CN205785101U - Laser three-dimensional scanning detector - Google Patents
Laser three-dimensional scanning detector Download PDFInfo
- Publication number
- CN205785101U CN205785101U CN201620437644.1U CN201620437644U CN205785101U CN 205785101 U CN205785101 U CN 205785101U CN 201620437644 U CN201620437644 U CN 201620437644U CN 205785101 U CN205785101 U CN 205785101U
- Authority
- CN
- China
- Prior art keywords
- cable
- laser
- robot
- dimensional scanning
- industrial camera
- 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.)
- Active
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses a kind of laser three-dimensional scanning detector, including 3D scanning system, described 3D scanning system connects multi-axis robot, robot control system and software processing system by cable.The beneficial effects of the utility model are: this product be automobile measure and commercial measurement provide quick, accurately, solution flexibly；Internal using special multi-core cable, it is to avoid the outside cabling of robot, inside six-joint robot, use hollow gear axle, makes the built-in line of multicore can not be disturbed by robot motion.
Description
Technical field
This utility model relates to a kind of detector, belongs to technical field of industrial measurement.
Background technology
The development of Modern Manufacturing Technology, promotes multiformity and the advance of Quality Detection mode.
The gap that domestic measurer amount instrument is the biggest compared with abroad, domestic manufacturing enterprise makes mostly
With external detecting instrument, home products still can not meet the requirement accurately of enterprise's height.China is existing
Become the first in the world big automobile production state, but technically with America and Europe prosperity automobile production state also
Being to have the biggest gap, wherein, the detection of body in white and assembly is exactly the most representative
On the one hand.Body in white and assembly, due to complex-shaped (being substantially complex three-dimensional curved surface),
Bulky, required precision is high, to detection propose the highest requirement.And common detection methods
The three-dimension curved surface of its complexity cannot be carried out abundant and effective measurement.
Utility model content
For solving the defect that prior art exists, the purpose of this utility model is to provide a kind of fast
Speed, accurately, laser three-dimensional scanning detector flexibly.
The technical solution of the utility model is: laser three-dimensional scanning detector, scans including 3D
System, described 3D scanning system connects multi-axis robot, robot control system by cable
And software processing system.
Described 3D scanning system includes 3D laser sensor, and industrial camera is attached separately to 3D and swashs
Optical sensor both sides are also in sustained height, and the camera lens front end of industrial camera is provided with ring light
Source, annular light source is concentric with the camera lens of industrial camera, and 3D laser sensor and industrial camera lead to
Cross vision processor and connect robot control system and software processing system through Ethernet.
Described industrial camera is arranged on the L-type tool of 3D laser sensor both sides by auxiliary
On long limit, annular light source is arranged on the L-type tool minor face of the camera lens front end of industrial camera, L
Type tool is fixed by bolts to backboard both sides, and described backboard is arranged in tool flange.
Described cable includes by the interconnective external cable of split conductor plug and built-in cable,
External cable is double-deck reverse helical spring cable, and double-deck reverse helical spring cable is positioned at 3D
Scanning system outer bottom, the Internal cable of double-deck reverse helical spring cable passes through cable fixed head
Connecting 3D laser sensor and industrial camera, built-in cable is positioned at inside multi-axis robot.
Described built-in cable and motor lines are placed through the IA hollow gear of multi-axis robot
Central through hole, be connected to robot control system and software processing system, described hollow gear
Pinion mate, motor connects little gear and motor lines, and motor is fixedly mounted on joint of robot
On drive disk assembly.
Described bilayer reverse helical spring cable includes the outside using memory metal material to make
Spring, in the externally-located spring of Internal cable, the winding direction of described external springs and inner wire
The winding direction of cable is reverse each other, and the pitch of external springs is less than the pitch of Internal cable, outward
Portion's bullet, winding compactness more than the winding compactness of Internal cable, external springs around footpath be
10-15 times of wire diameter.
The artificial six-joint robot of described multi-axis machine, six-joint robot the first axle bottom side flanges is peace
Dress work surface, top set or install with putting.
