CN207832140U - A kind of ten degree of freedom blue light spatial digitizers of intelligent control - Google Patents
A kind of ten degree of freedom blue light spatial digitizers of intelligent control Download PDFInfo
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- CN207832140U CN207832140U CN201820201959.5U CN201820201959U CN207832140U CN 207832140 U CN207832140 U CN 207832140U CN 201820201959 U CN201820201959 U CN 201820201959U CN 207832140 U CN207832140 U CN 207832140U
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Abstract
The utility model discloses a kind of ten degree of freedom blue light spatial digitizers of intelligent control, it is related to a kind of spatial digitizer technical field, including acquisition control unit, stage mechanism and pedestal, the acquisition control unit includes optical grating projection instrument, binocular camera and mechanical transmission mechanism, the stage mechanism includes article carrying platform, platform rotating mechanism and platform cradle machine structure, the utility model improves the quality of 3-D scanning, it reduces because of grating, shooting blind angle amount caused by inappropriate relative position between camera and scanning object, working efficiency and standardization are increased by increasing degree of freedom, improve scanning accuracy.
Description
Technical field
The utility model is related to a kind of spatial digitizer technical fields, and in particular to a kind of ten degree of freedom of intelligent control are blue
Light spatial digitizer.
Background technology
Spatial digitizer used currently on the market, scan mode is divided into contact and contactless substantially, substantially former
Reason is all to be scanned to measured piece surface with probe, then build model by calculating.In general, measured piece is usually required to solid
Surely it remains stationary as, measured piece is scanned with (or operator is hand-held) probe by mechanical arm.On the one hand, due to measured piece
Fixed, probe is frequently encountered measurement dead angle, it is difficult to obtain the three-dimensional appearance information of testee whole；On the other hand, only by
The mobile measurement method of mechanical arm driving probe requires larger working space to facilitate probe revolving scanning, floor space larger.
Although the mechanical structure for having four to five degree of freedom at present is applied to 3-D scanning, takes up a large area and measure for overcoming
The problem of dead angle.But current binocular raster scanner lacks the control to camera and grating, can also leave by five freely
The dead angle that the movement of degree mechanical structure can not be eliminated, and be also short of in terms of intelligence.Due to current raster scanning
The angles and positions of the binocular camera of instrument are fixed, to complex object, especially include the complex object table of deeper concave curved surface
When face is scanned, the pose of machine can change, and in order to ensure precision, the reverse work of camera calibration and pose is repeated
Journey solves, and leverages working efficiency.It will produce the scan blind spot that can not be eliminated by adjustment object space posture.This is blind
The formation in area is because current grating binocular imaging light path can not form complete mapping in these regions.Therefore, only
The relative position for changing binocular camera and grating, could complete the scanning of this kind of blind area.Lack the control to camera and grating,
The host computer of scanner just can not carry out real-time compensation operation to camera and grating.In the position for changing camera and grating every time
Later, camera will be demarcated again.Requirement is scanned for different size of object to be manually adjusted camera,
The position of camera can change, and in order to ensure precision, the reverse-engineering that camera calibration and position is repeated solves, significantly
Affect working efficiency.
Chinese Patent Application No. is 201620108524.7 to disclose a kind of spatial digitizer light barrier transmitter and camera is thrown
The alignment device of cross centre line is penetrated, structure feature is：Mounting plate A is fixed by screws on body, fixed on mounting plate A
Line slideway auxiliary A and connecting plate A, connecting plate A is connect by bearing with feed screw nut pair A, and feed screw nut pair A connects with rocking bar A
It connects；Line slideway auxiliary A, lead screw guideway A are connect with mounting plate B respectively, and mounting plate B is connect with connecting plate B, line slideway auxiliary B
On mounting plate B, connecting plate B is connect with the lead screw B of feed screw nut pair B, and lead screw B is connect with rocking bar B again；Line slideway auxiliary
B and feed screw nut pair B are connect with mounting plate C respectively, and connecting plate C is connect by bearing with gear pair.The advantages of device, is：
Camera can not only be controlled vertically and horizontal motion, can also be rotated, light barrier transmitter and camera can be made to project
Cross centre line be aligned completely, it is simple in structure, reliable, it is easy to operate.But this kind of equipment does not still solve such equipment
With the key problems such as shooting blind angle amount and working efficiency be low.
