) in the nearest distance, and in addition, not limiting a photographed area of the imaging device (e.g. a corner area of the facility), and furthermore, checking the condition change of the facility more precisely without visual confirmation performed by an inspector being put into a field, through photographed image information.

Description

Unmanned aerial vehicle for facilities inspection.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surface mountable mobile robot for inspecting the state of a facility such as a bridge, a dam, a tunnel, and the like. More particularly, Cracks, breakage, etc.) of a surface-mounted mobile robot for facility inspection.

Generally, all facilities including bridges, dams and tunnels are subject to degradation and deterioration over time due to natural and environmental factors. In order to maintain the functions of the aging facilities and to prolong the life span, And efficient inspection and diagnosis should be carried out.

The most basic survey item to perform such inspection and diagnosis is the appearance survey. Inspection of cracks and breaks, especially in the appearance survey, is very important factor in evaluating the inside and outside conditions of the facility and determining the items, procedures and methods of local precision safety diagnosis in the next step.

Existing representative methods of appearance inspection for cracks and breakage are visual inspection by manpower. Visual inspection lacks objectivity because it can not quantitatively express the results and can not be compared with other test results and therefore relies on personal knowledge and experience.

In addition to the history of the surrounding conditions, as well as the fact that the current state can not be accurately grasped, it is impossible to compare with past inspection results, and even experienced technicians who have difficulties in accessing invisible areas such as concrete or manpower I can not find it.

Particularly, in the case of cracks and breakage, it is impossible to obtain objective data because most of them are visually confirmed without using a measuring instrument capable of quantitative judgment in general. In the case of a large-sized tunnel, a bridge, It is almost impossible to conduct the inspection.

Conventionally, a method for measuring a state change of a facility is disclosed in Japanese Laid-Open Patent Publication No. 2001-0094657 (published on November 11, 2001), which detects a defect of a bridge through a robot equipped with a camera, 10-2008-0078167 (published on Aug. 27, 2008), the state of the facility is detected by the laser scanning method, And the change of the state of the space was measured.

However, the inspection equipment of the prior art has disadvantages in that it is not free to move. In particular, when it is desired to inspect a state change such as a crack or breakage of a surface of a facility such as a tunnel or a bridge, And the lack of such a control function has caused the difficulty in the analysis due to the degradation of the image clarity through the image equipment.

Conventionally, surface inspection of a facility has been carried out using a unmanned aerial vehicle (drone). Such unmanned aerial vehicles are disclosed in Japanese Patent Application Laid-Open No. 10-2016-0052238 (Publication date 2016.05.12), Japanese Laid-Open Patent Publication No. 10-2016- 10-1616411 (Registration date 2016.04.26), Registration No. 10-1625634 (Registration date 2016.05.24), which discloses a rotor having a rotor, Is operated by the lift generated by rotating the engine to the engine, and it is general that the operation signal of the operator is received by radio and operated manually.

However, when inspecting the condition of a facility using the unmanned air vehicle, the unmanned air vehicle is flying at a certain distance from the facility. Therefore, when the surface of the facility is photographed through the video equipment mounted on the unmanned air vehicle The image was not captured clearly, and there was considerable difficulty in analyzing the state of the facility through the captured image.

In other words, even if the unmanned aerial vehicle is brought into proximity to the facility by radio control, the distance between the unmanned aerial vehicle and the facility should be maintained to some extent. Therefore, when the surface of the facility is photographed through the video equipment of the unmanned aerial vehicle, In the case of severe cases, it can be easily analyzed. However, in the case of slight breakage or cracking, there are many cases where the image is not broken or cracked properly. In the past, It is not.

