CN202798906U - Scanner based on Cartesian coordinate robot technology - Google Patents
Scanner based on Cartesian coordinate robot technology Download PDFInfo
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- CN202798906U CN202798906U CN 201220464049 CN201220464049U CN202798906U CN 202798906 U CN202798906 U CN 202798906U CN 201220464049 CN201220464049 CN 201220464049 CN 201220464049 U CN201220464049 U CN 201220464049U CN 202798906 U CN202798906 U CN 202798906U
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Abstract
The utility model discloses a scanner based on Cartesian coordinate robot technology. The scanner comprises a base, a controller and a translation platform arranged on the base. The translation platform comprises an X-direction transmission device, a Y-direction transmission device and a support, the support is arranged on the base, the Y-direction transmission device is arranged at the upper end of the support, the X-direction transmission device and a calligraphy and painting placing and fixing platform are arranged on the base, a camera fixing and positioning adjustment device is arranged on the Y-direction transmission device, a numerical control light source system is arranged between the Y-direction transmission device and the X-direction transmission device, and the movement direction and speed of the X-direction transmission device and the Y-direction transmission device are controlled by the controller. Scanning is contactless, the maximum scanning amplitude is 2A0, scanned objects are scanned by being photographed one by one through a camera, batched high-resolution images are formed, a high-precision digital image capable of being scaled in real time is formed by means of undistorted image processing technology, and the resolution of the image reaches 800PPI.
Description
Technical field
The utility model relates to the technical field of scanner, particularly a kind of scanner based on the Cartesian robot technology.
Background technology
Scanner is to use in recent years very widely a kind of computer entry device, and it can become digitized view data to be input in the computer various pictures, conversion of drawings, carries out various processing and storage transmission etc.Scanner is a kind of optical, mechanical and electronic integration product, formed by probe, control circuit and mechanical part, take to line by line scan, the digital signal that obtains is preserved with the form of dot matrix, re-uses the text that Document Editing software compiles reference format with it and is stored on the disk.
Though the history of scanner development is not long, but the speed that its technical development updates is very fast, the series of products of various dissimilar, different class have been formed, satisfy the requirement of different application field user comprehensively, aspect product type, form complete product line from small to large, formed the comprehensively supporting of low-medium-high level.Usually, will scan breadth greater than A3(297mm*420mm) scanner be called large format scanner.
At present the large format scanner of comparative maturity is A0(841mm*1189mm in the world) color scanner of breadth, adopt probe to maintain static, with a pair of roller bearing by friction mode transmission picture proof, to be scanned object particularly famous and precious calligraphy and painting can damage to some extent.On the market, common scanning resolution can only reach 400PPI, does not satisfy numerous users' actual demand, such as drawing department the resolution requirement of contour map is reached more than the 800PPI.Large format high accuracy color scanner has a large amount of application demands in industries such as mapping, geology, meteorology and color electric publication, simultaneously, in some special industries, fields such as historical relic calligraphy and painting digitlization storage and archaeology evaluation, large format high accuracy color scanner also is indispensable a kind of equipment.
Granted publication number is 2010.9.15 for 101312478 B(Granted publication days of CN) Chinese invention patent a kind of photo taking type super large breadth Chinese calligraphy and painting scanning instrument platform is disclosed, comprise: carrying platform, horizontal guide rail, vertical guide rail, weigh, take frame, The Cloud Terrace, the camera lighting system, weigh to be connected with motor with vertical guide rail and be connected, motor is connected with control system, accurately mobile by the computer control camera, obtain complete Chinese calligraphy and painting scanning spare, but the breadth of the scanning of this utility model is little, the precision of control is not high yet, and the resolution of scanning picture out is not high yet.
The utility model content
The shortcoming that the purpose of this utility model is to overcome prior art provides the scanner that a kind of sweep limits is large, scanning accuracy is high with not enough.
In order to achieve the above object, the utility model is by the following technical solutions:
The utility model is based on the scanner of Cartesian robot technology, comprise base, controller, and be arranged on translate stage on the base, described translate stage comprises the X-direction transmission device, Y-direction transmission device and support, described support is arranged on the base, described Y-direction transmission device is arranged on the upper end of support, described X-direction transmission device is arranged on the base, also being provided with calligraphy and painting on the described base places and fixed platform, described Y-direction transmission device is provided with camera and fixes and positions adjusting device, be provided with the numerical control light-source system between described Y-direction transmission device and the X-direction transmission device, the direction of motion and the movement velocity of described controller control X-direction transmission device and Y-direction transmission device.
Preferably, described Y-direction transmission device comprises: the first servomotor and first guide rail of the first ball-screw, the operation of driving the first ball-screw, be connected by aluminium section bar between the first ball-screw and the first guide rail, the first servomotor directly is connected with the first ball-screw.
