CN205580388U

CN205580388U - Full -automatic optical three -dimensional measuring equipment

Info

Publication number: CN205580388U
Application number: CN201620396618.9U
Authority: CN
Inventors: 许建辉
Original assignee: Three Tribes (shanghai) Polytron Technologies Inc
Current assignee: Three Tribes (shanghai) Polytron Technologies Inc
Priority date: 2016-05-04
Filing date: 2016-05-04
Publication date: 2016-09-14
Anticipated expiration: 2026-05-04

Abstract

The utility model provides a full -automatic optical three -dimensional measuring equipment, includes connection in series -parallel actuating mechanism, rotates the platform, and connection in series -parallel actuating mechanism includes first lead screw motor, second lead screw motor, rotating the platform and including revolving stage, servo motor, servo motor rotates around the platform center pin of perpendicular to horizontal plane through guiding mechanism drive revolving stage. Still include a control system, just control system connection control first lead screw motor, second lead screw motor and the 3rd servo motor, control system includes a control circuit, just control circuit includes: the utility model discloses can realize that the whole audience does not have the full -automatic three -dimensional measurement in dead angle.

Description

A kind of full-automatic optical 3-D measuring apparatus

Technical field

This utility model relates to a kind of measurement equipment, and more precisely a kind of full-automatic optical three-dimensional measurement sets Standby.

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 3-D measuring apparatus, and it can solve existing Disadvantages mentioned above in technology.

This utility model is by the following technical solutions:

A kind of full-automatic optical 3-D measuring apparatus, it includes connection in series-parallel drive mechanism, rotatable platform, goes here and there also Connection drive mechanism includes the first lead screw motor, the second lead screw motor, and rotatable platform includes turntable, the 3rd servo Motor, the 3rd servomotor drives turntable to turn around the Platform center axle being perpendicular to horizontal plane by a guiding mechanism Dynamic, also include a control system, and described control system connect control described first lead screw motor, second Bar 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, Described motor feed circuit includes: include metal-oxide-semiconductor Q101, its anode phase with diode D101 that drains Even being followed by main power source, the negative electrode of diode D101 is connected with one end of resistance R103, and resistance R103's is another One end is connected with the base stage of audion Q102, the grounded emitter of audion Q102, audion Q102's Colelctor electrode is connected by the grid of resistance R102 and metal-oxide-semiconductor Q101, and the source electrode of metal-oxide-semiconductor Q101 divides It is not connected with one end of redundant power, load, the other end ground connection of load, also include Zener diode Z101, Its anode is connected with the grid of metal-oxide-semiconductor Q101, and its negative electrode is connected with the source electrode of metal-oxide-semiconductor Q101；

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.

Connection in series-parallel drive mechanism also includes the first horizontally-guided axle, the second horizontally-guided axle, left slider, the right side Side slide, first moves left pair, second moves left pair, first moves right pair, second moves right pair, and first Left revolute pair, the second left revolute pair, revolute pair in first, revolute pair in second, the first right revolute pair, Two right revolute pairs, equipment fixed platform, connecting rod on the right side of in the of first, connecting rod on the right side of second, left slider is by the One 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 block is by first moving right pair, second moving right pair and be connected to the first horizontally-guided axle and the second horizontally-guided On axle, left slider and equipment fixed platform are connected by the first left revolute pair, the second dynamic parafacies of left-hand rotation, right On the right side of side slide and first, connecting rod, the second right-side connecting bar are turned right dynamic by the first right revolute pair and second respectively Parafacies connects, and on the right side of equipment fixed platform and first, connecting rod and the second right-side connecting bar are respectively by the first transfer Dynamic secondary, rotate parafacies in second and connect, the first lead screw motor drives left slider to move along horizontally-guided axle, On the right side of second lead screw motor driving, slide block moves along horizontally-guided axle.

Also include current-limiting resistance R101, its one end respectively with resistance R102, the anode of Zener diode Z101 Being connected, its other end is connected with the negative electrode of Zener diode Z101.

Described motor speed testing circuit includes signal deteching circuit, peaker, timer circuit and buffering Circuit.

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 feed circuit of the present utility model.

Fig. 4 is the circuit diagram of motor speed testing circuit of the present utility model.

Fig. 5 is the circuit diagram of motor rotation-speed control 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, be used for During the improper power-off of described rotating-speed control circuit, to the first lead screw motor, the second lead screw motor and the 3rd servo Motor output drives signal for maintaining the corresponding rotating speed of normal stall.

