CN113916155A - Structured light three-dimensional measuring robot - Google Patents
Structured light three-dimensional measuring robot Download PDFInfo
- Publication number
- CN113916155A CN113916155A CN202111214331.1A CN202111214331A CN113916155A CN 113916155 A CN113916155 A CN 113916155A CN 202111214331 A CN202111214331 A CN 202111214331A CN 113916155 A CN113916155 A CN 113916155A
- Authority
- CN
- China
- Prior art keywords
- fixedly connected
- gear
- plate
- arc
- groove
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000005259 measurement Methods 0.000 claims abstract description 31
- 239000000428 dust Substances 0.000 claims abstract description 8
- 238000004140 cleaning Methods 0.000 claims description 26
- 238000005086 pumping Methods 0.000 claims description 20
- 230000007246 mechanism Effects 0.000 claims description 19
- 239000012530 fluid Substances 0.000 claims description 17
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 14
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 14
- 241001330002 Bambuseae Species 0.000 claims description 14
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 14
- 239000011425 bamboo Substances 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 13
- 230000000087 stabilizing effect Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 238000007789 sealing Methods 0.000 claims description 7
- 230000029058 respiratory gaseous exchange Effects 0.000 claims description 5
- 238000010408 sweeping Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 7
- 239000007788 liquid Substances 0.000 description 5
- 241000252254 Catostomidae Species 0.000 description 4
- 230000005684 electric field Effects 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 239000002270 dispersing agent Substances 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000007791 liquid phase Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000012071 phase Substances 0.000 description 1
- 230000010287 polarization Effects 0.000 description 1
- 239000007790 solid phase Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2518—Projection by scanning of the object
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a structured light three-dimensional measurement robot which comprises a base, wherein a support column is fixedly connected to the upper surface of the base, a placing disc is fixedly connected to the top end of the support column, an arc-shaped plate is connected to the side wall of the placing disc in a sliding mode, the arc-shaped plate is rotatably connected with a rotating shaft through a bearing, a surrounding gear is in interference fit with the rotating shaft, the arc-shaped plate is rotatably connected with a rotating cylinder through the bearing, the rotating shaft penetrates and extends into the rotating cylinder, a function groove is formed in the inner side wall of the rotating cylinder, and a conducting strip is fixedly connected to the inner side wall of the function groove. Has the advantages that: compared with the prior art, the invention can complete the adjustment of each direction only by one servo motor, has lower equipment manufacturing cost, can automatically clean the camera and the projector, avoids the influence of dust on the measurement, and simultaneously can ensure that an object to be measured does not move when the position is adjusted, thereby ensuring the accuracy of the measurement.
Description
Technical Field
The invention relates to the technical field of structured light three-dimensional measurement, in particular to a structured light three-dimensional measurement robot.
Background
When the object shape is researched and measured, the shape data of the object is often required to be led into a computer to be digitalized and convenient for research, and the structured light three-dimensional measurement is one of means, the structured light generally comprises a projector and a camera, specific light information is projected to the surface of the object and the background by the projector, then the data is collected by the camera and led into the computer, so that the light signal is converted into the position and depth information of the object, the whole three-dimensional space is recovered, and the instrument for carrying out the structured light measurement is a measuring robot.
Among the prior art, current structured light three-dimensional measurement robot, it is in the measurement process, need continuous height and the position of changing projecting apparatus and camera, be convenient for carry out comprehensive measurement to the object, and current robot then need set up a plurality of accurate servo motor and accomplish various adjustments, because accurate servo motor's price is expensive, thereby make the manufacturing cost of whole equipment on the high side, and complex operation, simultaneously, the dust on projecting apparatus and camera surface also can influence and measure the precision. Disclosure of Invention
The invention aims to solve the problems that in the prior art, equipment is high in manufacturing cost, complex in operation, dust influences measurement accuracy and the like, and provides a structured light three-dimensional measurement robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
a structured light three-dimensional measurement robot comprises a base, wherein a support column is fixedly connected to the upper surface of the base, a placement disc is fixedly connected to the top end of the support column, an arc-shaped plate is slidably connected to the side wall of the placement disc, a rotating shaft is rotatably connected to the arc-shaped plate through a bearing, an annular gear is in interference fit with the rotating shaft, the arc-shaped plate is rotatably connected to a rotating cylinder through a bearing, the rotating shaft penetrates and extends into the rotating cylinder, a function groove is formed in the inner side wall of the rotating cylinder, a conducting strip is fixedly connected to the inner side wall of the function groove, an elastic rubber sheet is fixedly connected between the inner top wall and the inner bottom wall of the function groove, electrorheological fluid is filled in the function groove, two electric telescopic rods are fixedly connected to the upper surface of the base, an annular plate is fixedly connected to the output ends of the electric telescopic rods together, and a lifting gear ring is rotatably connected to the upper surface of the annular plate through a bearing, the upper surface of the rotating cylinder is fixedly connected with a lifting screw, the lifting screw is in threaded connection with an installation block, and the electric telescopic rod is electrically connected with the conducting strip through a conducting wire.
Further, the lower surface of the arc plate is fixedly connected with a servo motor through a support, the output end of the servo motor is fixedly connected with the rotating shaft, the upper surface of the lifting gear ring is fixedly connected with a rubber pad, the rotating shaft is in interference fit with a synchronizing gear, and the synchronizing gear is consistent with the size of the surrounding gear.