On the other hand, in the case of conventional unmanned aerial vehicles, it is possible to freely adjust the flight trajectory freely by a skilled tester, but it requires skillful adjustment techniques due to external conditions such as wind and GPS reception, When photographing a wall or facade of a facility, it is inevitable that the imaging area (eg, the corner area of the facility) is limited. Also, there is a risk of accidents in the event of a collision with a facility, There is no one but the inspectors have had to visually confirm them to supplement them.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above-mentioned problems occurring in the prior art, and it is an object of the present invention to provide a mobile robot having a surface capable of vertically and horizontally moving in a state of being in contact with a wall surface or a ceiling surface of a facility, (Eg, cracks, breakage, etc.) can be photographed closely at the nearest distance through the video equipment mounted on the robot, The object of the present invention is to provide a surface mounted mobile robot for inspection of facilities, which permits a state change of a facility to be confirmed more precisely without visual confirmation according to the input of a tester through the photographed image information.

To achieve the above object, a surface mountable mobile robot for inspecting facilities according to the present invention includes: an imaging device for photographing a facility to be inspected; a main body having a plurality of flying and pressurizing rotors rotated to generate lifting force for surface- ; A pushing portion formed in the main body and applying a driving force to the main body such that the main body moves along the inspection target facility; A rolling part formed on both sides of the main body and operated to rotate when the main body is moved along the inspection target facility by the pressure pushing part in contact with the inspection target facility; A sensor unit for sensing a contact state of the rolling unit with respect to the inspection target facility; And a controller for controlling the flying and pressurizing rotors so that the propulsion force of the pressure propulsion unit applied to the main body to move the main body in a state in which the cloud unit is in contact with the inspection target facility according to the information sensed by the sensor unit ; .

In addition, a fixed portion is formed on the bottom surface of the main body, and the video equipment is coupled to the fixed portion so as to be rotatable up and down through a shaft portion.

In addition, the fixing part is connected to the shaft part and constitutes a first driving part for driving the video equipment to rotate.

In addition, a photographing hole is formed on a central portion of the main body so as to enable the upper imaging when the imaging device rotates upward through the shaft portion.

Further, the pressure pushing portion is a rotor which generates a driving force for pressing the main body while rotating according to the driving of the driving portion.

In addition, the rolling part is designed to be higher than the height of the main body, and both ends are detachably coupled to the connecting shaft, and the endless track is configured to be capable of changing the direction by driving force control of the driving part.

In addition, the rolling part is designed to be higher than the height of the main body, and both ends are detachably coupled to the connecting shaft, and the wheel is configured to be capable of changing the direction by the driving force of the driving part.

In addition, the sensor unit is a limit switch formed on the cloud part, and detects whether the cloud unit is in contact with or not in contact with the monitoring target facility, and outputs the detected signal to the control unit.

In addition, the sensor unit is a pressure sensor that is formed on the rolling unit and senses whether the cloud unit is in contact with or not in contact with the monitored facility, and outputs the sensor unit to the control unit.

In addition, the sensor unit is formed in the main body, and is a laser sensor that detects whether the cloud unit is in contact with or not in contact with the monitoring target facility, and outputs the sensor unit to the control unit.

The main body further includes auxiliary image equipment for acquiring image information on a narrow space of the facility, and the auxiliary image equipment is coupled and fixed to a mounting arm capable of rotation and length adjustment.

The mounting arm further includes: a first connecting rod fixed to a bottom surface of the main body; A second connecting rod rotatably coupled to the first connecting rod by a hinge; A third connecting rod linearly moved from the second connecting rod so as to be adjustable in length; A fourth connecting rod orthogonally coupled to the third connecting rod; A fifth connecting rod linearly moving from the fourth connecting rod so as to be adjustable in length; And a sixth connection rod fixed to the auxiliary imaging device and rotatably coupled to the fifth connection rod by a hinge; .

