CN205580385U - Full -automatic optical three -dimensional measuring equipment based on cluster parallel mechanism - Google Patents
Full -automatic optical three -dimensional measuring equipment based on cluster parallel mechanism Download PDFInfo
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- CN205580385U CN205580385U CN201620395566.3U CN201620395566U CN205580385U CN 205580385 U CN205580385 U CN 205580385U CN 201620395566 U CN201620395566 U CN 201620395566U CN 205580385 U CN205580385 U CN 205580385U
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Abstract
The utility model provides a full -automatic optical three -dimensional measuring equipment based on cluster parallel mechanism, including connection in series -parallel actuating mechanism, the platform rotates, connection in series -parallel actuating mechanism includes first lead screw motor, second lead screw motor, a horizontal guiding axle, the 2nd horizontal guiding axle, the left side slider, the right side slider, first move to left move vice, the second move to left move vice, first move to right move vice, the second move to right move vice, first counterclockwise motion is vice, the second counterclockwise motion is vice, revolute pair in first, revolute pair in the second, first right revolute pair, second right side revolute pair, equipment fixed platform, first right side connecting rod, second right side connecting rod, the left side slider through first move to left move vice, the second move to left move vice be connected to a horizontal guiding axle and the 2nd horizontal guiding epaxial, the utility model discloses can realize that the whole audience does not have the full -automatic three -dimensional measurement in dead angle.
Description
Technical field
This utility model relates to a kind of measurement equipment, a kind of based on serial parallel mechanism complete from
Dynamic optical three-dimensional measurement equipment.
Background technology
In three-dimension measuring system based on face battle array structured light projection, due to limitation and the object of work space
Blocking and the physical constraints such as the vision depth of field, the complete acquisition of cloud data to be realized then must be from multiple visual angles pair
Testee measures.Existing measuring method, mainly by fixation measuring equipment attitude, adjusts measured object
Attitude, or mobile measuring equipment attitude, adjust measured object attitude and realize multi-view image collection, and these are two years old
The method of kind all can realize various visual angles and measure, but it is little both to there is work space, the quilt complicated to surface topography
Survey thing, easily produce problems such as measuring dead angle, and for the latter, if measured object non-rigid or existence
Nonrigid assembly relation, the pose adjustment of measured object may affect its internal structure relation, causes measuring knot
Fruit has bigger error.
Utility model content
The purpose of this utility model is to provide a kind of full-automatic optical three-dimensional measurement based on serial parallel mechanism and sets
Standby, it can solve disadvantages mentioned above of the prior art.
This utility model is by the following technical solutions:
A kind of full-automatic optical 3-D measuring apparatus based on serial parallel mechanism, it include connection in series-parallel drive mechanism,
Rotatable platform, connection in series-parallel drive mechanism includes the first lead screw motor, the second lead screw motor, the first horizontally-guided
Axle, the second horizontally-guided axle, left slider, right side slide block, first move left pair, second move left pair,
First move right pair, second move right pair, the first left revolute pair, the second left revolute pair, revolute pair in first,
Revolute pair in second, the first right revolute pair, the second right revolute pair, equipment fixed platform, connecting rod on the right side of in the of first,
Connecting rod on the right side of in the of second, left slider is by first moving left pair, second moving left pair and be connected to the first level and lead
On axle and the second horizontally-guided axle, right side slide block is by first moving right pair, second moving right pair and be connected to
On first horizontally-guided axle and the second horizontally-guided axle, left slider and equipment fixed platform are by the first left-hand rotation
Dynamic secondary, the second left-hand rotation dynamic parafacies connection, on the right side of right side slide block and first, connecting rod, the second right-side connecting bar are respectively
Connected by the first right revolute pair and second dynamic parafacies of turning right, connecting rod and the on the right side of equipment fixed platform and first
Two right-side connecting bar respectively by revolute pair in first, rotate parafacies in second and connect, the first lead screw motor is driven
Dynamic left slider moves along horizontally-guided axle, and on the right side of the second lead screw motor driving, slide block moves along horizontally-guided axle；
Rotatable platform includes turntable, the 3rd servo；Also include a control system, and described control system connects control
Described first lead screw motor, the second lead screw motor and the 3rd servomotor, described control system includes a control
Circuit, and described control circuit includes:
Motor feed circuit, is used for being that the first lead screw motor, the second lead screw motor and the 3rd servomotor are powered；
Motor rotation-speed control circuit, for controlling the first lead screw motor, the second lead screw motor and the 3rd servo electricity
Machine rotating speed；
Motor speed testing circuit, is used for detecting rotating speed, and the speed feedback of detection is controlled to described rotating speed
Circuit, to form the closed loop control to rotating speed；
Drive switching circuit, for when the improper power-off of described rotating-speed control circuit, to the first lead screw motor,
Second lead screw motor and the output of the 3rd servomotor are for maintaining the corresponding rotating speed of normal stall to drive signal.
Described motor speed testing circuit includes signal deteching circuit, peaker, timer circuit and buffering
Circuit；Described signal deteching circuit includes resistance R1, resistance R2, electric capacity C1 and chip IC 1, described micro-
Parallel circuit includes NAND gate G2, NAND gate G3 and electric capacity C2, and described timer circuit includes chip IC 2 He
Electric capacity C3, described buffer circuit includes chip IC 3, resistance R10 and electric capacity C5；Described resistance R1's
One end connects 1 pin of the other end connection chip IC 1 of power supply U1, resistance R1, and the 2 of chip IC 1 are drawn
Foot connect resistance R2, chip IC 13 pins connect resistance R8, electric capacity C1, electric capacity C2, electric capacity C3,
Electric capacity C4, the positive pole of diode D1, the emitter stage of audion VT1,5 pins of chip IC 2 and core
4 pins of sheet IC3 ground connection.
The other end of resistance R2 connects resistance R3 and the other end of electric capacity C1, and the other end of resistance R3 is even
Connecting resistance R5, the negative pole of diode D1 and the base stage of audion VT1.
The colelctor electrode of audion VT1 connects resistance R4 and two inputs of NAND gate G1, NAND gate
The outfan of G1 connects the other end of resistance R5, two inputs of NAND gate G2 and NAND gate G3
One input, the outfan G2 of NAND gate G2 connects the other end of electric capacity C2 and the another of NAND gate G3
One input, the outfan of NAND gate G3 connects resistance R7.
The other end of resistance R7 connects resistance R8 and 2 pins of chip IC 2, the other end of resistance R4
Connect the 8 of resistance R9, the emitter stage of audion VT2,4 pins of chip IC 2 and chip IC 2 to draw
Foot, the colelctor electrode of audion VT2 connects a fixing end of resistance R6 and potentiometer RP1.
The other end of resistance R6 connect a fixing end of potentiometer RP2, potentiometer RP1 another is solid
Fixed end, the sliding end of potentiometer RP1, the negative pole of diode D2, the base stage of audion VT2 and power supply
U2, the plus earth of diode D2.
Another fixing end of potentiometer RP2 connects resistance R12 and the sliding end of potentiometer RP2, resistance R12
The other end connect gauge outfit A, the other end of gauge outfit A connects resistance R10, electric capacity C5 and chip IC 3.
3 pins of chip IC 2 connect two inputs of NAND gate G4, and 7 pins of chip IC 2 are even
6 pins of connecting resistance R9, the other end of electric capacity C3 and chip IC 2, the outfan of NAND gate G4 connects
The other end of resistance R11, resistance R11 connects the other end and 2 pins of chip IC 3, the core of electric capacity C4
1 pin of sheet IC3 connects the other end and the other end of electric capacity C5 of resistance R10, and the 3 of chip IC 3 are drawn
Foot connects power supply U2.
The utility model has the advantages that: user can plan specific visual angle group of measuring, and serial parallel mechanism
And the motion matching relationship between rotatable platform, develop specific control system to the demarcation of mechanism, motion,
Data process and couple, and turntable can measure equipment at string also around central axis in the range of 0～360 °
Under the control of connection drive mechanism, measuring visual angle can be at the folder measuring equipment center axle and rotatable platform central shaft
Choose in the range of angle 0～90 °, each several part on its surface under conditions of measured object self does not has strict dead angle
All can be measured to, so, this utility model can realize the whole audience and measure without dead angle full-automatic three-dimensional.
Accompanying drawing explanation
Below in conjunction with embodiment and accompanying drawing, this utility model is described in detail, wherein:
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the block diagram of control system of the present utility model.
Fig. 3 is the circuit diagram of motor speed testing circuit of the present utility model.