Further, be provided with on the installation piece and be used for the clear mechanism that cleans of dust, clean the mechanism and include the sliding sleeve, the sliding sleeve is through a plurality of L shape pole and installation piece upper surface fixed connection, the sliding plate has been cup jointed to sliding sleeve internal seal, a plurality of reset spring of fixedly connected with between the roof in sliding plate and the sliding sleeve, the lateral wall fixedly connected with cleaning brush that the sliding plate is located the outside one side of sliding sleeve, the cleaning brush lateral wall is provided with the brush hair, the exhaust hole has all been seted up to two relative lateral walls of sliding sleeve, the lateral wall that the sliding sleeve is close to installation piece one side runs through fixedly connected with intake pipe.
Further, arc department is provided with the pump gas mechanism that is used for providing power for cleaning the mechanism, pump gas mechanism includes that the cross-section is the pump cylinder of opening font down, pump cylinder and arc run through fixed connection, the pump plate has been cup jointed to pump cylinder inner seal slip, fixed surface is connected with the pinion rack under the pump plate, pivot interference fit has initiative bevel gear, pump cylinder lateral wall runs through the rotation through the bearing and is connected with the driven shaft, driven shaft one end interference fit has incomplete gear, and other end interference fit has passive bevel gear, initiative bevel gear and passive bevel gear meshing, incomplete gear and pinion rack meshing, pump cylinder roof runs through fixedly connected with pump pipe, pump cylinder lateral wall runs through fixedly connected with breathing pipe, pump pipe passes through the hose intercommunication with the intake pipe.
Furthermore, all be provided with the check valve in breathing pipe and the pump gas pipe, the size of initiative bevel gear is greater than the size of passive bevel gear.
Further, it is provided with the stabilizing mean who is used for firm article in the accommodation process to place to coil, stabilizing mean includes a plurality of negative pressure grooves of seting up in placing the dish, the pressure plate has been cup jointed to negative pressure inslot sealing slip, it sets up flutedly to place a set lower surface, a plurality of connecting spring of fixedly connected with between pressure plate and the negative pressure inslot diapire that corresponds, place a set of last fixed surface of fixed surface and be connected with a plurality of sucking discs, it is connected with a plurality of rotation screw rods to place the dish through the bearing through rotation, one section that the rotation screw rod is located the negative pressure inslot that corresponds is provided with the screw thread and corresponds pressure plate sealing thread connects, it has seted up the balancing hole to place to coil, the balancing hole intercommunication negative pressure groove and external world.
Further, the one end that the rotation screw rod is located the recess rotates through one-way bearing and is connected with driven gear, the support column rotates through the bearing and is connected with a tooth section of thick bamboo, a tooth section of thick bamboo extends to in the recess, a tooth section of thick bamboo lateral wall be provided with the tooth and with the meshing of lift ring gear, driven gear meshes with a tooth section of thick bamboo jointly.
Further, the arc upper surface fixedly connected with guide post, guide post and installation piece run through sliding connection.
Further, the side wall of the placing disc is provided with an annular groove, a sliding block is connected in the annular groove in a sliding mode, and the sliding block is fixedly connected with the side wall of the arc-shaped plate.
The invention has the following advantages:
1. whether the lifting gear ring is meshed with the surrounding gear ring or not is controlled through the electric telescopic rod, so that the servo motor is controlled to drive the mounting block to ascend and descend or the position of the mounting block is adjusted, compared with the prior art, the position of the mounting block (namely a projector and a camera) can be changed by only arranging one servo motor, and the manufacturing cost of the whole equipment is greatly reduced;
2. when the position of the installation block (namely the projector and the camera) is changed by starting the servo motor, the servo motor can also enable the pump plate to continuously pump air into the sliding sleeve, so that the sliding plate drives the cleaning brush to move, the projector and the camera are continuously cleaned through bristles of the cleaning brush, the influence of dust on a measurement result is avoided, and the measurement accuracy is ensured;
3. the cleaning is automatically carried out in the adjusting process, so that the continuous manual cleaning is avoided, the labor intensity of equipment use is greatly reduced, and the labor cost is saved;
4. when measurement is carried out, namely the position of the mounting block is not adjusted, the cleaning brush is always positioned above the projector and the camera through the arrangement of the exhaust hole and the return spring, so that the interference of the cleaning brush on the work of the projector and the work of the camera when the cleaning brush is not used is avoided;
5. in the adjusting process, the lifting gear ring can drive the driven gear to rotate through the gear barrel, so that the rotating screw rod drives the pressure plate to slide downwards, air in the sucking disc is sucked into the negative pressure groove, negative pressure is generated in the sucking disc, the measuring object is adsorbed and fixed, and the phenomenon that the equipment vibrates due to the operation of the motor when the height of the mounting block is adjusted is avoided, the position of the object is changed, and the accuracy of a measuring result is influenced.
Drawings
Fig. 1 is an appearance schematic diagram of a structured light three-dimensional measurement robot according to the present invention;
fig. 2 is a schematic structural diagram of a structured light three-dimensional measurement robot according to the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2;
FIG. 4 is an enlarged view taken at A in FIG. 2;
FIG. 5 is an enlarged view of FIG. 2 at B;
FIG. 6 is an enlarged view at C in FIG. 2;
FIG. 7 is a schematic structural diagram of a gear set in a structured light three-dimensional measurement robot according to the present invention;
FIG. 8 is a cross-sectional view taken at D-D in FIG. 2;
FIG. 9 is a cross-sectional view taken along line E-E of FIG. 2;
fig. 10 is a side view of a structured light three-dimensional measurement robot according to the present invention.