Thus, the present invention constitutes a robot capable of moving vertically and horizontally with surface movement in a state of being in contact with a wall surface or a ceiling surface of a facility, and thereby, regardless of proficiency of adjustment, It is possible to take a close look at the state of the facilities (eg cracks, breakage, etc.) at the nearest distance through the equipment, and also to ensure that there is no restriction on the imaging area of the imaging equipment It is possible to expect the effect of confirming the state change of the facility more precisely without visual confirmation according to the input of the examiner through the image information.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic plan view showing a structure of a surface mountable mobile robot for inspection of facilities according to an embodiment of the present invention; FIG.
2 is a front schematic view showing the structure of a surface mounted mobile robot for inspection of facilities according to an embodiment of the present invention.
3 is a side schematic view showing a structure of a surface mountable mobile robot for inspecting a facility to which an endless track is applied according to an embodiment of the present invention.
4 is an enlarged view showing a rotation state of a video equipment according to an embodiment of the present invention.
5 is a schematic block diagram of electronic components of a surface mounted mobile robot for inspection of facilities according to an embodiment of the present invention.
FIG. 6 is an explanatory view illustrating a state in which a robot is moved in a state of being in contact with a wall surface and a ceiling surface of a facility according to an embodiment of the present invention. FIG.
FIG. 7 is a front schematic view showing a state in which an auxiliary imaging device is applied to a mobile robot according to another embodiment of the present invention; FIG.
FIG. 8 is a schematic plan view showing a state in which an auxiliary imaging device is applied to a mobile robot according to another embodiment of the present invention. FIG.
FIG. 9 is a side schematic view showing a state in which an auxiliary image code is applied to a mobile robot according to an embodiment of the present invention. FIG.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and how to accomplish them, will become apparent by reference to the embodiments described in detail below with reference to the accompanying drawings. However, it should be understood that the present invention is not limited to the disclosed embodiments, but may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. It will be understood by those of ordinary skill in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification.

In this specification, the terms "comprises" or "having ", and the like, specify that the presence of stated features, integers, steps, operations, elements, But do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

In addition, the embodiments described herein will be described with reference to cross-sectional views and / or plan views, which are ideal illustrations of the present invention. In the drawings, the thicknesses of the films and regions are exaggerated for an effective description of the technical content. Thus, the shape of the illustrations may be modified by manufacturing techniques and / or tolerances. Accordingly, the embodiments of the present invention are not limited to the specific forms shown, but may include variations in shapes that are created or required according to the manufacturing process. For example, the area shown at right angles may be rounded or may have a shape with a certain curvature. Thus, the regions illustrated in the figures have schematic attributes, and the shapes of the regions illustrated in the figures are intended to illustrate specific forms of regions of the apparatus and are not intended to limit the scope of the invention.

Like reference numerals refer to like elements throughout the specification. Accordingly, although the same reference numerals or similar reference numerals are not mentioned or described in the drawings, they may be described with reference to other drawings. Further, even if the reference numerals are not shown, they can be described with reference to other drawings.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

2 is a front schematic view showing the structure of a mobile robot for surface inspection for facility inspection according to an embodiment of the present invention. FIG. 3 is a front view of the mobile robot shown in FIG. Is a side schematic view showing the structure of a surface mounted mobile robot for inspecting a facility to which an endless track is applied according to an embodiment of the present invention.

FIG. 4 is an enlarged view showing a rotation state of an imaging apparatus according to an embodiment of the present invention. FIG. 5 is a schematic block diagram of electronic components of a surface-mounted mobile robot for inspection of facilities according to an embodiment of the present invention And FIG. 6 illustrates a state of use in which a robot is moved in a state of being in contact with a wall surface and a ceiling surface of a facility according to an embodiment of the present invention.

1 to 6, a surface mounted mobile robot A for inspecting facilities according to an embodiment of the present invention includes a main body 10, a pressure pushing unit 20, a rolling unit 30, (40), and a control unit (50).

A plurality of flying and pressurizing rotors 12, which rotate to generate lifting force for flight and movement, are formed on the front and rear sides of the main body 10, (11) for photographing the image pickup device (100).

That is, the robot A describes a rotor blade airplane and a moving device, and the flying and pressurizing rotor 12 is a propeller. The propeller is rotated by a normal motor M1 configured in the main body 10, And generate lift.

Here, the rotational force of the flying and pressurizing rotor 12 is achieved by controlling the driving force of the motor M1 by the control unit 50, and the photographing operation of the image equipment 11 is performed by the control unit 50 The control unit 50 controls the remote control terminal (not shown) to wirelessly control the image equipment 11 as well as the flying and pressurizing rotor 12 for unmanned flight. You can.