Detailed description of the invention
Of the present utility model detailed description of the invention be expanded on further below in conjunction with the accompanying drawings:
As it is shown in figure 1, a kind of optical three-dimensional measurement equipment with motor rotation-speed control circuit, it includes string
Parallel drive mechanism, rotatable platform, connection in series-parallel drive mechanism includes the first lead screw motor M1, the second screw mandrel electricity
Machine M3, first horizontally-guided axle the 2, second horizontally-guided axle 3, left slider 1, right side slide block 6, first
Move left secondary P1, second move left secondary P1 ', first move right secondary P2, second move right secondary P2 ', first
Left revolute pair R1, the second left revolute pair R1 ', revolute pair R2 in first, revolute pair R2 in second ', first
Right revolute pair R3, the second right revolute pair R3 ', equipment fixed platform 4, on the right side of in the of first on the right side of connecting rod 7, second
Connecting rod 8, left slider 1 is by first moving left secondary P1, second moving left secondary P1 ' and be connected to the first level
On the axis of guide and the second horizontally-guided axle, right side slide block 6 is by first moving right secondary P2, second moving right pair
P2 ' is connected on the first horizontally-guided axle and the second horizontally-guided axle, left slider and equipment fixed platform 4
By the first left revolute pair R1, the second left revolute pair R1 ' it is connected, connecting rod on the right side of right side slide block and first,
Second right-side connecting bar is respectively by the first right revolute pair R3 and the second right revolute pair R3 ' it is connected, equipment is solid
On the right side of fixed platform and first, connecting rod and the second right-side connecting bar are respectively by revolute pair in first, rotate in second
Parafacies connects, and the first lead screw motor drives left slider to move along horizontally-guided axle, and the second lead screw motor M3 is driven
Dynamic right side slide block moves along horizontally-guided axle；Rotatable platform includes turntable the 5, the 3rd servomotor M2, the 3rd
Servomotor drives turntable to rotate around the Platform center axle being perpendicular to horizontal plane by a guiding mechanism.
Described rotatable platform and serial parallel mechanism motion are separate, and the two is coupled by supporting mechanism,
The upper and lower two parts of whole mechanism only support assembly relation.
As in figure 2 it is shown, also include a control system, and described control system connects described first screw mandrel of control
Motor, the second lead screw motor and the 3rd servomotor, described control system includes a control circuit, and described
Control circuit includes: motor feed circuit 100, is used for being the first lead screw motor, the second lead screw motor and the 3rd
Servomotor is powered；Motor rotation-speed control circuit 200, for controlling the first lead screw motor, the second lead screw motor
And the 3rd servomotor rotating speed；Motor speed testing circuit 300, is used for detecting rotating speed, and by the rotating speed of detection
Feed back to described rotating-speed control circuit, to form the closed loop control to rotating speed；Drive switching circuit 400, be used for
When the improper power-off of described rotating-speed control circuit, watch to the first lead screw motor, the second lead screw motor and the 3rd
Take motor output for maintaining the corresponding rotating speed of normal stall to drive signal.
As it is shown on figure 3, described motor speed testing circuit includes signal deteching circuit, peaker, regularly
Device circuit and buffer circuit, described signal deteching circuit includes resistance R1, resistance R2, electric capacity C1 and chip
IC1, described peaker includes NAND gate G2, NAND gate G3 and electric capacity C2, and described timer circuit includes
Chip IC 2 and electric capacity C3, described buffer circuit includes chip IC 3, resistance R10 and electric capacity C5；Described
One end of resistance R1 connects 1 pin of the other end connection chip IC 1 of power supply U1, resistance R1, chip
IC1 2 pins connect resistance R2, chip IC 13 pins connect resistance R8, electric capacity C1, electric capacity C2,
Electric capacity C3, electric capacity C4, the positive pole of diode D1, the emitter stage of audion VT1, the 5 of chip IC 2 draw
Foot and 4 pins of chip IC 3 ground connection, the other end of resistance R2 connects the another of resistance R3 and electric capacity C1
One end, the other end of resistance R3 connects resistance R5, the negative pole of diode D1 and the base stage of audion VT1,
The colelctor electrode of audion VT1 connects resistance R4 and two inputs of NAND gate G1, NAND gate G1 defeated
Go out end and connect the other end of resistance R5, two inputs of NAND gate G2 and an input of NAND gate G3
End, the outfan G2 of NAND gate G2 connects the other end of electric capacity C2 and another input of NAND gate G3
End, the outfan of NAND gate G3 connects the other end of resistance R7, resistance R7 and connects resistance R8 and chip IC 2
2 pins, the other end of resistance R4 connects resistance R9, the emitter stage of audion VT2, chip IC 2
4 pins and 8 pins of chip IC 2, the colelctor electrode of audion VT2 connects resistance R6 and potentiometer RP1
A fixing end, the other end of resistance R6 connects the fixing end of potentiometer RP2, potentiometer RP1
Another fixing end, the sliding end of potentiometer RP1, the negative pole of diode D2, base stage of audion VT2
With power supply U2, the plus earth of diode D2, another fixing end of potentiometer RP2 connect resistance R12 and
The sliding end of potentiometer RP2, the other end of resistance R12 connects gauge outfit A, and the other end of gauge outfit A connects electricity
Resistance R10, electric capacity C5 and chip IC 3,3 pins of chip IC 2 connect two inputs of NAND gate G4,
7 pins of chip IC 2 connect resistance R9, the other end of electric capacity C3 and 6 pins of chip IC 2, with
The outfan of not gate G4 connects the other end and the core of the other end connection electric capacity C4 of resistance R11, resistance R11
2 pins of sheet IC3,1 pin of chip IC 3 connects the other end of resistance R10 and the another of electric capacity C5
One end, 3 pins of chip IC 3 connect power supply U2.