In the figure: 1 base, 101 supporting columns, 102 placing discs, 103 annular grooves, 104 sliding blocks, 105 grooves, 2 arc-shaped plates, 201 rotating shafts, 202 servo motors, 203 surrounding gears, 204 rotating cylinders, 205 functional grooves, 206 elastic rubber sheets, 207 conducting strips, 208 electro-rheological fluid, 209 electric telescopic rods, 210 annular plates, 211 lifting gear rings, 212 synchronous gears, 213 rubber pads, 214 lifting screw rods, 3 mounting blocks, 4 pump cylinders, 401 pump plates, 402 driving bevel gears, 403 driven bevel gears, 404 driven shafts, 405 incomplete gears, 406 toothed plates, 407 air suction pipes, 408 pump air pipes, 5 sliding sleeves, 501 sliding plates, 502 reset springs, 503 cleaning brushes, 504 exhaust holes, 505 air inlet pipes, 506 hoses, 6 negative pressure grooves, suction cups 601, 602 rotating screws, 603 pressure plates, 604 connecting springs, 605 driven gears, 606 toothed cylinders, 607 balance holes, 7L-shaped rods and 8 guide columns.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-10, a structured light three-dimensional measurement robot includes a base 1, a supporting column 101 is fixedly connected to the upper surface of the base 1, a placing tray 102 is fixedly connected to the top end of the supporting column 101, an arc plate 2 is slidably connected to the side wall of the placing tray 102, the arc plate 2 is rotatably connected to a rotating shaft 201 through a bearing, the rotating shaft 201 is in interference fit with a surrounding gear 203, the arc plate 2 is rotatably connected to a rotating cylinder 204 through a bearing, the cross section of the rotating cylinder 204 is in a shape of a Chinese character 'ao' with a downward opening, the rotating shaft 201 penetrates and extends into the rotating cylinder 204, the rotating shaft 201 penetrates and extends into a groove of the rotating cylinder 204, a functional groove 205 is formed in the inner side wall of the rotating cylinder 204, a conductive sheet 207 is fixedly connected to the inner side wall of the functional groove 205, an elastic rubber sheet 206 is fixedly connected between the inner top wall and the inner bottom wall of the functional groove 205, the elastic rubber sheet 206 is in contact with the rotating shaft 201, an electrorheological fluid 208 is filled in the functional groove 205, the electrorheological fluid 208 can be transformed from a liquid state to a solid state when being electrified, and has expanded volume, belongs to complex liquid, generally consists of a dispersion phase, a dispersing agent and an additive, and the electric field controllability of the viscosity of the electrorheological fluid forms the main aspect of the application of the electrorheological fluid. The nature of electrorheological fluids is the polarization of solid particles by an electric field. Under the action of an external electric field, solid particles in the electrorheological fluid obtain induction polar moment, firstly, chains are arranged between two polar plates, the chains are further enhanced along with the electric field, the chains are aggregated into columns due to interaction between the chains, so that a liquid phase enters a solid phase, the upper surface of the base 1 is fixedly connected with two electric telescopic rods 209, the electric telescopic rods 209 are in an extending state in an initial state and are electrified to retract, the output ends of the electric telescopic rods 209 are fixedly connected with a ring plate 210 together, the upper surface of the ring plate 210 is rotatably connected with a lifting gear ring 211 through a bearing, as shown in figure 7, the lifting gear ring 211 is annular, the outer side wall and the inner side wall of the lifting gear ring are both provided with teeth, the upper surface of the rotating cylinder 204 is fixedly connected with a lifting screw 214, the lifting screw 214 is in threaded connection with a mounting block 3, the thread lead angle of the lifting screw 214 is smaller than the equivalent friction angle of a screw pair formed by the lifting screw 214 and the mounting block 3, so that the threaded connection between the lifting screw 214 and the mounting block 3 realizes self-locking, the situation that the installation block 3 drives the lifting screw 214 to rotate under the self gravity is avoided, the side wall of the installation block 3 is provided with a projector and a camera for emitting and receiving light, the electric telescopic rod 209 is electrically connected with the conducting strip 207 through a conducting wire, when the electric telescopic rod 209 is not electrified, the electrorheological fluid 208 is not electrified, so that the friction force between the elastic rubber sheet 206 and the rotating shaft 201 is not enough to enable the rotating shaft 201 to drive the rotating cylinder 204 to rotate, at the moment, the surrounding gear 203 is meshed with the lifting gear ring 211, the lifting gear ring 211 is abutted against the lower surface of the placing disc 102, the lifting gear ring 211 cannot rotate due to the friction force, at the moment, when the servo motor 202 drives the surrounding gear 203 to rotate through the rotating shaft 201, the surrounding gear 203 can rotate around the lifting gear ring 211, so as to drive the arc-shaped plate 2 to rotate around the center of the placing disc 102, so as to change the positions of the projector and the camera, and when the electric telescopic rod 209 is electrified and retracted, electrorheological fluids 208 circular telegram this moment, turn into solid-state by liquid, volume expansion, thereby make elastic rubber piece 206 hug closely with certain pressure with pivot 201, and encircle gear 203 this moment and not mesh with lift ring gear 211, servo motor 202 can drive rotor 204 through frictional force through pivot 201 this moment and rotate, thereby adjust the height of projecting apparatus and camera, and the arc 2 position this moment is unchangeable, thereby make and only set up a servo motor 202 and can accomplish projecting apparatus and camera position and height's regulation, compare in prior art and need set up a plurality of accurate servo motor, its equipment cost greatly reduced.