The fixing unit 13 is formed on the bottom surface of the main body 10. The video equipment 11 is rotatably coupled to the fixing unit 13 through a shaft h1, The video equipment 11 is capable of selectively photographing a wall surface and a ceiling surface of the facility 100 when vertically or horizontally moving along the monitored facility 100. For this purpose, And a photographing hole (14) for allowing the photographing operation of the upper part when the camera (11) is rotated upward through the shaft (h1).

The fixing part 13 is connected to the shaft part h1 and constitutes a first driving part P1 for driving the imaging device 11 to rotate. The first driving part P1 is a motor, and the driving shaft of the motor is connected to the shaft part h1, and the coupling is formed in a gear engaging form.

The pressure pushing portion 20 is formed on the front and rear sides of the main body 10 so that the main body 10 can be moved forward or rearward of the main body 10 And the driving force is applied to the direction.

That is, the pressure pushing portion 20 is a rotor that presses the main body 10 so that the main body 10 is attached and moved along the wall surface of the inspection target facility 100.

The pressure propulsion unit 20 is a propeller that is rotated by a motor M2 in the same manner as the airplane and the pressure rotor 12 for flight. When the main body 10 moves along the facility to be monitored 100, The main body 10 is provided with a propulsion force in front of or behind the main body 10 so that the rolling parts 30 of the main body 10 come into contact with the wall surface or the ceiling surface of the facility 100, And the pressure rotor 12 as well as the vertical or horizontal movement in a state of being in contact with the wall surface or the ceiling surface of the facility to be monitored 100 by the pressure pushing unit 20. [

Here, the driving force generated by the rotation of the pressure pushing unit 20 is achieved by controlling the driving force of the motor M2 by the control unit 50. [

The rolling part 30 is formed on both sides of the main body 10 and the main body 10 is moved by the pressing pushing part 20 along the wall surface or the ceiling surface of the inspection target facility 100, , And a rolling operation is performed in a state of being in contact with the inspection target facility (100).

That is, the rolling unit 30 is rotated in a state in which the main body 10 is in contact with the wall surface or the ceiling surface of the facility to be monitored 100 by the pressing and pushing unit 20 as well as the flying and pressurizing rotors 12 Is designed to be higher than the height of the main body 10 so as to be able to move and is either an endless track to which both ends are detachably coupled to the connection shaft 31 or a wheel.

At this time, the endless track or the wheel is configured to be capable of changing the direction by driving force control of a driving unit (not shown) under the control of the control unit 50. [

The sensor unit 40 senses a contact state of the rolling unit 30 contacting the wall surface or the ceiling surface of the inspection target facility 100. When the rolling unit 30 is in contact with the monitoring target facility 100, Or a limit switch for outputting the detected signal to the control unit 50, or a pressure sensor or a laser sensor, or a combination thereof.

The control unit 50 controls the flying and pressurizing rotor 12 so that the cloud unit 30 is in contact with the inspection target facility 100 according to the information sensed by the sensor unit 40 And the driving force of the pressure pushing portion 20 applied to the main body 10 is adjusted so that the main body 10 is moved. The thrust force adjustment is achieved by a mounted control program.

1 to 6, when the operator first generates a movement signal using the remote control terminal, the movement signal of the surface-mounted mobile robot for inspection of the facility according to the embodiment of the present invention is transmitted to the robot The control unit 50 rotates the airplane and the pressure rotor 12 through the control of the motor M1 that is a driving unit so that the robot A To the body 10 of the vehicle.

Next, an operator moves the main body 10 of the robot A close to the wall surface or the ceiling surface of the facility 100 through a remote control terminal, The portion 30 is brought into contact with the wall surface or the ceiling surface.

The sensor unit 40 formed on the main body 10 or the rolling unit 30 senses the contact state of the rolling unit 30 and outputs the sensed contact state to the control unit 50, 50 rotate the pressurized propulsion unit 20 through the drive control of the motor M2 to generate propulsive force.

