CN210441829U - Non-contact type scanning device without mark points for application industrial robot - Google Patents
Non-contact type scanning device without mark points for application industrial robot Download PDFInfo
- Publication number
- CN210441829U CN210441829U CN201921629571.6U CN201921629571U CN210441829U CN 210441829 U CN210441829 U CN 210441829U CN 201921629571 U CN201921629571 U CN 201921629571U CN 210441829 U CN210441829 U CN 210441829U
- Authority
- CN
- China
- Prior art keywords
- industrial robot
- robot
- scanning
- revolving stage
- dimensional scanner
- 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
- 238000005259 measurement Methods 0.000 abstract description 10
- 238000004364 calculation method Methods 0.000 abstract description 4
- 238000000691 measurement method Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 2
- 230000001678 irradiating effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
Apply industrial robot and carry out no landmark point non-contact scanning device, including the robot workstation, the robot workstation on be provided with industrial robot, industrial robot's terminal connection have three-dimensional scanner, the robot workstation on be fixed with the revolving stage support, be provided with the revolving stage on the revolving stage support, industrial robot pass through the robot workstation and connect the host computer. The utility model discloses when scanning the during operation, directly will treat that the scanning device is put to the revolving stage, the revolving stage can take and treat that the scanning device is rotatory, make things convenient for three-dimensional scanner to carry out the measurement station, degree of automation is high, it scans to need not artifical handheld scanner, scanning speed is average, and the measurement station is even, and operating mass obtains improving, and system scanning measurement method can improve three-dimensional scanner's precision, promotes three-dimensional scanner measurement station coordinate's calculation rate, and accurate track coordinate that obtains laser sensor has improved the efficiency of scanning work.
Description
Technical Field
The utility model belongs to the technical field of industrial robot measures technique and specifically relates to application industrial robot carries out no mark point non-contact scanning device.
Background
Three-dimensional scanners are scientific instruments used to detect and analyze shape and appearance data of an object or environment in the real world, and the collected data is often used to perform three-dimensional reconstruction calculations to create a digital model of the actual object in the virtual world. These models have a wide range of applications, for example industrial design, flaw detection, reverse engineering, robot guidance, topographical measurements, medical information, biological information, criminal identification, digital cultural relic collections, film production, game creation materials, and the like. There is currently no universal reconstruction technique, and the instruments and methods are often limited by the surface properties of the object. For example, optical techniques do not readily handle shiny (high albedo), specular or translucent surfaces, whereas laser techniques are not suitable for fragile or perishable surfaces. Three-dimensional scanners can be classified into contact and non-contact types, and the latter can be classified into active scanning and passive scanning, and these classifications subdivide a number of different technical approaches. The method of achieving reconstruction using visible light video is also called a machine vision based method. The active scanning method of the non-contact three-dimensional scanner is to project extra energy onto the object, and calculate the three-dimensional information by reflection of the energy, and the common projection energy includes visible light, high-energy light beam, ultrasonic wave, X-ray, and the like. However, most of the existing non-contact scanners have low scanning accuracy, slow speed of scanning objects and low automation degree, and the working efficiency of the existing non-contact scanners is affected.
Therefore, in order to overcome the above-mentioned drawbacks of the conventional non-contact scanner, it is necessary to design a non-contact scanner device using an industrial robot and a scanning method thereof.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's is not enough, provide an application industrial robot that degree of automation is high and work efficiency promotes and carry out no mark point non-contact scanning device.
The utility model provides a its technical problem take following technical scheme to realize:
apply industrial robot and carry out no landmark point non-contact scanning device, including the robot workstation, the robot workstation on be provided with industrial robot, industrial robot's terminal connection have three-dimensional scanner, the robot workstation on be fixed with the revolving stage support, be provided with the revolving stage on the revolving stage support, industrial robot pass through the robot workstation and connect the host computer.
The industrial robot and the rotary table support are fixed on the robot workbench, automatic scanning is achieved, and scanning quality is improved.