The lower surface of the arc-shaped plate 2 is fixedly connected with a servo motor 202 (not shown in a bracket drawing) through a bracket, the servo motor 202, an electric telescopic rod 209, a projector and a camera are connected into a PLC control circuit together, the movement of the servo motor 202 and the electric telescopic rod 209 is controlled according to the analysis of a computer, the output end of the servo motor 202 is fixedly connected with a rotating shaft 201, the upper surface of a lifting gear ring 211 is fixedly connected with a rubber pad 213, the rubber pad 213 can increase the friction force between the lifting gear ring 211 and the lower surface of a placing disc 102, so that the lifting gear ring 211 is better locked through the friction force, the rotating shaft 201 is in interference fit with a synchronizing gear 212, the synchronizing gear 212 and a surrounding gear 203 have the same size, when the surrounding gear 203 is not meshed with the lifting gear ring 211, the synchronizing gear 212 is meshed with the lifting gear ring 211, through the meshing between the synchronizing gear 212 and the lifting gear ring 211, when the surrounding gear 203 is not meshed with the surrounding gear 203, the lifting ring gear 211 rotates synchronously with the rotation of the ring gear 203, so that the meshing position is maintained, and interference is avoided when meshing is performed again.
Fixed surface is connected with guide post 8 on the arc 2, and guide post 8 and installation piece 3 run through sliding connection, the guide post 8 set up the up-and-down motion of direction installation piece 3 to make installation piece 3 more steady up-and-down motion under the drive of lifting screw 214, avoid installation piece 3 to take place along with the together pivoted condition of lifting screw 214.
Place the dish 102 lateral wall and seted up annular groove 103, sliding connection has slider 104 in annular groove 103, slider 104 and arc 2 lateral wall fixed connection, as shown in fig. 1, the cross-section of annular groove 103 and slider 104 is the T font to make slider 104 and annular groove 103 be connected more firm, avoid slider 104 to drop and the slope, influence measurement.
Referring to fig. 1-3, a cleaning mechanism for cleaning dust is disposed on the mounting block 3, the cleaning mechanism includes a sliding sleeve 5, the sliding sleeve 5 is fixedly connected to the upper surface of the mounting block 3 through a plurality of L-shaped rods 7, two L-shaped rods 7 are symmetrically disposed with respect to the sliding sleeve 5, a sliding plate 501 is hermetically and slidably sleeved in the sliding sleeve 5, a plurality of return springs 502 are fixedly connected between the sliding plate 501 and the inner top wall of the sliding sleeve 5, a cleaning brush 503 is fixedly connected to the side wall of the sliding plate 501 at one side outside the sliding sleeve 5, brush bristles are disposed on the side wall of the cleaning brush 503, exhaust holes 504 are formed in both opposite side walls of the sliding sleeve 5, the exhaust holes 504 are located above the sliding plate 501, an air inlet pipe 505 is fixedly connected to the side wall of the sliding sleeve 5 near the mounting block 3, the air inlet pipe 505 is located above the exhaust holes 504, so that air enters the sliding sleeve 5 through the air inlet pipe 505, and the air pumped in cannot be exhausted in time due to the exhaust holes 504, thereby make sliding plate 501 under the drive of pump into air, downstream, drive cleaning brush 503 downstream, clean projecting apparatus and camera surface, and when the air interrupt pump, under the effect of reset spring 502, sliding plate 501 resets, discharge unnecessary air from exhaust hole 504, thereby make sliding plate 501 up-and-down reciprocating motion, clean, and when servo motor 202 does not operate, sliding plate 501 makes cleaning brush 503 be located projecting apparatus and camera top all the time, avoid cleaning brush 503 to interfere the work of projecting apparatus and camera.
Referring to fig. 1-3, 5 and 8, an air pumping mechanism for providing power for the sweeping mechanism is arranged at the arc plate 2, the air pumping mechanism includes an air pumping cylinder 4 with a downward-opening cross section, the air pumping cylinder 4 is fixedly connected with the arc plate 2 in a penetrating manner, a pump plate 401 is sleeved in the air pumping cylinder 4 in a sealing and sliding manner, a toothed plate 406 is fixedly connected to the lower surface of the pump plate 401, the toothed plate 406 is in a shape of Chinese character 'hui', two opposite inner side walls of the toothed plate are provided with teeth, a driving bevel gear 402 is in interference fit with the rotating shaft 201, a driven shaft 404 is rotatably connected to the side wall of the air pumping cylinder 4 in a penetrating manner through a bearing, an incomplete gear 405 is in interference fit with one end of the driven shaft 404, a driven bevel gear is in interference fit with the other end of the driven bevel gear 402, the driving bevel gear 402 is engaged with the driven bevel gear 403, the incomplete gear 405 is engaged with the toothed plate 406, the incomplete gear 405 is positioned in the toothed plate 406 and is engaged with the teeth of the inner side wall 403 thereof, so that the incomplete gear 405 is rotated, the continuous tooth with the pinion rack 406 inside wall meshes to drive pinion rack 406 up-and-down reciprocating motion, thereby make pump plate 401 up-and-down reciprocating motion, through breathing pipe 407 with the air intake pump section of thick bamboo 4 in, rethread pump section of thick bamboo 408 pump department, fixedly connected with pump section of thick bamboo 408 is run through to the top wall of pump section of thick bamboo 4, fixedly connected with breathing pipe 407 is run through to the lateral wall of pump section of thick bamboo 4, pump section of thick bamboo 408 and intake pipe 505 pass through hose 506 intercommunication, the air that pumps in pump section of thick bamboo 408 is through hose 506 pump into sliding sleeve 5.