That is, when the rolling unit 30 contacts the wall surface of the facility to be monitored 100, the control unit 50 rotates the pressure pushing unit 20 through the drive control of the motor M2, The rolling member 10 moves by the driving force generated by the rotation of the pressing and pushing unit 20 in the direction of the wall surface while the rolling member 30 is moved by the pushing and pressing rotor 12, The main body 10 moves along the wall surface of the monitoring target facility 100 while keeping the state of contact with the wall surface of the facility 100.

On the other hand, when the cloud unit 30 is in contact with the ceiling surface of the facility to be monitored 100, the control unit 50 rotates the airplane and the pressurizing rotor 12 through drive control of the motor M2, The main body 10 is moved in the direction of the ceiling surface while flying by the flying and pressurizing rotors 12 so that the cloud portion 30 is in contact with the ceiling surface of the monitored facility 100 So that the main body 10 moves along the ceiling surface of the monitored facility 100 while being attached to the surface.

When the imaging signal is input from the remote control terminal to the control unit 50 in a state where the main body 10 is attached and moved along the wall surface or the ceiling surface of the facility to be monitored 100 as described above, ) Adjusts the photographing angle of the image equipment 11 and photographs the wall surface and / or the ceiling surface of the monitored facility 100 through the image equipment 11, It is possible to transmit the image information photographed to the remote server through the communication network and to analyze the state of the damage to the monitored facility 100 more precisely through the image information.

That is, the image equipment 11 is coupled to the fixing unit 13 via the shaft h1 so as to be vertically rotatable. Since the shaft h1 is connected to the first driving unit P1, 50 can control the angle of the video equipment 11 toward the wall surface or the ceiling surface through the drive control of the first driving unit P1, The imaging device 11 can take a ceiling face through the photographing hole 14 when the imaging device 11 rotates upward because the hole 14 is formed.

In other words, the surface-mounted mobile robot A according to the embodiment of the present invention can move the robot A through the pushing and pushing rotor 20 in a state where the surface- The robot A is brought into close contact with the wall surface or the ceiling surface of the facility 100 through the rolling portion 30 so that the robot A is vertically and horizontally moved in contact with the wall surface or the ceiling surface of the facility to be monitored 100 The video equipment 11 of the robot A can shoot a state of breakage or cracking occurring on the wall surface or the ceiling surface with a certain distance maintained regardless of the proficiency of adjustment, It is to be able to shoot more clearly in the nearest state.

7 to 9 illustrate another embodiment of the present invention in which the main body 10 includes one or more auxiliary imaging devices 111 for acquiring image information on a narrow space of the facility 100, The mounting arm 120 is configured to be able to rotate and adjust its length while the mounting arm 111 'is configured through the mounting arm 120.

That is, the mounting arm 120 includes a first connecting rod 121 fixed to the bottom surface of the main body 10, a second connecting rod 121 rotatably coupled to the first connecting rod 121 by a hinge h2, A third connecting rod 123 that is linearly moved from the second connecting rod 122 so as to be adjustable in length and a fourth connecting rod 123 that is orthogonally coupled to the third connecting rod 123, A fifth connecting rod 125 which linearly moves from the fourth connecting rod 124 so as to be adjustable in length so as to be adjustable in length and the fifth connecting rod 125 which is fixed while the auxiliary video equipment 111 and 111 ' And a sixth connecting rod 126 rotatably coupled to the hinge h1 and h2 by a hinge h3.

Accordingly, the auxiliary video equipment 111 and 111 'according to another embodiment of the present invention may include the first through sixth connection rods 121, 122, 123, 124, 125 and 126, It is possible to adjust the angle in the direction of the monitored facility 100 to be photographed through the arm 120 as well as to adjust the angle in the direction of the monitored facility 100 through the length adjustment, The video equipment 11 (111, 111 ') of the robot A can take a close and clear picture of the breakage or cracking state occurring on the wall surface or the ceiling surface as the narrow space portion of the monitored facility 100 can be photographed It will be possible.

Although not shown in the drawings, the rotation and length adjustment of the mounting arm 120 may be manually adjusted by an operator or may be automatically adjusted to a desired direction and length by a remote control by mounting a small motor.