Preferably, the three-dimensional scanner comprises a grating machine, cameras are arranged on two sides of the grating machine, and a laser sensor is connected to the back of the grating machine.
The laser scanning system comprises a raster machine, a camera, a laser sensor and a scanning device, wherein the raster machine is used for comparing the scanning device and making a coordinate system, the camera is mainly used for shooting a surface figure of the scanning device and transmitting the shot image to an upper computer, the laser sensor is used for irradiating laser on the scanning device, and then the corresponding distance is kept between the laser sensor and the scanning device through a feedback signal.
Preferably, the turntable support and the industrial robot are on the same horizontal axis.
The turntable support and the industrial robot are positioned on the same horizontal shaft, so that the distance between the three-dimensional scanner and the device to be scanned is moderate.
Preferably, a motor is arranged inside the rotary table and connected with an external switch.
Preferably, the industrial robot adopts a six-axis robot.
The utility model has the advantages that:
1. the utility model discloses install the revolving stage on the revolving stage support, all fix the revolving stage support on the robot work platform with industrial robot again, set up to scanning equipment as an organic whole, when scanning the during operation, directly will treat that scanning device puts the revolving stage on, the revolving stage can take and treat that scanning device is rotatory, makes things convenient for three-dimensional scanner to carry out the measurement station, and degree of automation is high, need not artifical handheld scanner and scans, and scanning speed is average, and the measurement station is even, and work quality obtains improving.
2. The utility model discloses a system scanning measuring method can improve three-dimensional scanner's precision, promotes three-dimensional scanner measurement station coordinate's calculation speed, and the accurate orbit coordinate that obtains laser sensor has improved the efficiency of scanning work.
Drawings
Fig. 1 is a schematic structural diagram of a measuring device of the present invention;
fig. 2 is a schematic structural diagram of the three-dimensional scanner of the present invention.
In the figure: 1. a turntable support; 2. a robot table; 3. a turntable; 4. a three-dimensional scanner; 5. an industrial robot; 6. a grating machine; 7. a camera; 8. a laser sensor.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The embodiments of the present invention will be described in detail with reference to the accompanying drawings:
as shown in figures 1 and 2, the non-contact scanning device without mark points for the application industrial robot of the utility model comprises a robot worktable 2, an industrial robot 5 is arranged on the robot worktable 2, the terminal of the industrial robot 5 is connected with a three-dimensional scanner 4, a turntable support 1 is fixed on the robot worktable 2, a turntable 3 is arranged on the turntable support 1, the industrial robot 5 is connected with an upper computer through the robot worktable 2, the industrial robot 5 and the turntable support 1 are both fixed on the robot worktable 2, automatic scanning is realized, when scanning is carried out, a to-be-scanned device is directly put on the turntable 3, the turntable 3 can rotate with the to-be-scanned device, the three-dimensional scanner can conveniently measure points, the automation degree is high, the scanning is not required to be carried out by the manual scanner, the scanning speed is average, and the measuring points are uniform, and the working quality is improved.
Further, the three-dimensional scanner 4 comprises a grating machine 6, cameras 7 are arranged on two sides of the grating machine 6, and a laser sensor 8 is connected to the back of the grating machine 6. The turntable support 1 and the industrial robot 5 are on the same horizontal axis. The grating machine 6 is used for comparing the devices to be scanned and making a coordinate system, the camera 7 is mainly used for shooting surface patterns of the devices to be scanned and transmitting shot images to an upper computer, the laser sensor 8 is used for irradiating laser on the devices to be scanned and controlling the laser sensor 8 to keep a corresponding distance from the devices to be scanned through a feedback signal.
Further, the inside motor that is provided with of revolving stage 3, the motor is connected with external switch, through opening external switch, the starter motor, the motor drives revolving stage 3 and rotates, and its rotation principle is similar with the industry revolving stage principle in this field, as long as can realize rotating. The industrial robot 5 adopts a six-axis robot.