As it is shown on figure 3, motor feed circuit includes metal-oxide-semiconductor Q101, its drain electrode and the sun of diode D101 Extremely being connected and be followed by main power source, the negative electrode of diode D101 is connected with one end of resistance R103, resistance R103's The other end is connected with the base stage of audion Q102, the grounded emitter of audion Q102, audion Q102's Colelctor electrode is connected by the grid of resistance R102 and metal-oxide-semiconductor Q101, the source electrode of metal-oxide-semiconductor Q101 respectively with Redundant power, one end of load are connected, the other end ground connection of load, and the base stage of audion Q102 is 1 foot, The transmitting of audion Q102 extremely 2 foot, the current collection of audion Q102 extremely 3 foot.

Also including Zener diode Z101, its anode is connected with the grid of metal-oxide-semiconductor Q101, its negative electrode and MOS The source electrode of pipe Q101 is connected, Zener diode Z101 for prevent the grid of metal-oxide-semiconductor Q101 and source electrode it Between overtension and puncture metal-oxide-semiconductor Q101, clamp the voltage at voltage stabilizing value.Present invention additionally comprises current-limiting resistance R101, its one end anode with resistance R102, Zener diode Z101 respectively is connected, and its other end is with steady The negative electrode of pressure diode Z101 is connected.

Under main power source normal operation, main power source passes through diode D101 and resistance R103 to audion The base stage of Q102 and emitter stage pressurization, audion Q102 turns on, and resistance R102 connects the negative pole of main power source, Now, the drain and gate of metal-oxide-semiconductor Q101 is powered by main power source, and metal-oxide-semiconductor Q101 turns on, main power source pair Load supplying, redundant power does not works；When main power source reversal connection, the voltage reversal of audion Q102, close, The control voltage reversal of metal-oxide-semiconductor Q101, metal-oxide-semiconductor Q101 closes output, and main power source current supply circuit turns off； When main power circuit is without input, now redundant power starts power supply, and the source electrode of metal-oxide-semiconductor Q101 is redundant electric The forward voltage in source, through resistance R101 and resistance R102 dividing potential drop, adds between the grid source electrode of metal-oxide-semiconductor Q101 Pressure, metal-oxide-semiconductor Q101 closes；Simultaneously because diode D101 can not reverse-conducting, metal-oxide-semiconductor Q101 close It is disconnected, so electric current cannot pour in down a chimney into main power source via metal-oxide-semiconductor Q101 during redundant power work

As shown in Figure 4, 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 sensor acquisition is believed to rotating speed Number being transferred to be constituted Schmidt trigger by audion VT1 and NAND gate G1, Schmidt trigger will turn Speed signal is transferred to peaker after carrying out Shape correction, and the rotating speed signal of telecommunication is converted into impulse wave by peaker Form is transferred to 555 timers, 555 timers and accessory circuit composition monostable circuit, 555 timing 3 foot output high level of device are to NAND gate G4, and NAND gate G4, resistance R11 and electric capacity C4 are by output signal Sending into amplifier IC3 after being integrated, amplifier sends into gauge outfit A after being amplified by signal, and gauge outfit A is permissible Tach signal is reflected intuitively, not only increases degree of accuracy, and add the integrated level of system, Tach signal is reflected intuitively by gauge outfit, convenient and swift, and integrated level is high, cost of manufacture is low, counting Precisely, advantage easy to use.