The air suction pipe 407 and the air pumping pipe 408 are both provided with a one-way valve, the one-way valve in the air suction pipe 407 only allows air to enter the air pumping cylinder 4 from the outside through the air inlet pipe 407, while the one-way valve in the pump tube 408 only allows air to be pumped from the pump cylinder 4 through the pump tube 408 into the hose 506, so that when the pump plate 401 reciprocates up and down, the external air can be sucked into the pump cylinder 4 through the air suction pipe 407 when the pump plate 401 moves down, and when the pump plate 401 moves up, the air can be pumped into the sliding sleeve 5 through the air pumping pipe 408, the hose 506 and the air inlet pipe 505, the size of the driving bevel gear 402 is larger than that of the driven bevel gear 403, the driven bevel gear 403 with small size is driven to rotate by the driving bevel gear 402 with large size, so that the driven shaft 404 rotates faster, therefore, the pumping process is faster, the reciprocating frequency of the sliding plate 501 is faster, and the cleaning brush 503 can better clean the camera and the projector.
Referring to fig. 1-2 and 6-7, a stabilizing mechanism for stabilizing articles in the adjusting process is arranged in the placing disc 102, the stabilizing mechanism comprises a plurality of negative pressure grooves 6 arranged in the placing disc 102, six negative pressure grooves 6 are symmetrically arranged, the included angle between each negative pressure groove 6 is 60 degrees, a pressure plate 603 is sleeved in the negative pressure grooves 6 in a sealing sliding manner, a groove 105 is arranged on the lower surface of the placing disc 102, a plurality of connecting springs 604 are fixedly connected between the pressure plate 603 and the inner bottom wall of the corresponding negative pressure groove 6, a plurality of suckers 601 are fixedly connected to the upper surface of the placing disc 102, the placing disc 102 is rotatably connected with a plurality of rotating screws 602 through bearings in a penetrating manner, the thread turning directions of two adjacent rotating screws 602 are opposite, so that no matter how the turning direction of the driven gear 605 is, three pressure plates 603 are always kept to move downwards along with the rotation of the rotating screws 602 to generate suction force for fixing, and three fixing positions form a triangle, so that the fixation is more stable, a section of the rotating screw 602 located in the corresponding negative pressure groove 6 is provided with threads and is in sealing threaded connection with the corresponding pressure plate 603, the thread lead angle of the rotating screw 602 should be larger than the equivalent friction angle of the screw pair formed by the rotating screw 602 and the pressure plate 603, so that the threaded connection between the rotating screw 602 and the pressure plate 603 is not self-locked, and therefore, when the rotating screw 602 is not driven to rotate, the pressure plate 603 can reset under the elastic force of the connecting spring 604, the rotating screw 602 does not interfere with the resetting of the pressure plate 603, the middle part of the rotating screw 602 located in the section of the negative pressure groove 6 is provided with threads, and the two ends located in the negative pressure groove 6 are not provided with threads, so that the limit positions of the upper and lower ends of the negative pressure groove 6 when the pressure plate 603 moves, the rotating screw 602 no longer drives the pressure plate 603 to move, but keeps the existing position thereof, and the placing disc 102 is provided with a balance hole 607, the balance hole 607 is communicated with the negative pressure groove 6 and the outside, and the balance hole 607 is opened to ensure that the pressure plate 603 which is hermetically and slidably sleeved in the negative pressure groove 6 can freely move up and down.
One end of the rotating screw 602, which is located in the groove 105, is rotatably connected with a driven gear 605 through a one-way bearing, the allowed rotation directions of the one-way bearings between two adjacent driven gears 605 and the rotating screw 602 are opposite, so that the gear cylinder 606 cannot rotate towards any direction, and three of the driven gears 605 can be driven to rotate all the time, so that no matter which direction the servo motor 202 rotates towards, three suckers 601 are kept all the time to generate suction to fix an object to be detected, the support column 101 is rotatably connected with the gear cylinder 606 through a bearing, the gear cylinder 606 extends into the groove 105, the outer side wall of the gear cylinder 606 is provided with teeth and is meshed with the lifting gear ring 211, the teeth on the outer side wall of the gear cylinder 606 are meshed with the teeth on the inner side wall of the lifting gear ring 211, and the driven gear 605 is meshed with the gear cylinder 606 together.