Further, the working process of the non-marking point non-contact scanning device by applying the industrial robot is as follows:
firstly, a device to be scanned is placed on a rotary table 3, the rotary table 3 rotates, and an industrial robot 5 is started;
secondly, controlling the industrial robot 5 to drive the laser sensor 8 to scan the surface of the device to be scanned and transmitting feedback information to an upper computer;
and thirdly, recording the position coordinates of the device to be scanned on the upper computer, and repeating the second step for multiple times to obtain accurate scanning information.
Further, the algorithm formula of the track coordinate obtained by scanning the device to be scanned by the laser sensor 8 in the second step is as follows:
wherein: f represents the coordinate system of reference, E represents the end coordinates of the laser sensor 8, (x)f,yf,zf) As the coordinates of the spatial point P at F, (x)e,ye,ze) For the coordinates of the spatial point P at E, in the matrix M, RFERepresenting the rotational relationship between the coordinate system F and the end coordinates E of the laser sensor 8, TFEWhich represents the positional relationship between the coordinate system F and the end coordinates E of the laser sensor 8, the corresponding movement trajectory of E in F can be described if a succession of M is obtained when E moves in F.
During specific implementation, the three-dimensional scanner 4 is installed on the industrial robot 5, a to-be-scanned device is placed on the rotary table 3, the rotary table 3 is started, the to-be-scanned device can rotate along with the rotary table 3, at the moment, the three-dimensional scanner 4 is opened, the laser sensor 8 emits laser to the surface of the to-be-scanned device, the distance between the to-be-scanned device and the three-dimensional scanner 4 is obtained through feedback, the surface condition of the to-be-scanned device can be shot in real time by the camera 7, the coordinates of each measuring point of the to-be-scanned device are obtained by the three-dimensional scanner 4 through a measuring method of a non-mark point non-contact scanning device, collected data information is transmitted to an upper computer to be checked, and the whole.
The utility model discloses install revolving stage 3 on revolving stage support 1, all fix revolving stage support 1 and industrial robot 5 on robot work platform 2 again, set up to integrative scanning device, when scanning the work, directly will wait that the scanning device is put on revolving stage 3, revolving stage 3 can take and wait that the scanning device is rotatory, make things convenient for three-dimensional scanner 4 to carry out the measurement station, degree of automation is high, it scans to need not artifical handheld scanner, scanning speed is average, and the measurement station is even, and operating mass is improved, system scanning measurement method can improve three-dimensional scanner's precision, promote three-dimensional scanner 4 measurement station coordinate's calculation rate, the accurate orbit coordinate that obtains laser sensor 8, the efficiency of scanning work has been improved.
It should be emphasized that the embodiments described herein are illustrative and not restrictive, and thus the present invention is not limited to the embodiments described in the detailed description, but also falls within the scope of the present invention, in any other embodiments derived by those skilled in the art according to the technical solutions of the present invention.
Claims (5)
1. Non-contact scanning device without mark points for application of industrial robots, which is characterized by comprising a robot workbench (2), wherein the robot workbench (2) is provided with an industrial robot (5), the terminal of the industrial robot (5) is connected with a three-dimensional scanner (4), the robot workbench (2) is fixedly provided with a turntable support (1), the turntable support (1) is provided with a turntable (3), and the industrial robot (5) is connected with an upper computer through the robot workbench (2).
2. Device for non-marking point non-contact scanning by an industrial robot according to claim 1, characterized in that: the three-dimensional scanner (4) comprises a grating machine (6), cameras (7) are arranged on two sides of the grating machine (6), and the back of the grating machine (6) is connected with a laser sensor (8).
3. Device for non-marking point non-contact scanning by an industrial robot according to claim 1, characterized in that: the turntable support (1) and the industrial robot (5) are positioned on the same horizontal axis.
4. Device for non-marking point non-contact scanning by an industrial robot according to claim 1, characterized in that: the motor is arranged inside the rotary table (3) and connected with an external switch.