Chip IC 1 is UGN3040 type Hall element, and chip IC 2 is 555 timers, and chip IC 3 is
UA741 type high gain amplifier.Power supply U1 is 9V unidirectional current, and power supply U2 is 5V unidirectional current.With non-
Door G1-G5 is 74LS00 type two input nand gate chip.This utility model Hall element collects electricity
The tach signal of machine rotor is transferred to be constituted Schmidt trigger by audion VT1 and NAND gate G1, executes
Schmitt trigger is transferred to peaker after tach signal is carried out Shape correction, peaker is by rotating speed telecommunications
Number it is converted into pulse wave form and is transferred to 555 timers, 555 timers and accessory circuit composition monostable thereof
Circuit, 3 foot output high level of 555 timers are to NAND gate G4, NAND gate G4, resistance R11 and electricity
Hold C4 output signal is integrated after send into amplifier IC3, amplifier signal is amplified after feeding table
Head A, tach signal can be reflected by gauge outfit A intuitively.Circuit uses Hall element as detection
Device, it is possible to accurately record the magnetic revolution of rotor, 555 chips, as timing circuit, not only carry
High degree of accuracy, and add the integrated level of system, tach signal is reflected intuitively by gauge outfit,
Convenient and swift, the revolution detector using this circuit to make has integrated level height, cost of manufacture is low, counting is smart
Advantage accurate, easy to use.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model,
All any amendment, equivalent and improvement etc. made within spirit of the present utility model and principle, all should
Within being included in protection domain of the present utility model.
Claims (8)
1. a full-automatic optical 3-D measuring apparatus based on serial parallel mechanism, it is characterised in that it includes string
Parallel drive mechanism, rotatable platform, connection in series-parallel drive mechanism includes the first lead screw motor, the second screw mandrel
Motor, the first horizontally-guided axle, the second horizontally-guided axle, left slider, right side slide block, first is left
Moving sets, second move left pair, first move right pair, second move right pair, the first left revolute pair,
Second left revolute pair, revolute pair in first, revolute pair in second, the first right revolute pair, second turn right
Dynamic pair, equipment fixed platform, connecting rod on the right side of in the of first, connecting rod on the right side of second, left slider passes through first
Move left pair, second move left pair and be connected on the first horizontally-guided axle and the second horizontally-guided axle, right
Side slide is by first moving right pair, second moving right pair and be connected to the first horizontally-guided axle and the second water
On the flat axis of guide, left slider and equipment fixed platform are by the first left revolute pair, the second left revolute pair
Being connected, on the right side of right side slide block and first, connecting rod, the second right-side connecting bar are dynamic by the first right-hand rotation respectively
Secondary and the dynamic parafacies of the second right-hand rotation connects, and connects on the right side of equipment fixed platform and first on the right side of connecting rod and second
Bar respectively by revolute pair in first, rotate parafacies in second and connect, on the left of the first lead screw motor drives
Slide block moves along horizontally-guided axle, and on the right side of the second lead screw motor driving, slide block moves along horizontally-guided axle；
Rotatable platform includes turntable, the 3rd servo；Also include a control system, and described control system connects
Control described first lead screw motor, the second lead screw motor and the 3rd servomotor, described control system bag
Include a control circuit, and described control circuit include:
Motor feed circuit, is used for being that the first lead screw motor, the second lead screw motor and the 3rd servomotor are powered；
Motor rotation-speed control circuit, for controlling the first lead screw motor, the second lead screw motor and the 3rd servo electricity
Machine rotating speed；
Motor speed testing circuit, is used for detecting rotating speed, and the speed feedback of detection is controlled to described rotating speed
Circuit, to form the closed loop control to rotating speed；
Drive switching circuit, for when the improper power-off of described rotating-speed control circuit, to the first lead screw motor,
Second lead screw motor and the output of the 3rd servomotor are for maintaining the corresponding rotating speed of normal stall to drive letter
Number.
Full-automatic optical 3-D measuring apparatus based on serial parallel mechanism the most according to claim 1, it is special
Levying and be, described motor speed testing circuit includes signal deteching circuit, peaker, intervalometer electricity
Road and buffer circuit；Described signal deteching circuit includes resistance R1, resistance R2, electric capacity C1 and core
Sheet IC1, described peaker includes NAND gate G2, NAND gate G3 and electric capacity C2, described timing
Device circuit includes chip IC 2 and electric capacity C3, described buffer circuit include chip IC 3, resistance R10 and
Electric capacity C5；One end of described resistance R1 connects the other end of power supply U1, resistance R1 and connects chip
1 pin of IC1,2 pins of chip IC 1 connect resistance R2, and 3 pins of chip IC 1 are even
Connecting resistance R8, electric capacity C1, electric capacity C2, electric capacity C3, electric capacity C4, the positive pole of diode D1,
The emitter stage of audion VT1,5 pins of chip IC 2 and 4 pins of chip IC 3 ground connection.
Full-automatic optical 3-D measuring apparatus based on serial parallel mechanism the most according to claim 2, it is special
Levying and be, the other end of resistance R2 connects resistance R3 and the other end of electric capacity C1, resistance R3's
The other end connects resistance R5, the negative pole of diode D1 and the base stage of audion VT1.
Full-automatic optical 3-D measuring apparatus based on serial parallel mechanism the most according to claim 3, it is special
Levying and be, the colelctor electrode of audion VT1 connects resistance R4 and two inputs of NAND gate G1,
The outfan of NAND gate G1 connect the other end of resistance R5, two inputs of NAND gate G2 and
One input of NAND gate G3, the outfan G2 of NAND gate G2 connects another of electric capacity C2
End and another input of NAND gate G3, the outfan of NAND gate G3 connects resistance R7.
Full-automatic optical 3-D measuring apparatus based on serial parallel mechanism the most according to claim 4, it is special
Levying and be, the other end of resistance R7 connects resistance R8 and 2 pins of chip IC 2, resistance R4's
The other end connects resistance R9, the emitter stage of audion VT2,4 pins of chip IC 2 and chip
8 pins of IC2, the colelctor electrode of audion VT2 connects of resistance R6 and potentiometer RP1
Fixing end.
Full-automatic optical 3-D measuring apparatus based on serial parallel mechanism the most according to claim 5, it is special
Levying and be, the other end of resistance R6 connects the fixing end of potentiometer RP2, potentiometer RP1
Another fixing end, the sliding end of potentiometer RP1, the negative pole of diode D2, audion VT2
Base stage and power supply U2, the plus earth of diode D2.
Full-automatic optical 3-D measuring apparatus based on serial parallel mechanism the most according to claim 6, it is special
Levying and be, another fixing end of potentiometer RP2 connects resistance R12 and the slip of potentiometer RP2
End, the other end of resistance R12 connects gauge outfit A, and the other end of gauge outfit A connects resistance R10, electricity
Hold C5 and chip IC 3.
Full-automatic optical 3-D measuring apparatus based on serial parallel mechanism the most according to claim 7, it is special
Levying and be, 3 pins of chip IC 2 connect two inputs of NAND gate G4, chip IC 2
7 pins connect resistance R9, the other end of electric capacity C3 and 6 pins of chip IC 2, NAND gate G4
Outfan connect the other end of resistance R11, resistance R11 and connect the other end of electric capacity C4 and chip
2 pins of IC3,1 pin of chip IC 3 connects the other end of resistance R10 and electric capacity C5
The other end, 3 pins of chip IC 3 connect power supply U2.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620395566.3U CN205580385U (en) | 2016-05-04 | 2016-05-04 | Full -automatic optical three -dimensional measuring equipment based on cluster parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620395566.3U CN205580385U (en) | 2016-05-04 | 2016-05-04 | Full -automatic optical three -dimensional measuring equipment based on cluster parallel mechanism |
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| CN205580385U true CN205580385U (en) | 2016-09-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984331A (en) * | 2017-11-28 | 2018-05-04 | 中国矿业大学 | A kind of five axis series-parallel connection photo process equipments and its method of work |
-
2016
- 2016-05-04 CN CN201620395566.3U patent/CN205580385U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984331A (en) * | 2017-11-28 | 2018-05-04 | 中国矿业大学 | A kind of five axis series-parallel connection photo process equipments and its method of work |
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