In the invention, an object to be measured is placed on the placing disc 102, the robot is started, specific optical information is projected to the surface of the object to be measured through the projector on the mounting block 3, then the specific optical information is collected through the camera and analyzed by the computer, the information such as the position and the depth of the object is calculated according to the change of an optical signal caused by the object, and the whole three-dimensional space is recovered;
when the position of the mounting block 3 needs to be changed, the computer sends a signal at this time, so that the electric telescopic rod 209 and the conductive sheet 207 are powered off, at this time, no current passes through the electric rheological fluid 208 and the electric rheological fluid is in a liquid state, so that the elastic rubber sheet 206 only contacts with the rotating shaft 201, but the friction force is not enough to enable the rotating shaft 201 to drive the rotating cylinder 204 to rotate, meanwhile, the electric telescopic rod 209 enables the lifting gear ring 211 to abut against the lower surface of the placing disc 102, the lifting gear ring 211 is locked by the friction force between the rubber pad 213 and the placing disc 102, so that the lifting gear ring 211 cannot rotate, meanwhile, the pressure between the rubber pad 213 and the placing disc 102 maintains the stability of the placing disc 102, so that the lifting gear ring 211 is prevented from vibrating under the work of the servo motor 202, so that the position of an object is changed, at this time, the computer obtains the number of rotation turns required by the servo motor 202 according to the calculation, and enables the servo motor 202 to drive the surrounding gear 203 to rotate, because the lifting gear ring 211 is locked, the surrounding gear 203 rotates around the lifting gear ring 211 at the moment, so that the arc-shaped plate 2 rotates around the object to be measured, and the positions of the projector and the camera are changed;
when the height of the mounting block 3 needs to be changed, the computer sends a signal at this time, so that the electric telescopic rod 209 and the conducting strip 207 are electrified, at this time, the electric rheological fluid 208 has current passing, the electric rheological fluid is changed from a liquid state to a solid state, and the volume is expanded, so that the pressure between the elastic rubber sheet 206 and the rotating shaft 201 is increased, and the friction force between the electric rheological fluid and the rotating shaft 201 is enough to enable the rotating shaft 201 to drive the rotating cylinder 204 to rotate, meanwhile, the electric telescopic rod 209 is electrified and retracted, the lifting gear ring 211 is not locked and can rotate freely, and the surrounding gear 203 is not meshed with the lifting gear ring 211 any more, at this time, the computer obtains the required number of rotating turns of the servo motor 202 according to calculation, and enables the servo motor 202 to rotate, and the rotating cylinder 204 is driven by the rotating shaft 201 to rotate, so that the lifting screw 214 rotates, and the height of the mounting block 3 is adjusted;
while the height is adjusted, the synchronous gear 212 is meshed with the lifting gear ring 211, because the synchronous gear 212 and the surrounding gear 203 are consistent in size and are coaxially arranged, at the moment, the synchronous gear 212 drives the lifting gear ring 211 to rotate, and the state that the lifting gear ring 211 can be meshed with the surrounding gear 203 is constantly kept, so that interference can not occur in next meshing, meanwhile, the rotation of the lifting gear ring 211 can drive the gear cylinder 606 to rotate, so that the gear cylinder 606 drives the driven gear 605 meshed with the gear cylinder to rotate, so that the three driven gears 605 drive the corresponding rotating screws 602 to rotate, so that the corresponding three pressure plates 603 slide downwards, air in the suction cup 601 is sucked into the negative pressure groove 6, negative pressure is generated in the suction cup 601, an object to be detected is adsorbed and fixed, the situation that the position of the object is moved due to vibration generated when the servo motor 202 operates and how the servo motor 202 can not turn is avoided, the three suckers 601 are always kept to generate suction, so that the stability of an object to be measured is maintained, and after the adjustment is completed, the servo motor 202 does not rotate any more, then the pressure plate 603 resets under the elastic force of the connecting spring 604 and drives the rotating screw 602 to rotate reversely, and due to the arrangement of the one-way bearing, the rotating screw 602 can rotate freely at the moment and cannot drive the driven gear 605 to rotate, so that the suction of the suckers 601 disappears, and the measurement is continued;
when the position of the mounting block 3 is adjusted, the camera and the projector do not work, at the moment, the servo motor 202 rotates and simultaneously drives the driving bevel gear 402 to rotate, so that the driven bevel gear 403 rotates, the driven bevel gear 403 drives the incomplete gear 405 to rotate through the driven shaft 404, so that the toothed plate 406 continuously reciprocates up and down through the meshing of the incomplete gear 405 and the toothed plate 406, the toothed plate 406 drives the pump plate 401 to reciprocate up and down, air is continuously sucked through the air suction pipe 407, and the air is pumped out through the pump air pipe 408;