Utility model content
The purpose of this utility model is to provide a kind of ten degree of freedom blue light spatial digitizers of intelligent control, existing to solve
There are caused the above-mentioned defects in technology.
A kind of ten degree of freedom blue light spatial digitizers of intelligent control, including acquisition control unit, objective table and pedestal, institute
It states acquisition control unit to be made of optical grating projection instrument, binocular camera and mechanical transmission mechanism, the mechanical transmission mechanism is by Z axis side
To support post sliding rail, scanning platform, X-direction lead screw guide rail, Y-direction lead screw guide rail, vertical direction angle rotating mechanism, camera
Translating rails and camera rotating mechanism composition, the objective table is by article carrying platform, platform rotating mechanism and platform cradle machine structure group
At the X-direction lead screw guide rail is connected with pedestal, and the Y-direction lead screw guide rail is placed on X-direction lead screw guide rail, the Z axis
Direction support post sliding rail be mounted on X-direction lead screw guide rail on, the scanning platform by vertical direction angle rotating mechanism with
Optical grating projection instrument is connected, and the vertical direction angle rotating mechanism is mounted on scanning platform and Z-direction support post sliding rail
Between, optical grating projection instrument and camera translating rails are installed on the scanning platform, are equipped on the camera translating rails double
Mesh camera is equipped with camera rotating mechanism on the binocular camera, and the pedestal other end is equipped with U-shaped fixed frame, described flat
Platform cradle mechanism is mounted in U-shaped fixed frame, and the platform rotating mechanism is mounted in platform cradle mechanism, the article carrying platform
On platform rotating mechanism, the vertical direction angle rotating mechanism includes servo motor, is connected with and turns on servo motor
Disk, platform cradle mechanism include servo motor, steel plate, triangular steel plate, are connected with turntable on servo motor, triangular steel plate with
Turntable is connected with, and steel plate is connected to triangular steel plate bottom, and on the steel plate, the platform turns for the platform rotating mechanism installation
Motivation structure includes servo motor, turntable, and the camera rotating mechanism includes servo motor, and shaft is connected on servo motor and is turned
Disk.
Preferably, X-direction lead screw guide rail, Y-direction lead screw guide rail, Z-direction support post sliding rail and camera translating rails
Be made of lead screw, sliding block, servo motor and screw rodb base, lead screw is rotationally connected in screw rodb base, one end of lead screw also with watch
Motor axis connection is taken, the sliding block is threaded on lead screw.
Preferably, there is a fixed plate between the X-direction lead screw guide rail and pedestal.
Preferably, there are two the X-direction lead screw guide rails.
Preferably, there is the location hole for positioning on the article carrying platform.
Preferably, the Z-direction support post sliding rail, X-direction lead screw guide rail, Y-direction lead screw guide rail, camera translation are led
Rail, vertical direction angle rotating mechanism, camera rotating mechanism, platform rotating mechanism and platform cradle machine structure are all connected with servo electricity
Machine.
Preferably, the U-shaped fixed frame and fixed plate are fixed by bolts to pedestal left and right ends.
The utility model has the advantage of：The utility model finally realizes that all dimensions except the base measure, and energy
Automatically various sizes of testee is adapted to, reduces the operations such as artificial calibration and focusing, improves scan efficiency.And pass through
The reasonable disposition and intelligent optimization of the flexible rotating and binocular grating light path of measured piece essentially eliminate measurement dead angle, improve three
Tie up the quality of scanning.It reduces because of shooting blind angle amount caused by inappropriate relative position between grating, camera and scanning object,
Working efficiency and standardization are increased by increasing degree of freedom, improves scanning accuracy.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the front view of the utility model.
Fig. 3 is the left view of the utility model.
Fig. 4 is the structural schematic diagram of Y-direction lead screw guide rail in the utility model.