As it is shown in figure 5, motor rotation-speed control circuit, for controlling the first lead screw motor, the second lead screw motor And the 3rd servomotor rotating speed, motor rotation-speed control circuit includes control circuit and drive circuit, described control electricity The end that controls on road is connected with the input of described drive circuit；Described control circuit, is used for exporting corresponding PWM Controlling signal to described drive circuit, described drive circuit, for controlling to turn according to described pwm control signal Speed, described drive circuit include power supply VCC1, resistance R201, resistance R202, resistance R203, resistance R204, Resistance R205, switching tube Q201, switching tube Q202, switching tube Q203, electric capacity C201, diode D201, Diode D202, diode D203 and stabilivolt Z201；Wherein, the input of described switching tube Q201 with The outfan of described power supply VCC1 connects, and the controlled end of described switching tube Q201 is with described diode D201's Negative electrode connects, and the outfan of described switching tube Q201 is connected with the anode of described stabilivolt Z201；Described electricity Resistance R201 is parallel between controlled end and the input of described switching tube Q201；The sun of described diode D201 Pole is connected with the control end of described control circuit through described resistance R202；The anode of described diode D202 with The outfan of described switching tube Q201 connects, and the negative electrode of described diode D202 is with described switching tube Q201's Controlled end connects；The negative electrode of described stabilivolt Z201 is subject to through described resistance R203 and described switching tube Q202's Control end connects；The anode of described diode D203 is connected with the outfan of described power supply VCC1, described two poles The negative electrode of pipe D203 is connected through the negative electrode of described resistance R204 with described stabilivolt Z201；Described electric capacity C201 It is parallel to described stabilivolt Z201 two ends；The input of described switching tube Q203 is with described switching tube Q201's Controlled end connects, and the controlled end of described switching tube Q203 is through described resistance R205 and described resistance R202 and institute The public point stating diode D201 anode connects, the output head grounding of described switching tube Q203；Described open The input closing pipe Q202 is connected with the outfan of described power supply VCC1；The outfan of described switching tube Q202 It is connected with the first end of described motor.

Switching tube Q201 and switching tube Q203 uses NPN type triode, and switching tube Q202 uses P-channel MOS Pipe.Control circuit 201 export pwm control signal be high level time, switching tube Q203 turn on, switching tube The controlled end voltage of Q201 is pulled low, and switching tube Q201 turns off.The 15V voltage of power supply VCC1 is through described two Pole pipe D203, resistance R204, stabilivolt Z201, diode D202 and switching tube Q203 flow into ground, now It is the resistance of switching tube Q202 that stabilivolt Z201 cathode voltage is about 8.2V, resistance R203, switch The controlled end voltage of pipe Q202 is also 8.2V, and the input terminal voltage of Simultaneous Switching pipe Q202 is 15V, therefore Switching tube Q202 turns on, and power supply VCC1 is powered to motor by described switching tube Q202, and motor normally works.

Control circuit 201 export pwm control signal be low level time, switching tube Q203 turn off, switching tube Q201 turns on, and now the controlled end voltage of switching tube Q202 is 23.2V, switching tube Q202 not up to conducting Condition, therefore switching tube Q202 turns off, and power supply VCC1 stops powering to motor.

Described motor rotation-speed control circuit includes for accelerating the braking circuit that motor stops；Described braking circuit Including resistance R206, resistance R207, resistance R208, resistance R209, resistance R210, diode D204, Electric capacity C202, switching tube Q204 and switching tube Q205；Wherein, the anode of described diode D204 is with described The control end of control circuit connects, and the negative electrode of described diode D204 connects with first end of described resistance R206 Connect；Second end of described resistance R206 is through described resistance R207 ground connection；Described electric capacity C202 is parallel to described Resistance R207 two ends；The controlled end of described switching tube Q204 is through described resistance R208 and described resistance R206 The first end connect, the input of described switching tube Q204 is through described resistance R209 and described power supply VCC1 Outfan connects, the output head grounding of described switching tube Q204；First end of described resistance R210 is with described The input of switching tube Q204 connects, and second end of described resistance R210 is controlled with described switching tube Q205's End connects；The input of described switching tube Q205 is connected with the outfan of described switching tube Q202, described in open Close the output head grounding of pipe Q205.

In the present embodiment, described switching tube Q204 is NPN type triode, and switching tube Q205 is N-channel Metal-oxide-semiconductor, control circuit output pwm control signal is high level when, high level is through diode D204 Charging to electric capacity C202, and through resistance R208, switching tube Q204 is turned on, switching tube Q205 is subject to Control terminal voltage is pulled low and turns off into 0V, switching tube Q205, is not now braked motor.

When control circuit output pwm control signal is low level, due to the low electricity of pwm control signal The flat persistent period is Millisecond, and electric capacity C202 storage has electric energy, and the resistance of resistance R207 is relatively big, electric capacity C202 is slowly discharged by resistance R207, and is carried to switching tube Q204 by resistance R206 and resistance R208 For maintaining the voltage of conducting so that now braking circuit does not works.

When the control end of control circuit does not exports pwm control signal, the control end of control circuit is low always Level, when in electric capacity C202, the electric energy of storage exhausts, switching tube Q204 turns off, now switching tube Q205 Controlled end is 15V voltage, and switching tube Q205 turns on, and the first end input voltage of motor is pulled low, therefore electricity Machine quits work, and braking circuit works.