after air is pumped out through the air pumping pipe 408, the air is pumped into the sliding sleeve 5 through the hose 506 and the air inlet pipe 505, at the moment, a part of the pumped air is discharged through the air outlet hole 504, the air outlet hole 504 cannot discharge all the pumped air, and the redundant air can enable the sliding plate 501 to slide out, so that the cleaning brush 503 is driven to slide, the surface of the camera and the surface of the projection instrument are cleaned through the bristles, so that the dust influence on measurement is avoided, when the pump plate 401 moves downwards to suck air, under the elastic force of the return spring 502, the sliding plate 501 slides upwards and discharges the redundant air through the air outlet hole 504, so that the sliding plate 501 reciprocates up and down through the matching with the return spring 502 while reciprocating motion of the pump plate 401 is carried out, and when the servo motor 202 stops working, the material pump plate 401 stays at any position, the sliding plate 501 recovers to the original position under the elastic force of the return spring 502, so that the cleaning brush 503 is prevented from staying in front of the camera and the projector, interference is generated to the measurement.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. The utility model provides a three-dimensional measuring robot of structured light, includes base (1), its characterized in that, fixed surface is connected with support column (101) on base (1), support column (101) top fixedly connected with places dish (102), it has arc (2) to place dish (102) lateral wall sliding connection, arc (2) rotate through the bearing and are connected with pivot (201), pivot (201) interference fit has around gear (203), arc (2) rotate through the bearing and are connected with a rotary cylinder (204), pivot (201) run through extend to rotary cylinder (204) in, functional groove (205) has been seted up to rotary cylinder (204) inside wall, functional groove (205) inside wall fixedly connected with conducting strip (207), fixedly connected with elastic rubber piece (206) between roof and the interior diapire in functional groove (205), the utility model discloses a hydraulic electrorheological fluid (electro-rheological fluid) device, including base (1), two electric telescopic handle (209) of fixed surface are connected with in function groove (205) intussuseption, the common fixedly connected with annular slab (210) of output of electric telescopic handle (209), annular slab (210) upper surface is connected with lift ring gear (211) through the bearing rotation, rotate a section of thick bamboo (204) upper surface fixedly connected with lifting screw (214), lifting screw (214) threaded connection has installation piece (3), electric telescopic handle (209) are connected through the wire electricity with conducting strip (207).
2. The structured light three-dimensional measurement robot according to claim 1, wherein a servo motor (202) is fixedly connected to the lower surface of the arc plate (2) through a support, an output end of the servo motor (202) is fixedly connected with a rotating shaft (201), a rubber pad (213) is fixedly connected to the upper surface of the lifting gear ring (211), a synchronizing gear (212) is in interference fit with the rotating shaft (201), and the synchronizing gear (212) is consistent with the surrounding gear (203) in size.
3. A structured light three-dimensional measuring robot according to claim 1, the mounting block (3) is provided with a sweeping mechanism for cleaning dust, the sweeping mechanism comprises a sliding sleeve (5), the sliding sleeve (5) is fixedly connected with the upper surface of the mounting block (3) through a plurality of L-shaped rods (7), a sliding plate (501) is sleeved in the sliding sleeve (5) in a sealing and sliding manner, a plurality of reset springs (502) are fixedly connected between the sliding plate (501) and the inner top wall of the sliding sleeve (5), the side wall of the sliding plate (501) at one side outside the sliding sleeve (5) is fixedly connected with a cleaning brush (503), the side wall of the cleaning brush (503) is provided with brush hair, the two opposite side walls of the sliding sleeve (5) are both provided with exhaust holes (504), the side wall of the sliding sleeve (5) close to one side of the mounting block (3) is fixedly connected with an air inlet pipe (505) in a penetrating mode.
4. The structured light three-dimensional measurement robot according to claim 3, wherein a pumping mechanism for providing power for the cleaning mechanism is arranged at the arc plate (2), the pumping mechanism comprises a pumping barrel (4) with a concave-shaped cross section with a downward opening, the pumping barrel (4) is fixedly connected with the arc plate (2) in a penetrating manner, a pumping plate (401) is sleeved in the pumping barrel (4) in a sealing and sliding manner, a toothed plate (406) is fixedly connected to the lower surface of the pumping plate (401), a driving bevel gear (402) is in interference fit with the rotating shaft (201), a driven shaft (404) is rotatably connected to the side wall of the pumping barrel (4) in a penetrating manner through a bearing, an incomplete gear (405) is in interference fit with one end of the driven shaft (404), a driven bevel gear (403) is in interference fit with the other end of the driven shaft, and the driving bevel gear (402) is meshed with the driven bevel gear (403), incomplete gear (405) and pinion rack (406) meshing, fixedly connected with pump air pipe (408) are run through to pump gas section of thick bamboo (4) roof, fixedly connected with breathing pipe (407) are run through to pump gas section of thick bamboo (4) lateral wall, hose (506) intercommunication is passed through with intake pipe (505) to pump air pipe (408).
5. A structured light three-dimensional measuring robot according to claim 4, characterized in that the suction pipe (407) and the pumping pipe (408) are provided with one-way valves, and the size of the driving bevel gear (402) is larger than that of the driven bevel gear (403).
6. The structured light three-dimensional measurement robot according to claim 1, wherein a stabilizing mechanism for stabilizing articles in the adjusting process is arranged in the placing disc (102), the stabilizing mechanism comprises a plurality of negative pressure grooves (6) formed in the placing disc (102), a pressure plate (603) is hermetically and slidably sleeved in the negative pressure grooves (6), a groove (105) is formed in the lower surface of the placing disc (102), a plurality of connecting springs (604) are fixedly connected between the pressure plate (603) and the inner bottom wall of the corresponding negative pressure groove (6), a plurality of sucking discs (601) are fixedly connected to the upper surface of the placing disc (102), a plurality of rotating screws (602) are rotatably connected through bearings, and a section of each rotating screw (602) located in the corresponding negative pressure groove (6) is provided with threads and is hermetically and threadedly connected with the corresponding pressure plate (603), balance holes (607) are formed in the placing disc (102), and the balance holes (607) are communicated with the negative pressure groove (6) and the outside.