Wherein, 1- optical grating projections instrument, 2- binocular cameras, the directions 3-Z support post sliding rail, 4- scanning platforms, the directions 5-X silk
Rod guide, the directions 6-Y lead screw guide rail, 7- vertical direction angle rotating mechanisms, 8- camera translating rails, 9- camera rotating mechanisms,
10- article carrying platforms, 11- platform rotating mechanisms, 12- platform cradles mechanism, 13- pedestals, 14-U type fixed frames, 15- fixed plates,
16- servo motors, 17- screw rodb bases, 18- sliding blocks, 19- lead screws.
Specific implementation mode
To make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, with reference to
Specific implementation mode, the present invention is further explained.
As shown in Figures 1 to 4, ten degree of freedom blue light spatial digitizers of a kind of intelligent control, including acquisition control unit,
Objective table and pedestal 13.The acquisition control unit is made of optical grating projection instrument 1, binocular camera 2 and mechanical transmission mechanism, described
Mechanical transmission mechanism by Z-direction support post sliding rail 3, scanning platform 4, X-direction lead screw guide rail 5, Y-direction lead screw guide rail 6, hang down
Straight orientation angle rotating mechanism 7, camera translating rails 8 and camera rotating mechanism 9 form, the objective table by article carrying platform 10,
Platform rotating mechanism 11 and platform cradle machine structure 12 form.The X-direction lead screw guide rail 5 is connected with pedestal 13, the Y-direction silk
Rod guide 6 is placed on X-direction lead screw guide rail 5, and the Z-direction support post sliding rail 3 is mounted on X-direction lead screw guide rail 5,
The scanning platform 4 is connected by vertical direction angle rotating mechanism 7 with optical grating projection instrument 1, the vertical direction angle rotation
Rotation mechanism 7 is mounted between scanning platform 4 and Z-direction support post sliding rail 3, and grating throwing is equipped on the scanning platform 4
Shadow instrument 1 and camera translating rails 8 are equipped with binocular camera 2 on the camera translating rails 8, are equipped on the binocular camera 2
Camera rotating mechanism 9.13 other end of the pedestal is equipped with U-shaped fixed frame 14, and platform cradle mechanism 12 is mounted on U-shaped solid
Determine in frame 14, the platform rotating mechanism 11 is mounted in platform cradle mechanism 12, and the article carrying platform 10 turns mounted on platform
On motivation structure 11.The vertical direction angle rotating mechanism 7 includes servo motor, and turntable is connected on servo motor, described flat
Platform cradle mechanism 12 includes servo motor, steel plate, triangular steel plate, and turntable is connected on servo motor, and triangular steel plate is used with turntable
It is bolted, steel plate is connected to triangular steel plate bottom, and the platform rotating mechanism 11 is installed on the steel plate, the platform rotating machine
Structure 11 includes servo motor, turntable, and the camera rotating mechanism 9 includes servo motor, and shaft is connected on servo motor and is turned
Disk.
In the present embodiment, the X-direction lead screw guide rail 5, Y-direction lead screw guide rail 6,3 and of Z-direction support post sliding rail
Camera translating rails 8 are made of lead screw 19, sliding block 18, servo motor 16 and screw rodb base 17, and lead screw 19 is rotationally connected with silk
In pole socket 17, also with servo motor axis connection, the sliding block 18 is threaded on lead screw 19 for one end of lead screw 19, the side X
To there is a fixed plate 15 between lead screw guide rail 5 and pedestal 13, there are two the X-direction lead screw guide rails, on the article carrying platform 10
There are the location hole for positioning, the Z-direction support post sliding rail 3, X-direction lead screw guide rail 5, Y-direction lead screw guide rail 6, phase
Machine translating rails 8, vertical direction angle rotating mechanism 7, camera rotating mechanism 9, platform rotating mechanism 11 and platform cradle machine structure
12 are connected with servo motor, and the U-shaped fixed frame 14 and fixed plate 15 are fixed by bolts to 13 left and right ends of pedestal.