5. Device for non-marking point non-contact scanning by an industrial robot according to claim 1, characterized in that: the industrial robot (5) adopts a six-axis robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921629571.6U CN210441829U (en) | 2019-09-27 | 2019-09-27 | Non-contact type scanning device without mark points for application industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921629571.6U CN210441829U (en) | 2019-09-27 | 2019-09-27 | Non-contact type scanning device without mark points for application industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210441829U true CN210441829U (en) | 2020-05-01 |
Family
ID=70411326
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921629571.6U Active CN210441829U (en) | 2019-09-27 | 2019-09-27 | Non-contact type scanning device without mark points for application industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210441829U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111513428A (en) * | 2020-06-03 | 2020-08-11 | 福建省华宝智能科技有限公司 | Robot three-dimensional vision system and method for sole and vamp scanning operation |
| CN112577447A (en) * | 2020-12-07 | 2021-03-30 | 新拓三维技术(深圳)有限公司 | Three-dimensional full-automatic scanning system and method |
| CN114485488A (en) * | 2021-07-13 | 2022-05-13 | 北京航天计量测试技术研究所 | Automatic measuring system and measuring method for exhaust area of turbine guider |
-
2019
- 2019-09-27 CN CN201921629571.6U patent/CN210441829U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111513428A (en) * | 2020-06-03 | 2020-08-11 | 福建省华宝智能科技有限公司 | Robot three-dimensional vision system and method for sole and vamp scanning operation |
| CN112577447A (en) * | 2020-12-07 | 2021-03-30 | 新拓三维技术(深圳)有限公司 | Three-dimensional full-automatic scanning system and method |
| CN112577447B (en) * | 2020-12-07 | 2022-03-22 | 新拓三维技术(深圳)有限公司 | Three-dimensional full-automatic scanning system and method |
| CN114485488A (en) * | 2021-07-13 | 2022-05-13 | 北京航天计量测试技术研究所 | Automatic measuring system and measuring method for exhaust area of turbine guider |
| CN114485488B (en) * | 2021-07-13 | 2024-04-09 | 北京航天计量测试技术研究所 | Automatic measurement system and measurement method for exhaust area of turbine guider |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210441829U (en) | Non-contact type scanning device without mark points for application industrial robot | |
| US10551821B2 (en) | Robot, robot control apparatus and robot system | |
| WO2018103694A1 (en) | Robotic three-dimensional scanning device and method | |
| US8612173B2 (en) | Six axis motion control apparatus | |
| CN101592477B (en) | Right-angled reflection type three-dimensional laser scanner and method for realizing three-dimensional imaging by using same | |
| JP2020128000A (en) | Non-destructive inspection apparatus and method | |
| CN108534710A (en) | A kind of the three-D profile scanning means and method of single line laser | |
| CN112577447B (en) | Three-dimensional full-automatic scanning system and method | |
| CN114434442B (en) | Automatic detection method and system based on cooperative robot | |
| CN109781164A (en) | A kind of static demarcating method of line laser sensor | |
| CN116026252A (en) | Point cloud measurement method and system | |
| CN116214508A (en) | Three-dimensional automatic scanning device and scanning method for mechanical arm | |
| Borangiu et al. | Robot arms with 3D vision capabilities | |
| CN112577441A (en) | Non-marking point non-contact scanning device and method for application industrial robot | |
| Manthey et al. | Calibration of a laser range-finding coordinate-measuring machine | |
| CN109521022A (en) | Touch screen defect detecting device based on the confocal camera of line | |
| CN1512135A (en) | Robot straight line track characteristeric measuring method and measurer used thereof | |
| Seçil et al. | 3-d visualization system for geometric parts using a laser profile sensor and an industrial robot | |
| Wang et al. | An adaptive laser focus auto-positioning method for non-datum complex components based on 3D vision | |
| Koyuncu et al. | Development of an optical 3D scanner based on structured light | |
| JP2519445B2 (en) | Work line tracking method | |
| CN115409878A (en) | AI algorithm for workpiece sorting and homing | |
| CN108534707A (en) | Industry manufacture component scale scanning detection method | |
| Pajor et al. | Stereovision system for motion tracking and position error compensation of loading crane | |
| Saukkoriipi | Design and implementation of robot skill programming and control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |