CN208962004U - A kind of robot that driving blue light scanner is mobile - Google Patents
A kind of robot that driving blue light scanner is mobile Download PDFInfo
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- CN208962004U CN208962004U CN201821516095.2U CN201821516095U CN208962004U CN 208962004 U CN208962004 U CN 208962004U CN 201821516095 U CN201821516095 U CN 201821516095U CN 208962004 U CN208962004 U CN 208962004U
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- driving mechanism
- axis driving
- blue light
- light scanner
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Abstract
The utility model discloses a kind of robots that driving blue light scanner is mobile, including rack, horizontally disposed Y-axis driving mechanism on the rack, the Z axis driving mechanism connected vertically in Y-axis driving mechanism, X-axis driving mechanism is set in Z axis driving mechanism, the telescopic rod to stretch along X-axis driving mechanism length direction is equipped in X-axis driving mechanism, one end of telescopic rod is equipped with and X-axis driving mechanism shaft connected vertically, the end of shaft is equipped with blue light scanner, and the scanning direction of the blue light scanner is downward.A kind of mobile robot of driving blue light scanner of the utility model, the robot is accurately positioned the three-dimensional coordinate of blue light scanner using the Y-axis driving mechanism, Z axis driving mechanism and the X-axis driving mechanism that are arranged on the rack, and blue light scanner is multi-faceted to workpiece multi-angle is scanned for driving.The calibration process of entire driving process blue light scanner is simple, time saving and energy saving, work efficiency is high, while greatly improves the precision for demarcating position.
Description
Technical field
The utility model relates to visual detection equipment technical fields, and in particular to a kind of machine that driving blue light scanner is mobile
Device people.
Background technique
Blue light scanner is the scientific detecting instrument of a kind of shape for investigating and analyzing certain stereochemical structure, construction etc..
It, which detects resulting data, can be used for the three-dimensional reconstruction of the object, mainly using combine light technology, phase measurement and
Computer vision technique.Have many advantages, such as that precision is high, the service life is long, speed is fast, performance is good.
The supporting and positioning mechanism of blue light scanner in the prior art, generallys use manual mode and is swept as follows
Retouch grease head highness calibration: 1. unscrew clamping device and movable scan head is screwed to after estimating height, and 2. measurement scanning grease head highness are simultaneously sentenced
Whether it break in tolerance band, 3. unscrew clamping device adjustment height again after screw, 4. measurement scanning grease head highness and sentence again
It break whether in tolerance band, repeatedly for several times until height meets the requirements.The calibration of this manual mode the problem is that,
Operate time-consuming and laborious, stated accuracy is low, and the point cloud data precision for causing scanning to obtain is poor, the workpiece obtained after post-processing
The scale error of 3D model is larger.
Utility model content
It is to be solved in the utility model be the supporting and positioning mechanism of blue light scanner in the prior art needs it is artificial
Manual mode calibration, has that operation is time-consuming and laborious, and stated accuracy is low, causes the obtained point cloud data precision of scanning poor, makes
At the larger technical problem of the scale error of workpiece 3D model, and it is an object of the present invention to provide a kind of machine that driving blue light scanner is mobile
People.
The utility model is achieved through the following technical solutions:
A kind of robot that driving blue light scanner is mobile, including rack, on the rack horizontally disposed Y-axis driving machine
Structure, the Z axis driving mechanism connected vertically in Y-axis driving mechanism set X-axis driving mechanism, X-axis driving in Z axis driving mechanism
The telescopic rod to stretch along X-axis driving mechanism length direction is equipped in mechanism, one end of telescopic rod is equipped with vertical with X-axis driving mechanism
The end of the shaft of connection, shaft is equipped with blue light scanner, and the scanning direction of the blue light scanner is downward.
Preferred embodiment, the Y-axis driving mechanism includes pedestal, is equipped with the guide rail of parallel interval setting at the top of the base,
It is equipped with the ball screw of driving Z axis driving mechanism between the guide rails, is combined with nut, the bottom of Z axis driving mechanism on ball screw
Portion is slidably connected with the guide rail on pedestal, and nut is fixedly connected with the bottom of Z axis driving mechanism, is equipped in one end of ball screw
The servo motor of drive roller shaft screw rod rotation, the ball screw are connect with base pivot.
Preferred embodiment, the Z axis driving mechanism includes column, is equipped with the guide rail of parallel interval setting in the side of column,
It is equipped with the ball screw of driving X-axis driving mechanism between the guide rails, is combined with nut, the end of X-axis driving mechanism on ball screw
Portion is slidably connected with the guide rail on column, and nut is fixedly connected with the end of X-axis driving mechanism, is equipped in one end of ball screw
The top and bottom of the servo motor of drive roller shaft screw rod rotation, the ball screw and column are pivotally connected.