The course of work and principle：Testee is located in by shop bolt on article carrying platform 10 in the utility model, is led to
The swing that servo motor drives the rotation and platform cradle machine structure 12 of platform rotating mechanism 11 is crossed, article carrying platform 10 may be implemented
Rotation and swing.X-direction lead screw guide rail 5, Y-direction lead screw guide rail 6 and Z-direction support post sliding rail are driven by servo motor
3 movements, servo motor drive vertical direction angle rotating mechanism 7 rotate can be achieved optical grating projection instrument 1 in X direction, Y-direction, the side Z
To movement and the faces XOZ rotation.X-direction lead screw guide rail 5, Y-direction lead screw guide rail 6 and Z axis are driven by servo motor motor
Direction support post sliding rail 3 moves, and servo motor drives vertical direction angle rotating mechanism 7 to rotate, and servo motor drives camera
Translating rails 8 are moved along Y-direction, servo motor drive camera rotating mechanism 9 rotate can be achieved binocular camera 2 in X direction, the side Y
To, the rotation of the movement of Z-direction and the faces XOZ and the faces XOY.
Based on above-mentioned, the utility model finally all dimensions measurement of realization except the base, and difference can be adapted to automatically
The testee of size reduces the operations such as artificial calibration and focusing, improves scan efficiency.And pass through the flexible of measured piece
The reasonable disposition and intelligent optimization of rotation and binocular grating light path, essentially eliminate measurement dead angle, improve the quality of 3-D scanning.
It reduces because of shooting blind angle amount caused by inappropriate relative position between grating, camera and scanning object, by increasing freely
Degree increases working efficiency and standardization, improves scanning accuracy.
As known by the technical knowledge, the utility model can pass through other essence without departing from its spirit or the reality of essential feature
Scheme is applied to realize.Therefore, embodiment disclosed above, all things considered are all merely illustrative, and are not only
's.All changes that come within the scope of the invention or equivalents of the invention are by the utility model packet
Contain.
Claims (7)
1. a kind of ten degree of freedom blue light spatial digitizers of intelligent control, which is characterized in that including acquisition control unit, objective table
With pedestal (13), the acquisition control unit includes optical grating projection instrument (1), binocular camera (2) and mechanical transmission mechanism, the machine
Tool transmission mechanism includes that Z-direction support post sliding rail (3), scanning platform (4), X-direction lead screw guide rail (5), Y-direction lead screw are led
Rail (6), vertical direction angle rotating mechanism (7), camera translating rails (8) and camera rotating mechanism (9), the objective table is by carrying
Object platform (10), platform free-wheeling system (11) and platform cradle machine structure (12) composition, the X-direction lead screw guide rail (5) and pedestal
(13) it is connected, the Y-direction lead screw guide rail (6) is placed on X-direction lead screw guide rail (5), the Z-direction support post sliding rail
(3) it is mounted on X-direction lead screw guide rail (5), the scanning platform (4) passes through vertical direction angle rotating mechanism (7) and grating
Projecting apparatus (1) is connected, and the vertical direction angle rotating mechanism (7) is mounted on scanning platform (4) and Z-direction support post
Between sliding rail (3), optical grating projection instrument (1) and camera translating rails (8) are installed on the scanning platform (4), the camera is flat
It moves on guide rail (8) and binocular camera (2) is installed, camera rotating mechanism (9), the pedestal are installed on the binocular camera (2)
(13) other end is equipped with U-shaped fixed frame (14), and platform cradle mechanism (12) is mounted on the inside of U-shaped fixed frame (14), institute
Platform rotating mechanism (11) is stated in platform cradle mechanism (12), the article carrying platform (10) is mounted on platform rotating mechanism
(11) on.
2. ten degree of freedom blue light spatial digitizers of a kind of intelligent control according to claim 1, which is characterized in that the X
Direction lead screw guide rail (5), Y-direction lead screw guide rail (6), Z-direction support post sliding rail (3) and camera translating rails (8) by
Lead screw (19), sliding block (18), servo motor (16) and screw rodb base (17) composition, lead screw (19) are rotationally connected with screw rodb base (17)
Interior, also with servo motor axis connection, the sliding block (18) is threaded on lead screw (19) for one end of lead screw (19).
3. ten degree of freedom blue light spatial digitizers of a kind of intelligent control according to claim 1, which is characterized in that the X
There is a fixed plate (15) between direction lead screw guide rail (5) and pedestal (13).
4. ten degree of freedom blue light spatial digitizers of a kind of intelligent control according to claim 1, it is characterised in that the side X
To there are two lead screw guide rails (5).
5. ten degree of freedom blue light spatial digitizers of a kind of intelligent control according to claim 1, it is characterised in that the load
There is the location hole for positioning on object platform (10).
6. ten degree of freedom blue light spatial digitizers of a kind of intelligent control according to claim 1, it is characterised in that the Z axis
Direction support post sliding rail (3), X-direction lead screw guide rail (5), Y-direction lead screw guide rail (6), camera translating rails (8), Vertical Square
It is all connected with to angle rotating mechanism (7), camera rotating mechanism (9), platform rotating mechanism (11) and platform cradle machine structure (12)
Servo motor.
7. ten degree of freedom blue light spatial digitizers of a kind of intelligent control according to claim 3, it is characterised in that described U-shaped
Fixed frame (14) and fixed plate (15) are fixed by bolts to pedestal (13) left and right ends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820201959.5U CN207832140U (en) | 2018-02-06 | 2018-02-06 | A kind of ten degree of freedom blue light spatial digitizers of intelligent control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820201959.5U CN207832140U (en) | 2018-02-06 | 2018-02-06 | A kind of ten degree of freedom blue light spatial digitizers of intelligent control |
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| Publication Number | Publication Date |
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| CN207832140U true CN207832140U (en) | 2018-09-07 |
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ID=63397027
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| CN201820201959.5U Active CN207832140U (en) | 2018-02-06 | 2018-02-06 | A kind of ten degree of freedom blue light spatial digitizers of intelligent control |
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| CN109324639A (en) * | 2018-10-12 | 2019-02-12 | 石家庄铁道大学 | A kind of portable gauge without light source bright spot cultural relic images acquisition device |
| CN109489575A (en) * | 2018-10-12 | 2019-03-19 | 石家庄铁道大学 | A kind of high-freedom degree 3 D stereo antique information acquisition device |
| CN110108236A (en) * | 2018-10-07 | 2019-08-09 | 东南大学 | A kind of high-temperature forging line reconstruct size fast vision measuring system and method |
| CN113464822A (en) * | 2021-07-13 | 2021-10-01 | 南阳理工学院 | Admire synthetic making devices of class virtual reality scene |
| CN113820147A (en) * | 2021-09-22 | 2021-12-21 | 中策橡胶集团有限公司 | Tire identification detection device and detection method |
| CN115856929A (en) * | 2022-12-07 | 2023-03-28 | 武汉科技大学 | Assembled 3D scanner of intelligence perception and hierarchical assembly |
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2018
- 2018-02-06 CN CN201820201959.5U patent/CN207832140U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110108236A (en) * | 2018-10-07 | 2019-08-09 | 东南大学 | A kind of high-temperature forging line reconstruct size fast vision measuring system and method |
| CN109324639A (en) * | 2018-10-12 | 2019-02-12 | 石家庄铁道大学 | A kind of portable gauge without light source bright spot cultural relic images acquisition device |
| CN109489575A (en) * | 2018-10-12 | 2019-03-19 | 石家庄铁道大学 | A kind of high-freedom degree 3 D stereo antique information acquisition device |
| CN113464822A (en) * | 2021-07-13 | 2021-10-01 | 南阳理工学院 | Admire synthetic making devices of class virtual reality scene |
| CN113820147A (en) * | 2021-09-22 | 2021-12-21 | 中策橡胶集团有限公司 | Tire identification detection device and detection method |
| CN115856929A (en) * | 2022-12-07 | 2023-03-28 | 武汉科技大学 | Assembled 3D scanner of intelligence perception and hierarchical assembly |
| CN115856929B (en) * | 2022-12-07 | 2024-06-21 | 武汉科技大学 | Assembled 3D scanner of intelligence perception and hierarchical assembly |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191012 Address after: 213100 No. 701, No. 10, intelligent digital industrial park, Changzhou science and Education City, No. 18-65, Changwu Middle Road, Wujin District, Changzhou City, Jiangsu Province Patentee after: Jiangsu Weiyun artificial intelligence Co., Ltd. Address before: 241000 Anhui province Wuhu Electronic Industrial Park City Jiujiang District Comprehensive Building 6 floor, room 6012 Patentee before: Anhui province cloud robot Co Ltd |