Described 3D scanning system is by the 6th axle front end flange of tool flange with six-joint robot
Connect.
Described robot control system includes robot control chamber and is electrically connected with robot control chamber
The demonstrator connect, described software processing system includes workstation computer and the printing being sequentially connected with
Machine, equipped with 3-D scanning inspection software in workstation computer.
The beneficial effects of the utility model are: based on laser scanning measurement technology and vision-based detection skill
Art, is driven probe quickly to scan to obtain workpiece to workpiece to be checked by six-joint robot
Shaped size information, builds 3D digital-to-analogue in software and to carry out digital-to-analogue by Principle of Plastic Molding excellent
Change, and the digital-to-analogue of structure is contrasted with standard digital-to-analogue, thus obtain the relevant of product quality
Information is also evaluated；This product be automobile measure and commercial measurement provide quick, accurate,
Solution flexibly.Internal use special multi-core cable, it is to avoid the outside of robot is walked
Line, uses hollow gear axle inside six-joint robot, makes the built-in line of multicore can not be by machine
The interference of people's motion.Meanwhile, in this laser three-dimensional scanning detector, memory metal is used to set
Count annular retractable metallic cable, broken through traditional approach, allowed the cable of complexity thoroughly hide
Come.
Accompanying drawing explanation
This utility model has accompanying drawing 10 width.
Fig. 1 is structure chart of the present utility model；
Fig. 2 is internal trace-diagram of the present utility model；
Fig. 3 is the structure chart of 3D scanning system of the present utility model；
Fig. 4 is internal enlarged drawing of the present utility model；
Fig. 5 is the A-A face sectional view of Fig. 4；
Fig. 6 is double-deck reverse helical spring cable partial enlarged drawing；
Fig. 7 is schematic diagram of the present utility model；
Fig. 8 is the structure chart of split conductor plug；
Fig. 9 is the side view of Fig. 8；
Figure 10 is external cable and damper ends structure chart.
In figure, reference is as follows: 1,3D scanning system, 1.1,3D laser sensor, 1.2,
Industrial camera, 1.3, annular light source, 1.4, auxiliary, 1.5, L-type tool, 1.6, backboard,
1.7, cable fixed head, 2, tool flange, 3, multi-axis robot, 4, double-deck reverse spiral
Spring cable, 4.1, external springs, 4.2, Internal cable, 4.3, jack, 4.4, female plug
Head, 4.5, cable fixed head, 5, built-in cable, 6, motor lines, 7, split conductor plug,
7.1, contact pin, 8, hollow gear, 8.1, central through hole, 9, motor, 10, little gear.
Detailed description of the invention
This utility model is described further by 1-10 below in conjunction with the accompanying drawings:
Laser three-dimensional scanning detector, including 3D scanning system 1, described 3D scanning system 1
Multi-axis robot 3, robot control system and software processing system is connected by cable.
Described 3D scanning system 1 includes 3D laser sensor 1.1, and industrial camera 1.2 is respectively
It is contained in 3D laser sensor 1.1 both sides and is in sustained height, the camera lens of industrial camera 1.2
Front end is provided with annular light source 1.3, and annular light source 1.3 is concentric with the camera lens of industrial camera 1.2,
3D laser sensor 1.1 and industrial camera 1.2 connect machine by vision processor through Ethernet
Device people's control system and software processing system.
Described industrial camera 1.2 is arranged on 3D laser sensor 1.1 both sides by auxiliary 1.4
L-type tool 1.5 long limit on, annular light source 1.3 is arranged on the camera lens of industrial camera 1.2
On L-type tool 1.5 minor face of front end, L-type tool 1.5 is fixed by bolts to backboard 1.6 liang
Side, described backboard 1.6 is arranged in tool flange 2.
Described cable includes by the interconnective external cable of split conductor plug 7 and built-in line
Cable 5, external cable is double-deck reverse helical spring cable 4, double-deck reverse helical spring cable
The external springs 4.1 of 4 is positioned at 3D scanning system 1 outer bottom and the 4th of multi-axis robot 3 the
Between axle front end, the Internal cable of double-deck reverse helical spring cable 4 passes through cable fixed head
1.7 connect 3D laser sensor 1.1 and industrial camera 1.2, and built-in cable 5 is positioned at multiaxis machine
Device people 3 is internal.
Described built-in cable 5 is placed through the IA hollow of multi-axis robot 3 with motor lines 6
The central through hole 8.1 of gear 8, is connected to robot control system and software processing system, institute
Stating hollow gear 8 pinion mate 10, motor 9 connects little gear 10 and motor lines 6.
Outside described bilayer reverse helical spring cable 4 includes using memory metal material to make
Portion's spring 4.1, in the externally-located spring of Internal cable 4.2 4.1, described external springs 4.1
The winding direction of winding direction and Internal cable 4.2 reverse each other, and external springs 4.1
Pitch is less than the pitch of Internal cable 4.2, and outside bullet, the winding compactness of 4.1 is more than inside
The winding compactness of cable 4.2, external springs 4.1 is the 10-15 of wire diameter around footpath
Times.Internal cable 4.2 end is provided with the jack that the contact pin 7.1 with split conductor plug 7 matches
4.3, it is sequentially provided with female 4.4 and cable fixed head 4.5 outside jack 4.3.
Described multi-axis robot 3 is six-joint robot, and six-joint robot the first axle bottom side flanges is
Installment work face, top set or install with putting.
The described 3D scanning system 1 the 6th axle front end by tool flange 2 with six-joint robot
Flange connects.
Described robot control system includes robot control chamber and is electrically connected with robot control chamber
The demonstrator connect, described software processing system includes workstation computer and the printing being sequentially connected with
Machine, equipped with 3-D scanning inspection software in workstation computer.
As required, multi-axis robot 3, robot control system and software processes system can be used
The mode that system combines carries out 3-D scanning detection.
Workpiece to be checked can quickly be scanned to obtain the shape of workpiece by 3D laser sensor
Dimension information, contrasts with standard digital-to-analogue after building 3D digital-to-analogue in software, thus obtains
This is also evaluated by the relevant information of product quality.This sensor can also be held with 3D pattern
Row detection and measuring, be used for detecting height, tilt, gap is poor with face, hole depth, Plane Installation,
Volume and cross section etc..
Industrial camera can quickly position and calibrate, it is provided that six-joint robot guides 3D laser
Positional information is detected accurately when sensor detects.Meanwhile, when carrying out local feature detection,
Such as position the fit-up inspection etc. of hole, rim detection, gear shaft, use industrial camera faster
Convenient.
Laser three-dimensional scanning detector includes 3D scanning system 1, robot control system and soft
Part processing system.This laser three-dimensional scanning detector is examined based on laser scanning measurement technology and vision
Survey technology, is driven probe quickly to scan to obtain work to workpiece to be checked by six-joint robot
The shaped size information of part, builds 3D digital-to-analogue and in software by Principle of Plastic Molding number
Mould optimizes, and the digital-to-analogue of structure is contrasted with standard digital-to-analogue, thus obtains product quality
Relevant information is also evaluated.In the detection, can swash with the use of 3D according to detection demand
Optical sensor and industrial camera, it is possible to individually call.
This laser three-dimensional scanning detector is internal uses special multi-core cable, it is to avoid robot
Outside cabling, inside six-joint robot use hollow gear axle, make the built-in line of multicore permissible
Do not disturbed by robot motion.
Meanwhile, in this laser three-dimensional scanning detector, use memory metal to devise annular and stretch
Receding metal cable, breaks through traditional approach, allows the cable of complexity thoroughly stash.
The reverse helical spring cable of this bilayer uses double-decker, and outer layer is that pitch is little, it is tight to be wound around
Close, bigger around footpath metal spring, internal layer is that pitch is big, is wound around line sparse, less around footpath
Cable, outer layer spring is the most reverse with the winding direction of internal layer cable, it is ensured that outer layer metal and internal layer
Cable is never wound around.This cable is easy to connect, and transmission is stable, and service life is long, and cost performance is high,
Can be applicable to various extreme environment, it is adaptable to concertina type, rotary device connect, especially
It is robot front end line, the security incident that the cable such as scratching, broken string brings can be prevented effectively from,
Safety is high, practical.
The above is only preferred implementation of the present utility model, it is noted that for this skill
For the those of ordinary skill in art field, in the premise without departing from this utility model know-why
Under, it is also possible to making some improvement and modification, these improve and modification also should be regarded as this practicality newly
The protection domain of type.
Claims (9)
1. laser three-dimensional scanning detector, it is characterised in that include 3D scanning system (1), described 3D scanning system (1) connects multi-axis robot (3), robot control system and software processing system by cable；
Described 3D scanning system (1) includes 3D laser sensor (1.1), industrial camera (1.2) is attached separately to 3D laser sensor (1.1) both sides and is in sustained height, the camera lens front end of industrial camera (1.2) is provided with annular light source (1.3), annular light source (1.3) is concentric with the camera lens of industrial camera (1.2), and 3D laser sensor (1.1) and industrial camera (1.2) connect robot control system and software processing system by vision processor through Ethernet.
Laser three-dimensional scanning detector the most according to claim 1, it is characterized in that, described industrial camera (1.2) is arranged on the long limit of L-type tool (1.5) of 3D laser sensor (1.1) both sides by auxiliary (1.4), annular light source (1.3) is arranged on L-type tool (1.5) minor face of the camera lens front end of industrial camera (1.2), L-type tool (1.5) is fixed by bolts to backboard (1.6) both sides, and described backboard (1.6) is arranged in tool flange (2).
Laser three-dimensional scanning detector the most according to claim 1, it is characterized in that, described cable includes by the interconnective external cable of split conductor plug (7) and built-in cable (5), external cable is double-deck reverse helical spring cable (4), double-deck reverse helical spring cable (4) is positioned at 3D scanning system (1) outer bottom, double-deck reverse helical spring cable (4) connects 3D laser sensor (1.1) and industrial camera (1.2) by cable fixed head (1.7), it is internal that built-in cable (5) is positioned at multi-axis robot (3).
Laser three-dimensional scanning detector the most according to claim 3, it is characterized in that, described built-in cable (5) and motor lines (6) are placed through the central through hole (8.1) of multi-axis robot (3) IA hollow gear (8), it is connected to robot control system and software processing system, described hollow gear (8) pinion mate (10), motor (9) connects little gear (10) and motor lines (6).
nullLaser three-dimensional scanning detector the most according to claim 3，It is characterized in that，Described bilayer reverse helical spring cable (4) includes the external springs (4.1) using memory metal material to make，In Internal cable (4.2) externally-located spring (4.1)，The winding direction of described external springs (4.1) is the most reverse with the winding direction of Internal cable (4.2)，And the pitch of external springs (4.1) is less than the pitch of Internal cable (4.2)，The winding compactness of external springs (4.1) is more than the winding compactness of Internal cable (4.2)，External springs (4.1) is 10-15 times of wire diameter around footpath，Internal cable (4.2) end is provided with the jack (4.3) that the contact pin (7.1) with split conductor plug (7) matches，Female (4.4) and cable fixed head (4.5) it is sequentially provided with outside jack (4.3)，Internal cable (4.2) connects 3D laser sensor (1.1) and industrial camera (1.2) by cable fixed head (4.5).
Laser three-dimensional scanning detector the most according to claim 1, it is characterised in that described multi-axis robot (3) is six-joint robot, six-joint robot the first axle bottom side flanges is installment work face, top set or install with putting.
Laser three-dimensional scanning detector the most according to claim 6, it is characterised in that described 3D scanning system (1) is connected with the 6th axle front end flange of six-joint robot by tool flange (2).
Laser three-dimensional scanning detector the most according to claim 1, it is characterized in that, described robot control system includes robot control chamber and the demonstrator electrically connected with robot control chamber, described software processing system includes workstation computer and the printer being sequentially connected with, equipped with 3-D scanning inspection software in workstation computer.
Laser three-dimensional scanning detector the most according to claim 1, it is characterised in that described multi-axis robot (3), robot control system and software processing system are multiple.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620437644.1U CN205785101U (en) | 2016-05-13 | 2016-05-13 | Laser three-dimensional scanning detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620437644.1U CN205785101U (en) | 2016-05-13 | 2016-05-13 | Laser three-dimensional scanning detector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205785101U true CN205785101U (en) | 2016-12-07 |
Family
ID=57409376
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620437644.1U Active CN205785101U (en) | 2016-05-13 | 2016-05-13 | Laser three-dimensional scanning detector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205785101U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107367242A (en) * | 2016-05-13 | 2017-11-21 | 大连国检计量有限公司 | Laser three-dimensional scanning detector |
| CN108226950A (en) * | 2018-01-12 | 2018-06-29 | 刘轩与 | Automobile identification and assessment system and appraisal and evaluation method |
-
2016
- 2016-05-13 CN CN201620437644.1U patent/CN205785101U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107367242A (en) * | 2016-05-13 | 2017-11-21 | 大连国检计量有限公司 | Laser three-dimensional scanning detector |
| CN107367242B (en) * | 2016-05-13 | 2023-09-01 | 大连国检计量有限公司 | Laser three-dimensional scanning detector |
| CN108226950A (en) * | 2018-01-12 | 2018-06-29 | 刘轩与 | Automobile identification and assessment system and appraisal and evaluation method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108759714B (en) | Coordinate system fusion and rotating shaft calibration method for multi-line laser profile sensor | |
| CN104567679B (en) | A kind of system of turbo blade vision-based detection | |
| CN104567722B (en) | A kind of female thread detection method | |
| CN101403606B (en) | Large visual field dual-shaft measuring apparatus based on line-structured light | |
| CN1259543C (en) | Laser vision on-line automatic measuring method for tire multiple geometrical parameters | |
| CN107367242A (en) | Laser three-dimensional scanning detector | |
| CN101476881A (en) | Line-shaped laser vertical rotation type three-dimensional appearance measuring apparatus and method thereof | |
| CN110763136B (en) | High-precision three-dimensional workpiece size detection system and method | |
| CN111215800B (en) | Maintenance amount detection device and detection method for welding maintenance robot | |
| CN101382422A (en) | Internal contour outline automatic detection system for pipe-shaped parts | |
| CN105241392B (en) | The full surface three dimension measuring apparatus and its measuring method of a kind of complicated columnar workpiece | |
| CN205785101U (en) | Laser three-dimensional scanning detector | |
| CN106098124B (en) | A kind of fuel assembly altitude measurement system and its measuring method under water | |
| CN204535658U (en) | A kind of high-precision section section bar laser measuring apparatus | |
| CN117450953B (en) | Oil pipe internal thread full circumference measurement system and measurement method based on mirror image structured light | |
| CN115096213B (en) | Internal thread binocular detection method based on polygonal pyramid reflector | |
| CN117433421B (en) | Multi-geometric-quantity deep hole measuring instrument based on microscope and measuring method thereof | |
| CN112288823A (en) | Calibration method of standard cylinder curved surface point measuring equipment | |
| CN115790450A (en) | Oil pipe coupling internal thread parameter detection system and method based on double plane mirrors | |
| CN205919783U (en) | Monocular vision system | |
| CN210400319U (en) | Device for obtaining complete outer surface 3D contour by rotary scanning | |
| CN117092121A (en) | Titanium alloy gas cylinder forming quality detection equipment and method | |
| CN113959375B (en) | Image acquisition method of tower flange flatness detection equipment | |
| CN105806217A (en) | Single pull thread type measuring system and method for object space position measurement | |
| CN208171180U (en) | The full-scale laser detecting apparatus of cylinder jacket |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170613 Address after: 116600 No. 1, No. 9, life road, Dalian economic and Technological Development Zone, Liaoning, Patentee after: Dalian measuring and Testing Center Co Ltd Address before: The Yellow Sea 116600 Liaoning province Dalian bonded area West Road No. 201 Weihai International Commercial Affairs Building 3 Patentee before: DALIAN CENTER METROLOGY INSPECTION CO., LTD. |