Preferably, described numerical control light-source system comprises cold light source, control power supply and light source suspension gear, and described cold light source is adjustable natural daylight, is comprised of two strip sources, and described cold light source is arranged on the first guide rail of Y-direction device.
Preferably, described camera fixes and positions adjusting device and comprises: camera, the phase machine clamp and the camera focus adjusting device that are used for the clamping camera and keep the camera relative position to fix, described camera is arranged on the first ball-screw of Y-direction transmission device, guarantees the synchronous operation of light source and camera.
Preferably, described X-direction transmission device comprises: two ball-screw straight line modules, Timing Belt and the second servomotor that drives simultaneously two ball-screw straight line module operations by Timing Belt, described pair of ball-screw straight line module comprises the second ball-screw, radial journal bearing and linear guides slide block, and described linear guides slide block is arranged on the second ball-screw.
Preferably, described X-direction transmission device comprises: the second servomotor, the second ball-screw and bilinearity guide rail, the second servomotor are installed on an end of the second ball-screw, the parallel both sides that are installed on base with the second ball-screw of bilinearity guide rail.
Preferably, described X-direction transmission device comprises: two Timing Belts, two guide track system and by two the second servomotors that bring synchronously the operation that drives two guide track systems.
The utility model has following advantage and effect with respect to prior art:
1, the utility model adopts untouchable scanning, maximum scan amplitude 2A0(1700mm*1200mm), carry out one by one to being scanned object that shooting style scans with camera, form high-resolution image in batch, again by the undistorted image treatment technology, form the in real time digitized image of convergent-divergent of a panel height precision, the resolution of image reaches 800PPI.
2, the utility model can be used for the breadth of scanning 2A0, scanning accuracy reaches 800PPI, can satisfy numerous users' actual demand, the visual processes software systems can improve good user interface, real-time convergent-divergent digitized image, reach the effect of high accuracy appreciation and testimonial rough sketch, can be widely used in mapping, geology, meteorology, color electric publication, historical relic calligraphy and painting digitlization storage etc.
Description of drawings
Fig. 1 is the structural representation of the utility model falt bed scanner;
Fig. 2 is the structural representation of the utility model planer-type scanner;
Embodiment
Below in conjunction with embodiment and accompanying drawing the utility model is described in further detail, but execution mode of the present utility model is not limited to this.
Embodiment
Present embodiment provides a kind of scanner device of high-precision large format, this equipment has adopted the general structure of platform-type or planer-type, movement by control camera high accuracy, high stability, the picture proof that is scanned to large format carries out taking pictures one by one, forms high-resolution image in batch, again by Image Mosaics and treatment technology, form at last the picture of a panel height precision, high pixel, after the amplification of picture being carried out repeatedly, image is still clear, and the calligraphy and painting minutia is still clear.Guarantee, compare with friction feed to have higher positioning accuracy and reliability because relatively moving between picture proof and the probe is the drive system by precision, and untouchable scan mode, also can guarantee to be scanned the integrality of picture proof.In order to guarantee to be scanned the authenticity of object, scanner of the present utility model has adopted the numerical control light-source system, light source is adjustable natural cold light source, and reaction is scanned the time of day of picture proof truly, does not cause harmful effect because of the light source heating to being scanned object simultaneously.
This equipment can be used for scanning the breadth of 2A0, scanning accuracy reaches 800PPI, can satisfy numerous users' actual demand, the visual processes software systems can improve good user interface, real-time convergent-divergent digitized image, reach the effect of high accuracy appreciation and testimonial rough sketch, can be widely used in mapping, geology, meteorology, color electric publication, historical relic calligraphy and painting digitlization storage etc.
Fig. 1 is the scanner based on the Cartesian robot technology of flatlike structure, Fig. 2 is the structure of planer-type, they are that the form of base is different, other structure division is identical, scanner based on the Cartesian robot technology, comprise base 1, controller, and be arranged on translate stage on the base, described translate stage comprises X-direction transmission device 5, Y-direction transmission device 8 and support 2, described support is arranged on the base 1, described Y-direction transmission device is arranged on the upper end of support 1, described X-direction transmission device is arranged on the base 1, also being provided with calligraphy and painting on the described base places and fixed platform 3, described Y-direction transmission device is provided with camera and fixes and positions adjusting device 6, be provided with the numerical control light-source system between described Y-direction transmission device and the X-direction transmission device, the direction of motion and the movement velocity of described controller control X-direction transmission device and Y-direction transmission device.
Described Y-direction transmission device comprises: the first ball-screw, drive the first servomotor and first guide rail of the operation of the first ball-screw, be connected by aluminium section bar between the first ball-screw and the first guide rail, the first servomotor directly is connected with the first ball-screw.