Described drive circuit also includes electric capacity C208 and electric capacity C209, first end of described electric capacity C208 and institute The outfan stating power supply VCC1 connects, the second end ground connection of described electric capacity C208；Described electric capacity C209 is in parallel Two ends in described electric capacity C208.Described electric capacity C208 and electric capacity C209 is for defeated to described power supply VCC1 Go out voltage and be filtered voltage stabilizing.Described drive circuit also includes diode D205, the moon of described diode D205 Pole is connected with described power supply VCC1, the anode of described diode D205 and the outfan of described switching tube Q202 Connect.It should be noted that when motor braking, described power supply VCC1 stops powering to motor, now electricity Machine is rotated further due to inertia, and produces reverse electromotive force, the input of diode D205 switch tube Q202 End and outfan carry out clamper, burn out with the reverse electromotive force preventing switching tube Q202 from being produced by motor.Described Braking circuit also includes that diode D206, the negative electrode of described diode D206 are connected with the first end of described motor, The anode of described diode D205 is connected with the second end of described motor.It should be noted that carry out at motor During braking, owing in the inductive element in motor, storage has electric energy, by described diode D206 and motor The energy expenditure stored in motor is fallen by the loop that winding is formed.

Control circuit in motor rotation-speed control circuit is according to the power frequency pulse signal preset and motor speed Pwm control signal corresponding to corresponding relation output, to adjust motor speed, owing to have employed closed loop control, Such that it is able to keep adjustment motor speed in real time to keep the constant of motor speed, to improve the steady of motor speed Qualitative.

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

1. a full-automatic optical 3-D measuring apparatus, it is characterised in that it includes connection in series-parallel drive mechanism, turns Moving platform, connection in series-parallel drive mechanism includes the first lead screw motor, the second lead screw motor, rotatable platform bag Including turntable, the 3rd servomotor, the 3rd servomotor drives turntable around being perpendicular to by a guiding mechanism The Platform center axle of horizontal plane rotates, and also includes 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 one 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, Described motor feed circuit includes: include metal-oxide-semiconductor Q101, its drain electrode and the sun of diode D101 Extremely being connected and be followed by main power source, the negative electrode of diode D101 is connected with one end of resistance R103, resistance The other end of R103 is connected with the base stage of audion Q102, the grounded emitter of audion Q102, The colelctor electrode of audion Q102 is connected by the grid of resistance R102 and metal-oxide-semiconductor Q101, The source electrode of metal-oxide-semiconductor Q101 one end with redundant power, load respectively is connected, the other end of load Ground connection, also includes Zener diode Z101, and its anode is connected with the grid of metal-oxide-semiconductor Q101, its Negative electrode is connected with the source electrode of metal-oxide-semiconductor Q101；

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 the most according to claim 1, it is characterised in that connection in series-parallel is driven Motivation structure also includes the first horizontally-guided axle, the second horizontally-guided axle, left slider, right side slide block, First moving left pair, second move left pair, first move right pair, second move right pair, first turns left Dynamic secondary, the second left revolute pair, revolute pair in first, revolute pair in second, the first right revolute pair, the Two right revolute pairs, equipment fixed platform, connecting rod on the right side of in the of first, connecting rod on the right side of second, left slider leads to Cross and first move left pair, second move left pair and be connected to the first horizontally-guided axle and the second horizontally-guided axle On, right side slide block by first move right pair, second move right pair be connected to the first horizontally-guided axle and On second horizontally-guided axle, left slider and equipment fixed platform are by the first left revolute pair, second left side Revolute pair is connected, and on the right side of right side slide block and first, connecting rod, the second right-side connecting bar are respectively by first Right revolute pair and second is turned right and is moved parafacies connection, connecting rod and second right side on the right side of equipment fixed platform and first Lateral connector 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 is along horizontally-guided axle Mobile.

Full-automatic optical 3-D measuring apparatus the most according to claim 2, it is characterised in that also include limit Leakage resistance R101, its one end anode with resistance R102, Zener diode Z101 respectively is connected, Its other end is connected with the negative electrode of Zener diode Z101.

Full-automatic optical 3-D measuring apparatus the most according to claim 3, it is characterised in that described motor Rotating speed measring circuit includes signal deteching circuit, peaker, timer circuit and buffer circuit.