Preferred embodiment, the bottom of the X-axis driving mechanism are equipped with the mobile cylinder of driving telescopic rod, the cylinder body of the cylinder
It is fixedly connected with X-axis driving mechanism, the telescopic arm of cylinder is fixedly connected with shaft.
The rotor of output shaft axle of preferred embodiment, the servo motor is equipped with the first synchronous pulley, and one end of ball screw is set
There is the second synchronous pulley, is connected between first synchronous pulley and the second synchronous pulley by toothed belt transmission.
The utility model compared with prior art, has the following advantages and benefits: a kind of drive of the utility model
The mobile robot of dynamic blue light scanner, the robot is using Y-axis driving mechanism, Z axis driving mechanism and the X being arranged on the rack
Axis driving mechanism is accurately positioned the three-dimensional coordinate of blue light scanner, and driving blue light scanner is multi-faceted to workpiece multi-angle
It is scanned.The calibration process of entire driving process blue light scanner is simple, time saving and energy saving, work efficiency is high, while making to demarcate
The precision of position greatly improves.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the utility model embodiment, constitutes the one of the application
Part does not constitute the restriction to the utility model embodiment.In the accompanying drawings:
Fig. 1 is the structural front view of the utility model；
Fig. 2 is the structure top view of the utility model.
Label and corresponding parts title in attached drawing:
1- rack, 2-Y axis driving mechanism, 3-Z axis driving mechanism, 4-X axis driving mechanism, 5- telescopic rod, 6- shaft, 7- are blue
Photoscanner, 8- servo motor, the first synchronous pulley of 9-, the second synchronous pulley of 10-, 11- synchronous belt, 12- cylinder.
Specific embodiment
For the purpose of this utility model, technical solution and advantage is more clearly understood, below with reference to embodiment and attached drawing,
The utility model is described in further detail, and the exemplary embodiment and its explanation of the utility model are only used for explaining this
Utility model is not intended to limit the scope of the present invention.
Embodiment
As depicted in figs. 1 and 2, a kind of robot that driving blue light scanner is mobile of the utility model, including rack 1,
Horizontally disposed Y-axis driving mechanism 2 in rack 1, Y-axis driving mechanism 2 include pedestal, are set at the top of the base equipped with parallel interval
The guide rail set is equipped with the ball screw of driving Z axis driving mechanism 3 between the guide rails, and nut is combined on ball screw, and Z axis drives
The bottom of motivation structure 3 is slidably connected with the guide rail on 2 pedestal of Y-axis driving mechanism, and nut and the bottom of Z axis driving mechanism 3 are fixed
Connection is equipped with the servo motor 8 of drive roller shaft screw rod rotation, ball screw and Y-axis driving mechanism 2 in one end of ball screw
Base pivot connection.Servo motor 8 drives ball screw rotation, and ball screw drives Z axis driving mechanism 3 in Y-axis driving mechanism 2
Move back and forth on guide rail on pedestal.
Z axis driving mechanism 3 connected vertically, sets X-axis driving mechanism in Z axis driving mechanism 3 in Y-axis driving mechanism 2
4, Z axis driving mechanism 3 includes column, is equipped with the guide rail of parallel interval setting in the side of column, is equipped with driving X between the guide rails
The ball screw of axis driving mechanism 4 is combined with nut on ball screw.Guide rail on the end and column of X-axis driving mechanism 4 is sliding
Dynamic connection, nut are fixedly connected with the end of X-axis driving mechanism 4, are rotated in one end of ball screw equipped with drive roller shaft screw rod
Servo motor 8, servo motor 8 drive ball screw rotation, ball screw drive X-axis driving mechanism 4 in Z axis driving mechanism 3
On guide rail on move up and down, the top and bottom of ball screw and column are pivotally connected.It is equipped in X-axis driving mechanism 4 along X-axis
One end of the flexible telescopic rod 5 of 4 length direction of driving mechanism, telescopic rod 5 is equipped with and the shaft connected vertically of X-axis driving mechanism 4
6.The bottom of X-axis driving mechanism 4 is equipped with the mobile cylinder 12 of driving telescopic rod 5, and the cylinder body and X-axis driving mechanism 4 of cylinder 12 are solid
Fixed connection, the telescopic arm of cylinder 12 are fixedly connected with shaft 6, and the end of shaft 6 is equipped with blue light scanner 7, blue light scanner 7
Scanning direction is downward.
Preferred embodiment scheme, the rotor of output shaft axle of servo motor 8 are equipped with the first synchronous pulley 9, and the one of ball screw
End is equipped with the second synchronous pulley 10, is sequentially connected between the first synchronous pulley 9 and the second synchronous pulley 10 by synchronous belt 11.
Above-described specific embodiment, to the purpose of this utility model, technical scheme and beneficial effects carried out into
One step is described in detail, it should be understood that being not used to limit the foregoing is merely specific embodiment of the present utility model
Determine the protection scope of the utility model, within the spirit and principle of the utility model, any modification for being made equally is replaced
It changes, improve, should be included within the scope of protection of this utility model.
Claims (5)
1. a kind of robot that driving blue light scanner is mobile, which is characterized in that including rack, horizontally disposed Y on the rack
Axis driving mechanism, Z axis driving mechanism connected vertically, sets X-axis driving mechanism in Z axis driving mechanism in Y-axis driving mechanism,
The telescopic rod to stretch along X-axis driving mechanism length direction is equipped in X-axis driving mechanism, one end of telescopic rod is equipped with to be driven with X-axis
The end of mechanism shaft connected vertically, shaft is equipped with blue light scanner, and the scanning direction of the blue light scanner is downward.
2. a kind of robot that driving blue light scanner is mobile according to claim 1, which is characterized in that the Y-axis is driven
Motivation structure includes pedestal, is equipped with the guide rail of parallel interval setting at the top of the base, is equipped with driving Z axis driving machine between the guide rails
The ball screw of structure is combined with nut on ball screw, and the guide rail on the bottom and pedestal of Z axis driving mechanism is slidably connected, spiral shell
Mother is fixedly connected with the bottom of Z axis driving mechanism, is equipped with the servo motor of drive roller shaft screw rod rotation in one end of ball screw,
The ball screw is connect with base pivot.
3. a kind of robot that driving blue light scanner is mobile according to claim 2, which is characterized in that the Z axis drives
Motivation structure includes column, is equipped with the guide rail of parallel interval setting in the side of column, is equipped with driving X-axis driving machine between the guide rails
The ball screw of structure is combined with nut on ball screw, and the guide rail on the end and column of X-axis driving mechanism is slidably connected, spiral shell
Mother is fixedly connected with the end of X-axis driving mechanism, is equipped with the servo motor of drive roller shaft screw rod rotation in one end of ball screw,
The top and bottom of the ball screw and column are pivotally connected.
4. a kind of robot that driving blue light scanner is mobile according to claim 1, which is characterized in that the X-axis is driven
The bottom of motivation structure is equipped with the mobile cylinder of driving telescopic rod, and the cylinder body of the cylinder is fixedly connected with X-axis driving mechanism, cylinder
Telescopic arm be fixedly connected with shaft.
5. a kind of robot that driving blue light scanner is mobile according to claim 2 or 3, which is characterized in that described to watch
The rotor of output shaft axle for taking motor is equipped with the first synchronous pulley, and one end of ball screw is equipped with the second synchronous pulley, and described first
It is connected between synchronous pulley and the second synchronous pulley by toothed belt transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821516095.2U CN208962004U (en) | 2018-09-17 | 2018-09-17 | A kind of robot that driving blue light scanner is mobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821516095.2U CN208962004U (en) | 2018-09-17 | 2018-09-17 | A kind of robot that driving blue light scanner is mobile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208962004U true CN208962004U (en) | 2019-06-11 |
Family
ID=66755268
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821516095.2U Active CN208962004U (en) | 2018-09-17 | 2018-09-17 | A kind of robot that driving blue light scanner is mobile |
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| Country | Link |
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| CN (1) | CN208962004U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114474008A (en) * | 2022-03-23 | 2022-05-13 | 浙江东亘金属科技有限公司 | Intelligent stacking robot and control system |
-
2018
- 2018-09-17 CN CN201821516095.2U patent/CN208962004U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114474008A (en) * | 2022-03-23 | 2022-05-13 | 浙江东亘金属科技有限公司 | Intelligent stacking robot and control system |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 610000 Chenghua District, Chengdu City, Sichuan Province, No. 7 Chengji Road, Longtan Industrial Park Patentee after: Chengdu fumos Industrial Technology Co.,Ltd. Address before: 610000 Chenghua District, Chengdu City, Sichuan Province, No. 7 Chengji Road, Longtan Industrial Park Patentee before: CHENGDU FAMOUS INTELLIGENT SYSTEM INTEGRATION SERVICE Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder | ||
| CP03 | Change of name, title or address |
Address after: Room 101, Building 11, No. 333 Yijian West Road, Xinglong Town, Zhongjiang County, Deyang City, Sichuan Province, 618100 Patentee after: Sichuan Fumosi Industrial Technology Co.,Ltd. Address before: 610000 Chenghua District, Chengdu City, Sichuan Province, No. 7 Chengji Road, Longtan Industrial Park Patentee before: Chengdu fumos Industrial Technology Co.,Ltd. |
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| CP03 | Change of name, title or address |