Described camera fixes and positions adjusting device 6 and comprises: camera, the phase machine clamp 7 and the camera focus adjusting device that are used for the clamping camera and keep the camera relative position to fix, described camera is arranged on the first ball-screw of Y-direction transmission device, guarantees the synchronous operation of light source and camera.
Above-mentioned large format high accuracy scanner based on the Cartesian robot technology, wherein, described X-direction drive system can adopt three kinds of modes to realize: servomotor drives duplex industry assembly robot by Timing Belt, adopt long distance, high accuracy, the double lead-screw motion module of large span drives, described X-direction transmission device comprises: two ball-screw straight line modules, Timing Belt and the second servomotor that drives simultaneously two ball-screw straight line module operations by Timing Belt, described pair of ball-screw straight line module comprises the second ball-screw, radial journal bearing and linear guides slide block, described linear guides slide block is arranged on the second ball-screw.
Servomotor directly drives industrial robot, described X-direction transmission device comprises: the second servomotor, the second ball-screw and bilinearity guide rail, the second servomotor is installed on an end of the second ball-screw, the parallel both sides that are installed on base with the second ball-screw of bilinearity guide rail.
Servomotor drives industrial robots by two Timing Belts, and described X-direction transmission device comprises: two Timing Belts, two guide track system and by two the second servomotors that bring synchronously the operation that drives two guide track systems.
Above-mentioned large format high accuracy scanner based on the Cartesian robot technology, wherein, described calligraphy and painting is placed and fixed system, the toughened glass that the calligraphy and painting placement platform adopts, the calligraphy and painting placement platform is provided with calligraphy and painting, camera and takes the calibration coordinate system, and fixture adopts harmless anchor clamps.
Above-mentioned large format high accuracy scanner based on the Cartesian robot technology, wherein, described camera fixes and positions Adjustment System and comprises: general camera, phase machine clamp, camera focus adjustment (Z-direction).Camera is connected with controller by USB interface, and camera can be realized three-dimensional translation, the rotation of three axles totally 6 degrees of freedom adjustings.
Above-mentioned large format high accuracy scanner based on the Cartesian robot technology, wherein, described numerical control light-source system comprises cold light source, control power supply and light source suspension gear, described cold light source is adjustable natural daylight, be comprised of two strip sources, described cold light source is arranged on the first guide rail of Y-direction device.
Above-mentioned large format high accuracy scanner based on the Cartesian robot technology, wherein, described transmission adopted servomotor drives, and the control of servomotor is controlled by the integrated circuit board that is inserted in the controller.
Above-mentioned large format high accuracy scanner based on the Cartesian robot technology, wherein, described controller is general commercial desktop computer.
Present embodiment is as follows based on the control method step of the scanner of Cartesian robot technology:
S1, object to be scanned is placed on that calligraphy and painting is placed and fixed platform on, open scanner;
S2, control the mobile route of camera by X-direction transmission device and Y-direction transmission device, the mobile route of camera is " S " type;
S3, camera begin to take pictures from an angle that is scanned object, behind the complete photo of every take, camera arrives the next one position of taking pictures under the driving of X-direction transmission device and Y-direction transmission device, after camera comes to a complete stop calmly, begin again the work of taking pictures, the size of once taking photograph is 16.7cm*11.0cm, and the overlapping region is 150 pixels between every pictures of clapping;
S4, after being scanned object and all being scanned shooting, photo imports in the controller by the USB line, through suitable image process and algorithm process after, present a complete picture that is scanned object.
Above-described embodiment is the better execution mode of the utility model; but execution mode of the present utility model is not restricted to the described embodiments; other any do not deviate from change, the modification done under Spirit Essence of the present utility model and the principle, substitutes, combination, simplify; all should be the substitute mode of equivalence, be included within the protection range of the present utility model.
Claims (8)
1. based on the scanner of Cartesian robot technology, it is characterized in that, comprise base, controller, and be arranged on translate stage on the base, described translate stage comprises the X-direction transmission device, Y-direction transmission device and support, described support is arranged on the base, described Y-direction transmission device is arranged on the upper end of support, described X-direction transmission device is arranged on the base, also being provided with calligraphy and painting on the described base places and fixed platform, described Y-direction transmission device is provided with camera and fixes and positions adjusting device, be provided with the numerical control light-source system between described Y-direction transmission device and the X-direction transmission device, the direction of motion and the movement velocity of described controller control X-direction transmission device and Y-direction transmission device.
2. the scanner based on the Cartesian robot technology according to claim 1, it is characterized in that, described Y-direction transmission device comprises: the first servomotor and first guide rail of the first ball-screw, the operation of driving the first ball-screw, be connected by aluminium section bar between the first ball-screw and the first guide rail, the first servomotor directly is connected with the first ball-screw.
3. the scanner based on the Cartesian robot technology according to claim 1, it is characterized in that, described numerical control light-source system comprises cold light source, control power supply and light source suspension gear, described cold light source is adjustable natural daylight, be comprised of two strip sources, described cold light source is arranged on the first guide rail of Y-direction device.
4. the scanner based on the Cartesian robot technology according to claim 1, it is characterized in that, described camera fixes and positions adjusting device and comprises: camera, the phase machine clamp and the camera focus adjusting device that are used for the clamping camera and keep the camera relative position to fix, described camera is arranged on the first ball-screw of Y-direction transmission device, guarantees the synchronous operation of light source and camera.
5. the scanner based on the Cartesian robot technology according to claim 1, it is characterized in that, described X-direction transmission device comprises: two ball-screw straight line modules, Timing Belt and the second servomotor that drives simultaneously two ball-screw straight line module operations by Timing Belt, described pair of ball-screw straight line module comprises the second ball-screw, radial journal bearing and linear guides slide block, and described linear guides slide block is arranged on the second ball-screw.
6. the scanner based on the Cartesian robot technology according to claim 1, it is characterized in that, described X-direction transmission device comprises: the second servomotor, the second ball-screw and bilinearity guide rail, the second servomotor is installed on an end of the second ball-screw, the parallel both sides that are installed on base with the second ball-screw of bilinearity guide rail.
7. the scanner based on the Cartesian robot technology according to claim 1, it is characterized in that described X-direction transmission device comprises: two Timing Belts, two guide track system and by two the second servomotors that bring synchronously the operation that drives two guide track systems.
8. each described scanner based on the Cartesian robot technology is characterized in that according to claim 1-7, and described base is the structure of platform-type or planer-type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220464049 CN202798906U (en) | 2012-09-12 | 2012-09-12 | Scanner based on Cartesian coordinate robot technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220464049 CN202798906U (en) | 2012-09-12 | 2012-09-12 | Scanner based on Cartesian coordinate robot technology |
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| Publication Number | Publication Date |
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| CN202798906U true CN202798906U (en) | 2013-03-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220464049 Expired - Fee Related CN202798906U (en) | 2012-09-12 | 2012-09-12 | Scanner based on Cartesian coordinate robot technology |
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| Country | Link |
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| CN (1) | CN202798906U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102833450A (en) * | 2012-09-12 | 2012-12-19 | 广州中国科学院沈阳自动化研究所分所 | Scanner based on right-angle coordinate robot technology and control method for scanner |
| CN103679110A (en) * | 2013-11-22 | 2014-03-26 | 大连日佳电子有限公司 | Method and equipment for scanning barcodes |
| CN105346730A (en) * | 2015-11-06 | 2016-02-24 | 中国民航大学 | Automatic detecting and marking system of wing pit during airplane maintaining |
| CN110099203A (en) * | 2019-05-14 | 2019-08-06 | 苏州经贸职业技术学院 | Fold billing information acquisition device and acquisition method |
| CN111912355A (en) * | 2020-08-04 | 2020-11-10 | 六度人和(天津)科技有限公司 | Improved generation 3D laser scanning imaging system |
-
2012
- 2012-09-12 CN CN 201220464049 patent/CN202798906U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102833450A (en) * | 2012-09-12 | 2012-12-19 | 广州中国科学院沈阳自动化研究所分所 | Scanner based on right-angle coordinate robot technology and control method for scanner |
| CN102833450B (en) * | 2012-09-12 | 2015-05-13 | 广州中国科学院沈阳自动化研究所分所 | Scanner based on right-angle coordinate robot technology and control method for scanner |
| CN103679110A (en) * | 2013-11-22 | 2014-03-26 | 大连日佳电子有限公司 | Method and equipment for scanning barcodes |
| CN103679110B (en) * | 2013-11-22 | 2017-02-08 | 沈阳艾力科技有限公司 | Method and equipment for scanning barcodes |
| CN105346730A (en) * | 2015-11-06 | 2016-02-24 | 中国民航大学 | Automatic detecting and marking system of wing pit during airplane maintaining |
| CN110099203A (en) * | 2019-05-14 | 2019-08-06 | 苏州经贸职业技术学院 | Fold billing information acquisition device and acquisition method |
| CN110099203B (en) * | 2019-05-14 | 2021-02-19 | 苏州经贸职业技术学院 | Fold bill information acquisition device and acquisition method |
| CN111912355A (en) * | 2020-08-04 | 2020-11-10 | 六度人和(天津)科技有限公司 | Improved generation 3D laser scanning imaging system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: SHENZHEN ZHONGKE YUMING ROBOT CO., LTD. Assignor: Shenyang Institute of Automation, Guangzhou of Chinese Academy of Sciences Contract record no.: 2015440020202 Denomination of utility model: Scanner based on right-angle coordinate robot technology and control method for scanner Granted publication date: 20130313 License type: Exclusive License Record date: 20150604 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130313 Termination date: 20170912 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |