CN207662364U - The auxiliary support apparatus of handheld three-dimensional scanner - Google Patents
The auxiliary support apparatus of handheld three-dimensional scanner Download PDFInfo
- Publication number
- CN207662364U CN207662364U CN201721563287.4U CN201721563287U CN207662364U CN 207662364 U CN207662364 U CN 207662364U CN 201721563287 U CN201721563287 U CN 201721563287U CN 207662364 U CN207662364 U CN 207662364U
- Authority
- CN
- China
- Prior art keywords
- handheld
- dimensional scanner
- gripper
- support apparatus
- cradle head
- 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.)
- Expired - Fee Related
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The utility model is related to 3-D scanning technical fields, specifically disclose a kind of auxiliary support apparatus of handheld three-dimensional scanner, which is characterized in that including gripper, pivoted arm, movable support and power plant；Gripper includes the interconnecting piece of the clamping section and connection pivoted arm of fixed hand held scanner, and pivoted arm includes principal arm and adjutage, and adjutage is flexibly connected with the interconnecting piece of gripper, and movable support includes the platform being connect with connector and moveable support leg；Power plant includes No.1 servo motor, No. three servo motors positioned at No. two servo motors of adjutage and gripper junction and positioned at clamping section and interconnecting piece junction positioned at the junction of principal arm and adjutage.The utility model using semiautomatic loading mechanism machinery claw and movable support combine it is artificial with it is automatically controlled, not only it had saved manpower but also most of large-scale curved measurement can be completed, the working range for having expanded operating personnel avoids the operation of operating personnel's chronic fatigue and working at height, improves scan efficiency.
Description
Technical field
The utility model is related to 3-D scanning technical field more particularly to a kind of Auxiliary supports of handheld three-dimensional scanner
Device.
Background technology
With the rapid development of the industries such as rail traffic, aerospace, wind-force water conservancy, automobile die and shipbuilding, have big
The complex-curved part of type is more and more；In the large complicated carved checkout procedure of part, the application of spatial digitizer is also more next
It is more extensive.But when scanning heavy parts using hand-held spatial digitizer, need manually to carry out high-altitude work by tools such as ladders
Industry, increases workload and degree of fatigue during 3-D scanning, and the danger of worker also greatly increases.
Utility model content
The purpose of this utility model is to provide a kind of auxiliary support apparatus of handheld three-dimensional scanner, to solve large size zero
Part carries out the problem that worker's tired operation, working at height, danger coefficient are high when 3-D scanning.
In order to solve the above-mentioned technical problem, the utility model provides a kind of Auxiliary support dress of handheld three-dimensional scanner
It sets,
Including clamp system, extension mechanism and supporting mechanism；
The clamp system includes gripper, and the gripper is for clamping handheld three-dimensional scanner；
The extension mechanism includes rotating extension and telescopic expansion, one end of the rotation extension and the clamping
Mechanism connects, and the other end is connect with the telescopic end of the telescopic expansion, and the rotation extension includes multiple cradle heads, institute
It states cradle head to be controlled by corresponding motor, the telescopic expansion is rotatablely connected with the supporting mechanism, described to stretch
Contracting extension can be swung up and down relative to the supporting mechanism, and the telescopic expansion includes Multi-section telescopic bar；
The supporting mechanism includes supporting rack and the universal wheel in support frame as described above bottom is arranged.
Preferably, the rotation extension includes that the first rotation of the connection rotation extension and telescopic expansion is closed
It saves, connect the gripper and rotate the third cradle head of extension and be located at the first cradle head and third cradle head
Between the second cradle head, first cradle head is parallel with the shaft axis of the second cradle head, third rotation
The shaft axis of joint and the first cradle head is vertical.
Preferably, the motor be servo motor, the supporting mechanism be equipped with servo controller, the servo motor with
The servo controller connection.
Preferably, the supporting mechanism further includes the platform (32) for being located at support frame as described above top, the platform (32)
Top is equipped with the rotating seat being connect with the telescopic expansion (22), and the rotating seat can be relative to support frame as described above along horizontal
Direction rotates.
Preferably, the supporting mechanism further includes stabiliser bar, and support frame as described above is the three-legged support for including three support legs,
The stabiliser bar includes the vertical stabiliser bar being connect with the rotating seat and connects the water steadying of support leg and vertical stabiliser bar
The upper end of fixed pole, the vertical stabiliser bar is connect with the rotating seat.
Preferably, the junction of the vertical stabiliser bar and platform is provided with the fine tuning rising machine for adjusting podium level
Structure, the fine tuning lifting mechanism includes ball screw and transmission gear.
Preferably, the side of support frame as described above has computer bracket, and the computer bracket includes the collet that can be folded.
Preferably, also there is flex holder, the platform side to have corresponding with the flex holder for the side of support frame as described above
Groove for storing the flex holder.
Preferably, the middle part of the telescopic expansion and the upper end of support frame as described above are rotatablely connected, and are equipped with expansion end
Side weight be less than the other side weight.
Preferably, the gripper is U-shaped, and the contact surface of the gripper and handheld three-dimensional scanner is provided with anti-skidding
Patch, the gripper are additionally provided with the bolt for adjusting openings of sizes He playing the role of fastening.
The auxiliary support apparatus of the handheld three-dimensional scanner of the utility model uses clamp system, extension mechanism and support
Mechanism combine it is artificial with it is automatically controlled, not only saved manpower but also most of large-scale curved measurement can be completed, while can also lead to
It crosses artificial fine tuning and carries out more careful scanning to details；The working range for having expanded operating personnel, it is long to avoid operating personnel
Phase tired operation and working at height make the more convenient work of 3-D scanning, safety and improve scan efficiency, meanwhile, it makes
Processing is simple, of low cost.
Description of the drawings
Fig. 1 is the auxiliary support apparatus structure chart of the present embodiment handheld three-dimensional scanner；
Fig. 2 is the gripper structure chart of the auxiliary support apparatus of the present embodiment handheld three-dimensional scanner；
Fig. 3 is the platform structure figure of the auxiliary support apparatus of the present embodiment handheld three-dimensional scanner.
In figure, 1：Clamp system；11：Gripper；2：Extension mechanism；21：Rotate extension；211：First cradle head；
212：Second cradle head；213：Third cradle head；22：Telescopic expansion；3：Supporting mechanism；31：Universal wheel；32：Platform；
321：Computer bracket；322：Flex holder；323：Groove；33：Support leg；34：Vertical stabiliser bar；35：Water steadying fixed pole.
Specific implementation mode
The embodiment of the utility model is described in further detail with reference to the accompanying drawings and examples.Following embodiment
For illustrating the utility model, but cannot be used for limiting the scope of the utility model.
In the description of the present invention, it should be noted that the instructions such as term "vertical", "horizontal", "inner", "outside"
Orientation or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the utility model and simplification
Description, does not indicate or imply the indicated device or element must have a particular orientation, with specific azimuth configuration and behaviour
Make, therefore should not be understood as limiting the present invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, can also be electrical connection；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, it can understand above-mentioned art with concrete condition
The concrete meaning of language in the present invention.
As shown in Figs. 1-3, the utility model provides a kind of auxiliary support apparatus of handheld three-dimensional scanner, a kind of hand
Hold the auxiliary support apparatus of formula spatial digitizer, including clamp system 1, extension mechanism 2 and supporting mechanism 3；The utility model
The auxiliary support apparatus of handheld three-dimensional scanner using clamp system, extension mechanism and supporting mechanism combine it is artificial with it is electric
Control had not only saved manpower and can complete largely large-scale curved measurement, at the same can also by manually finely tune to details into
The more careful scanning of row；The working range for having expanded operating personnel, avoids the operation of operating personnel's chronic fatigue and high-altitude is made
Industry makes the more convenient work of 3-D scanning, safety and improves scan efficiency.
Clamp system 1 includes gripper 11, and for clamping handheld three-dimensional scanner, gripper 11 can be set gripper 11
The various shapes for being suitable for clamping are set to, those skilled in the art select suitable folder according to the shape and weight of hand held scanner
Structure is held, preferably gripper 11 prevents to be U-shaped in order to handheld three-dimensional scanner, gripper 11 and handheld three-dimensional scanning
The contact surface of instrument is provided with Anti-skid adhesive piece and the bolt for adjusting openings of sizes He playing the role of fastening.
Extension mechanism 2 includes rotation extension 21 and telescopic expansion 22, rotates one end and the clamp system 1 of extension 21
Connection, the other end are connect with the telescopic end of telescopic expansion 22, and rotation extension 21 includes multiple cradle heads, and cradle head is equal
It is controlled by corresponding motor；It is preferred that rotation extension 21 includes the first of connection rotation extension 21 and telescopic expansion 22
Cradle head 211 connects gripper 11 and rotates the third cradle head 213 of extension 21 and be located at the first cradle head
The second cradle head 212 between 211 and third cradle head 213, the first cradle head 211 and the second cradle head 212
Shaft axis is parallel, and the shaft axis of third cradle head 213 and the first cradle head 211 is vertically in order to carrying out different directions
Rotation；Motor is preferably servo motor, the set-up mode of servo motor according to the shaft axis set-up mode of rotation shutdown and
Variation, those skilled in the art should voluntarily select as needed, and servo motor can be connected by control line and servo controller
It connects, servo controller is set on supporting mechanism 3, and servo controller realizes position self-locking work(using the position ring of servo motor
Can, the rotation of control machine machinery claw in all directions；Telescopic expansion 22 is rotatablely connected with supporting mechanism 3,22 energy of telescopic expansion
Enough to be swung up and down relative to supporting mechanism 3, the shaft of manually-operated horizontal direction, which can be arranged, makes about 22 telescopic expansion
It swings, telescopic expansion 22 includes Multi-section telescopic bar；The middle part of telescopic expansion 22 and the upper end of supporting rack are rotatablely connected, and are set
There is the weight of the side of expansion end to be less than the weight of the other end in order to which operating personnel control flexible extend using smaller power
Portion.
Supporting mechanism 3 includes supporting rack and the universal wheel 31 in support frame bottom is arranged, and branch is promoted preferred to further
The performance of support mechanism 3, support construction 3 further include being located at the platform 32 of supporting rack upper end, and the top of platform 32 is equipped with prolongs with flexible
The rotating seat that extending portion 22 connects, rotating seat can in the horizontal direction rotate relative to supporting rack, and the set-up mode of rotating seat can be with
It is a variety of, such as the portion that platform 32 can be divided into the part being connect with supporting rack and be connect with telescopic expansion 22 above supporting rack
Divide to realize the function of rotating platform；Supporting mechanism 3 further includes stabiliser bar, and supporting rack is the three foot branch for including three support legs 33
Frame, preferably support leg 33 are telescopic support leg, and stabiliser bar includes the vertical stabiliser bar 34 being connect with rotating seat and connection
The water steadying fixed pole 35 of support leg 33 and vertical stabiliser bar 34, the vertical stabiliser bar are located at vertical stabiliser bar position below turntable
Below rotating seat, preferred levels stabiliser bar 35 is connect by shaft with vertical stabiliser bar, and is provided with level in support leg 33
The fixing end of stabiliser bar 35 after A-frame struts, water steadying fixed pole 35 is opened and the other end is inserted into support leg 33
The stabilization of three-legged support can be realized in fixing end；Preferred to the elevating function of realization platform, vertical stabiliser bar 34 and rotating seat
Junction be provided with the fine tuning lifting mechanism for adjusting rotating seat height, fine tuning lifting mechanism includes ball screw and transmission
Gear, handmade rotary ball screw can make rotating seat rise or decline；In order to keep operating personnel more convenient when in use,
There is computer bracket 321, computer bracket 321 can be set to the side of platform 32 for the side of supporting rack, and computer bracket 321 includes
The collet that can be folded, preferably collet can be folded down or to platform contracts, and computer bracket using when by setting
The spring being placed in inside platform 32, which makes collet clamp computer, prevents falling for computer；It is preferred that the side of supporting rack also has flex holder
322, flex holder 322 is set to the side of platform 32, and 32 side of platform is used with groove 323 corresponding with flex holder 322
In storage flex holder 322, idle flex holder 322 is accommodated in after can folding in groove 323, and when use can open flex holder
322 support computer power source lines hang up other instruments.
Operating personnel first open tripod in 3-D scanning, and stabiliser bar 35 is locked, and then sweep hand-held
Instrument is retouched in the gripper 11, the USB line control switch of hand-held spatial digitizer is connect with servo controller, and by fastening bolt
It tightens, telescopic expansion 22 is finally adjusted to required length, by the control line and servo motor of hand-held spatial digitizer
It is connect respectively with servo controller, you can start scanning work；When scanning carries out, controlled with the thread switching control of hand held scanner
The switch of scanner, at the same it is three-dimensional using the status adjustment in three joints of computer control servomotor adjusting rotation extension 11
The scan position of scanner, the result that computer can be scanned with immediate observation.
The embodiments of the present invention provide for the sake of example and description, and are not exhaustively or to incite somebody to action
The utility model is limited to disclosed form.Many modifications and variations are aobvious and easy for the ordinary skill in the art
See.Selection and description embodiment are and to make this field to more preferably illustrate the principles of the present invention and practical application
Those of ordinary skill is it will be appreciated that various embodiments with various modifications of the utility model to design suitable for special-purpose.
Claims (10)
1. a kind of auxiliary support apparatus of handheld three-dimensional scanner, which is characterized in that
Including clamp system (1), extension mechanism (2) and supporting mechanism (3)；
The clamp system (1) includes gripper (11), and the gripper (11) is for clamping handheld three-dimensional scanner；
The extension mechanism (2) includes rotating extension (21) and telescopic expansion (22), and the one of the rotation extension (21)
End is connect with the clamp system (1), and the other end is connect with the telescopic end of the telescopic expansion (22), the rotation extension
(21) include multiple cradle heads, the cradle head is controlled by corresponding motor, the telescopic expansion (22) with
Supporting mechanism (3) rotation connection, the telescopic expansion (22) can swing up and down relative to the supporting mechanism (3),
The telescopic expansion (22) includes Multi-section telescopic bar；
The supporting mechanism (3) includes supporting rack and the universal wheel (31) in support frame as described above bottom is arranged.
2. the auxiliary support apparatus of handheld three-dimensional scanner according to claim 1, which is characterized in that the rotation is prolonged
Extending portion (21) includes the first cradle head (211) for connecting the rotation extension (21) and telescopic expansion (22), connection institute
It states gripper (11) and rotates the third cradle head (213) of extension (21) and positioned at the first cradle head (211) and the
The second cradle head (212) between three cradle heads (213), first cradle head (211) and the second cradle head
(212) shaft axis is parallel, and the shaft axis of the third cradle head (213) and the first cradle head (211) is vertical.
3. the auxiliary support apparatus of handheld three-dimensional scanner according to claim 2, which is characterized in that the motor is
Servo motor, the supporting mechanism (3) are equipped with servo controller, and the servo motor is connect with the servo controller.
4. the auxiliary support apparatus of handheld three-dimensional scanner according to claim 1, which is characterized in that the support machine
Structure (3) further includes the platform (32) being located at the top of support frame as described above, and the top of the platform (32) is equipped with and the flexible extension
The rotating seat of portion (22) connection, the rotating seat can in the horizontal direction be rotated relative to support frame as described above.
5. the auxiliary support apparatus of handheld three-dimensional scanner according to claim 4, which is characterized in that the support machine
Structure (3) further includes stabiliser bar, and support frame as described above is the three-legged support for including three support legs (33), and the stabiliser bar includes and institute
State the vertical stabiliser bar (34) of rotating seat connection and the water steadying fixed pole of connection support leg (33) and vertical stabiliser bar (34)
(35), the upper end of the vertical stabiliser bar (34) is connect with the rotating seat.
6. the auxiliary support apparatus of handheld three-dimensional scanner according to claim 5, which is characterized in that described vertical steady
The junction of fixed pole (34) and platform (32) is provided with the fine tuning lifting mechanism for adjusting platform (32) height, in the fine tuning
It includes ball screw and transmission gear to rise mechanism.
7. the auxiliary support apparatus of handheld three-dimensional scanner according to claim 1, which is characterized in that support frame as described above
Side have computer bracket (321), the computer bracket (321) includes the collet that can be folded.
8. the auxiliary support apparatus of handheld three-dimensional scanner according to claim 4, which is characterized in that support frame as described above
Side also have flex holder (322), platform (32) side have groove (323) corresponding with the flex holder (322),
The groove (323) is for storing the flex holder (322).
9. the auxiliary support apparatus of handheld three-dimensional scanner according to claim 1, which is characterized in that described stretch is prolonged
The middle part of extending portion (22) and the upper end of support frame as described above are rotatablely connected, and the weight for being equipped with the side of expansion end is less than the other side
Weight.
10. the auxiliary support apparatus of handheld three-dimensional scanner according to claim 1, which is characterized in that the machinery
Pawl (11) is U-shaped, and the contact surface of the gripper (11) and handheld three-dimensional scanner is provided with Anti-skid adhesive piece, the gripper
(11) it is additionally provided with the bolt for adjusting openings of sizes He playing the role of fastening.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710998267 | 2017-10-24 | ||
| CN2017109982678 | 2017-10-24 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207662364U true CN207662364U (en) | 2018-07-27 |
Family
ID=61217781
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721563287.4U Expired - Fee Related CN207662364U (en) | 2017-10-24 | 2017-11-21 | The auxiliary support apparatus of handheld three-dimensional scanner |
| CN201711166332.7A Pending CN107727028A (en) | 2017-10-24 | 2017-11-21 | The auxiliary support apparatus of handheld three-dimensional scanner |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711166332.7A Pending CN107727028A (en) | 2017-10-24 | 2017-11-21 | The auxiliary support apparatus of handheld three-dimensional scanner |
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| Country | Link |
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| CN (2) | CN207662364U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107727028A (en) * | 2017-10-24 | 2018-02-23 | 大连交通大学 | The auxiliary support apparatus of handheld three-dimensional scanner |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108332972B (en) * | 2018-05-08 | 2024-01-02 | 厦门新科宇航科技有限公司 | Rotary equipment for civil engine hole detection |
| CN110595411A (en) * | 2019-09-12 | 2019-12-20 | 一汽轿车股份有限公司 | Vehicle door scanning and measuring device |
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| US5567939A (en) * | 1995-12-19 | 1996-10-22 | Hong; Yu-I | Infrared scanner and stand assembly |
| JP2002341031A (en) * | 2001-05-11 | 2002-11-27 | Daiei Dream Kk | Forming method of three-dimensional model and three- dimensional scanner system using laser radar |
| DE10361869A1 (en) * | 2003-12-29 | 2005-07-28 | Iqsun Gmbh | Laser scanner or laser level, has an integral distance meter that detects reflected laser light and adjusts the intensity of transmitted light dependent on the distance measured to a reflection point |
| US9366378B2 (en) * | 2009-02-11 | 2016-06-14 | Siemens Medical Solutions Usa, Inc. | Support arm for ultrasound scanning |
| DE102009042014A1 (en) * | 2009-09-21 | 2011-03-24 | Dürr Systems GmbH | Handling device for moving e.g. scanner for handling articles, has manipulator accommodated at carrier structure of parallel geometry unit, where powered movement axes are provided for displacing carrier structure relative to base |
| CN202119930U (en) * | 2011-05-27 | 2012-01-18 | 北京方大天云科技有限公司 | Portable weather station |
| CN103148812B (en) * | 2013-02-06 | 2016-03-02 | 中联重科股份有限公司 | Tunnel contour scanning device and method and engineering machinery comprising tunnel contour scanning device |
| CN203365903U (en) * | 2013-06-24 | 2013-12-25 | 冯晟 | Photographic type panoramic human body three-dimensional scanning system |
| CN103616015B (en) * | 2013-11-29 | 2015-12-02 | 浙江农林大学 | Measure forest stock volume parameter laser panoramic scanning device |
| CN103913117B (en) * | 2014-03-26 | 2016-11-16 | 上海数联空间科技有限公司 | A kind of three-dimensional laser scanner positioner and laser point cloud absolute fix method |
| CN204359282U (en) * | 2015-01-16 | 2015-05-27 | 扬州梦幻世界科技有限公司 | Hand holding type miniature spatial digitizer |
| CN105571520B (en) * | 2016-02-25 | 2018-01-09 | 桂林电子科技大学 | A kind of intelligent 3 D stereo scanner head |
| JP6867733B2 (en) * | 2016-03-31 | 2021-05-12 | 株式会社トプコン | Laser scanner |
| CN205664790U (en) * | 2016-06-08 | 2016-10-26 | 杭州非白三维科技有限公司 | Three -dimensional scanning system that combines machine people |
| CN205979028U (en) * | 2016-08-18 | 2017-02-22 | 华南理工大学 | Hand -held type laser scanner assists numerical control workbench |
| CN106091931B (en) * | 2016-08-22 | 2019-02-19 | 上海交通大学 | A kind of adaptive scanning measuring system and its control method based on threedimensional model |
| EP3538926A2 (en) * | 2016-11-10 | 2019-09-18 | Leica Geosystems AG | Laser scanner |
| CN106842229A (en) * | 2017-04-07 | 2017-06-13 | 赵�怡 | A kind of laser head intelligent space alignment system and space-location method |
| CN207662364U (en) * | 2017-10-24 | 2018-07-27 | 大连交通大学 | The auxiliary support apparatus of handheld three-dimensional scanner |
-
2017
- 2017-11-21 CN CN201721563287.4U patent/CN207662364U/en not_active Expired - Fee Related
- 2017-11-21 CN CN201711166332.7A patent/CN107727028A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107727028A (en) * | 2017-10-24 | 2018-02-23 | 大连交通大学 | The auxiliary support apparatus of handheld three-dimensional scanner |
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| Publication number | Publication date |
|---|---|
| CN107727028A (en) | 2018-02-23 |
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| GR01 | Patent grant | ||
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Granted publication date: 20180727 Termination date: 20191121 |