7. A structured light three-dimensional measurement robot according to claim 6, characterized in that one end of the rotating screw (602) in the groove (105) is rotatably connected with a driven gear (605) through a one-way bearing, the supporting column (101) is rotatably connected with a toothed cylinder (606) through a bearing, the toothed cylinder (606) extends into the groove (105), the outer side wall of the toothed cylinder (606) is provided with teeth and is meshed with the lifting gear ring (211), and the driven gear (605) is meshed with the toothed cylinder (606) together.
8. The structured light three-dimensional measurement robot according to claim 1, wherein a guide post (8) is fixedly connected to the upper surface of the arc-shaped plate (2), and the guide post (8) is connected with the mounting block (3) in a penetrating and sliding manner.
9. The structured light three-dimensional measurement robot according to claim 1, wherein an annular groove (103) is formed in a side wall of the placing disc (102), a sliding block (104) is slidably connected in the annular groove (103), and the sliding block (104) is fixedly connected with a side wall of the arc-shaped plate (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111214331.1A CN113916155A (en) | 2021-10-19 | 2021-10-19 | Structured light three-dimensional measuring robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111214331.1A CN113916155A (en) | 2021-10-19 | 2021-10-19 | Structured light three-dimensional measuring robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113916155A true CN113916155A (en) | 2022-01-11 |
Family
ID=79241113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111214331.1A Withdrawn CN113916155A (en) | 2021-10-19 | 2021-10-19 | Structured light three-dimensional measuring robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113916155A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114700306A (en) * | 2022-04-02 | 2022-07-05 | 南通东西洗轮机机械有限公司 | Washing unit is used in automobile parts processing |
| CN114894961A (en) * | 2022-07-13 | 2022-08-12 | 诸城华源生物工程有限公司 | Psicose trace moisture detection device |
| CN117553715A (en) * | 2024-01-11 | 2024-02-13 | 玻尔兹曼（广州）科技有限公司 | X-ray film blowing thickness gauge capable of achieving horizontal scanning and two-layer analysis |
-
2021
- 2021-10-19 CN CN202111214331.1A patent/CN113916155A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114700306A (en) * | 2022-04-02 | 2022-07-05 | 南通东西洗轮机机械有限公司 | Washing unit is used in automobile parts processing |
| CN114700306B (en) * | 2022-04-02 | 2022-12-16 | 南通东西洗轮机机械有限公司 | Washing unit is used in automobile parts processing |
| CN114894961A (en) * | 2022-07-13 | 2022-08-12 | 诸城华源生物工程有限公司 | Psicose trace moisture detection device |
| CN114894961B (en) * | 2022-07-13 | 2022-09-13 | 诸城华源生物工程有限公司 | Psicose trace moisture detection device |
| CN117553715A (en) * | 2024-01-11 | 2024-02-13 | 玻尔兹曼（广州）科技有限公司 | X-ray film blowing thickness gauge capable of achieving horizontal scanning and two-layer analysis |
| CN117553715B (en) * | 2024-01-11 | 2024-03-12 | 玻尔兹曼（广州）科技有限公司 | X-ray film blowing thickness gauge capable of achieving horizontal scanning and two-layer analysis |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113916155A (en) | Structured light three-dimensional measuring robot | |
| CN108797975B (en) | Wall putty polishing robot for building construction | |
| CN203724032U (en) | Suction cup suction type glass wiping robot | |
| CN203712704U (en) | Mechanical hand | |
| CN106284952A (en) | A kind of intelligence ceramic tile stickers machine people | |
| CN203695545U (en) | Automatic cleaning machine for air spring pressure pipe | |
| CN108214304B (en) | Grinding device with grinding block capable of vertically moving | |
| CN112207647A (en) | Pipeline inner and outer wall grinding device | |
| CN108930393A (en) | A kind of automatic plastering device | |
| CN104630851A (en) | Crankshaft brush plating platform | |
| CN118328928A (en) | Gantry three-coordinate measuring machine | |
| CN204525485U (en) | A kind of new mechanical arm | |
| CN210426461U (en) | Mechanical wear detects with regulation formula detector based on laser sensor | |
| CN110744148B (en) | Gear polishing equipment that polishing precision is high | |
| CN216127162U (en) | Assembly workbench convenient to operate and used for bearing machining | |
| CN211447867U (en) | Building curtain cleaning equipment | |
| CN210242709U (en) | Workbench for low-power projector | |
| CN215281869U (en) | Aerify firm formula building model preparation workstation | |
| CN107374526B (en) | Cleaning mechanism and automatic building cleaning system | |
| CN113579875B (en) | Internal combustion engine bearing bush processing equipment | |
| CN211606742U (en) | Light stereo set with prevent falling structure | |
| CN214587689U (en) | Vertical sign of office meeting | |
| CN214358872U (en) | Mechanical automation grabbing device | |
| CN210067361U (en) | Lead screw scissor type spraying device | |
| CN114158991A (en) | Wall surface cleaning robot and method for cleaning and moving wall surface by using same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20220111 |
|
| WW01 | Invention patent application withdrawn after publication |