While the present invention has been described with reference to the accompanying drawings, it is to be understood that the scope of the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the invention.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention as defined by the appended claims. It is to be understood that such changes and modifications are within the scope of the claims.

10; A main body 11; Video equipment
12; Flight and pressure rotor 13; [0035]
14; Shooting hole 20; The pressure-
30; A cloud portion 31; Connection axis
40; A sensor unit 50; The control unit
100; Facilities to be monitored 111, 111 '; Secondary video equipment
120; Mounting arm 121; The first connecting rod
122; A second connecting rod 123; Third connection load
124; A fourth connecting rod 125; Fifth connecting rod
126; Sixth connecting rod P1; The first driving unit
M1, M2, M3; Motor h1; Shaft
h2, h3; Hinge

Claims (12)

A main body provided with image equipment for photographing facilities to be inspected and a plurality of flying and pressurizing rotors rotating to generate lifting force for flying and surface attachment;
A pushing portion formed in the main body and applying a driving force to the main body such that the main body moves along the inspection target facility;
A rolling part formed on both sides of the main body and operated to rotate in a state where the main body is in contact with the inspection target facility when the main body is moved along the inspection target facility by the pressing pushing part;
A sensor unit for sensing a contact state of the rolling unit with respect to the inspection target facility; And
The control unit controls the driving force of the pressure pushing unit applied to the main body so that the main body is moved in a state in which the cloud unit is in contact with the inspection target facility in accordance with the information sensed by the sensor unit, ; Wherein the robot is mounted on the robot. The method according to claim 1,
Wherein a fixed portion is formed on a bottom surface of the main body, and the video equipment is rotatably coupled to the fixed portion through a shaft portion in a vertical direction. 3. The method of claim 2,
Wherein the fixed portion is configured as a first driving portion connected to the shaft portion and driven to rotate the imaging device. The method of claim 3,
Wherein the image forming unit forms a photographing hole on the central portion of the main body so as to enable the upper imaging when the image equipment rotates upward through the shaft portion. The method according to claim 1,
Wherein the pressure pushing unit is a rotor that generates a driving force for pressing the main body while rotating according to driving of the driving unit. The method according to claim 1,
Wherein the rolling part is designed to be higher than the height of the main body, and the endless track is detachably coupled to the connecting shaft at both ends thereof, and the endless track is configured to be capable of changing direction by driving force control of the driving part Moving type robot with surface. The method according to claim 1,
Wherein the rolling portion is designed to be higher than the height of the main body, and both ends of the connecting portion are detachably coupled to the connecting shaft, and the wheel is configured to be capable of being turned by the driving force of the driving portion Moving type robot with surface. The method according to claim 1,
Wherein the sensor unit is a limit switch formed on the rolling unit and detecting whether the cloud unit is in contact with or not in contact with the monitoring target facility and outputting the sensing unit to the control unit. The method according to claim 1,
Wherein the sensor unit is a pressure sensor that is formed on the rolling unit and senses whether the cloud unit is in contact with or not in contact with the monitoring target facility and outputs the sensor unit to the control unit. The method according to claim 1,
Wherein the sensor unit is formed in the main body and is a laser sensor that detects whether the cloud unit is in contact with or not in contact with the monitoring target facility and outputs the sensor unit to the control unit. The method according to claim 1,
Wherein the main body further comprises auxiliary video equipment for acquiring image information on a narrow space of the facility, and the auxiliary video equipment is coupled and fixed to a mounting arm capable of rotation and length adjustment. Surface mounted mobile robots. 12. The apparatus of claim 11,
A first connecting rod fixed to a bottom surface of the main body;
A second connecting rod rotatably coupled to the first connecting rod by a hinge;
A third connecting rod linearly moved from the second connecting rod so as to be adjustable in length;
A fourth connecting rod orthogonally coupled to the third connecting rod;
A fifth connecting rod linearly moving from the fourth connecting rod so as to be adjustable in length; And
A sixth connecting rod fixed to the auxiliary imaging device and rotatably coupled to the fifth connecting rod by a hinge; Wherein the robot is mounted on the robot.

Images