CN212871119U

CN212871119U - Multi-axis linkage interactive integrated three-dimensional scanner

Info

Publication number: CN212871119U
Application number: CN202021820978.XU
Authority: CN
Inventors: 杨海马; 徐炜; 陈毅; 徐斌
Original assignee: Suzhou Feite Xipu 3d Technology Co Ltd
Current assignee: Suzhou Feite Xipu 3d Technology Co Ltd
Priority date: 2020-08-27
Filing date: 2020-08-27
Publication date: 2021-04-02
Anticipated expiration: 2030-08-27

Abstract

The utility model discloses a multi-axis linkage interaction integrated three-dimensional scanner, wherein a fifth motor is arranged in a first T-shaped lead screw linear module, a second lead screw sliding table is arranged on a second T-shaped lead screw linear module in a sliding manner, a third motor is arranged at the lower end of the second T-shaped lead screw linear module, the third motor is arranged on a scanner base, and the second lead screw sliding table is fixedly connected with a scanning arm; the scanning arm is internally provided with a second motor, the scanner lower arm is internally provided with a fourth motor for controlling the rotation of the indexing turntable, the first motor comprises a motor gear, the semicircular gear is fixed at the central position of the bottom of the objective table, and the motor gear is meshed with the semicircular gear and is connected with the semicircular gear. The utility model realizes the omnibearing and automatic three-dimensional scanning of small objects with complex shapes by an integrated control circuit board and cooperating with upper computer software to jointly control the linear movement of the indexing turntable, the rotation of the indexing turntable, the pitching of the objective table, the lifting of the scanning arm and the rotation of the scanning head; the scanning method is simple and practical, and can meet the requirements of different users on precision and speed.

Description

Multi-axis linkage interactive integrated three-dimensional scanner

Technical Field

The utility model relates to a three-dimensional scanner field, concretely relates to mutual integral type three-dimensional scanner of multiaxis linkage.

Background

The three-dimensional scanner is widely applied to the fields of optical precision detection, material increase manufacturing and the like, along with subject development and technical breakthrough of computer vision, image processing, mechanical design, computer application, software development, integrated circuit design and the like, the production cost of the three-dimensional scanner is reduced, and the three-dimensional scanner gradually tends to be miniaturized, automated, highly precise, rapid and integrated. For the three-dimensional scanning of objects with complex shapes, how to improve the hardware structure, optimize the scanning path and reduce the scanning blind area is a key for improving the recall ratio and reducing the complexity and is also a big difficulty for designing a scanner device; in addition, the integrated design of the three-dimensional scanner and the human-computer interaction upper computer brings convenience to users, the users do not need to carry a personal computer and install related software, the problem of system adaptation is avoided, the system is more miniaturized, meanwhile, data can be transmitted through a USB and used for secondary processing or 3D printing, but the model selection of the human-computer interaction upper computer, the embedded position of the three-dimensional scanning device and the like still need to be comprehensively and integrally designed and considered.

Patent CN211060881U discloses a three-dimensional detection system for workpieces, in which a scanning head is fixed by a manipulator, and the scanning head is controlled to swing up and down and a scanning turntable to complete the whole body scanning of an object, because the manipulator cannot move up and down vertically but can only swing up and down in a rotating manner, and sufficient space needs to be left between the manipulator and the turntable, so that the overall structure has a large design volume, the optimal distance between the scanning head and the object to be detected is difficult to realize, and the scanning effect is affected; patent CN204240957U discloses an integrated three-dimensional scanner, which can unload the panel by setting up, and set up the cavity under the panel, place the equipment in the cavity, and the operation button is placed on the panel with the display screen, convenient to detach and maintenance. Generally, in order to increase the scanning range, a scanning head needs to rotate or move, a display and a button are arranged on the scanning head, so that the scanning head is inconvenient to observe and operate in real time, only a detachable panel needs to be arranged, if the display is embedded into the scanning head, the whole weight is larger, the mechanical motion load is increased, meanwhile, the scanning head needs to be miniaturized, generally, for three-dimensional scanning, microcomputer hardware needs to be configured higher, the size of the microcomputer hardware is relatively larger, and a small screen is inconvenient to observe and operate.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems, the utility model aims to provide a multi-axis linkage interaction integrated three-dimensional scanner, which jointly controls the linear movement of the indexing turntable, the rotation of the indexing turntable, the pitching of the objective table, the lifting of the scanning arm and the rotation of the scanning head by matching an integrated control circuit board with upper computer software, thereby realizing the omnibearing and automatic three-dimensional scanning of small objects with complex shapes; the scanning method is simple and practical, and can meet the requirements of different users on precision and speed.

For realizing above-mentioned technical purpose, reach above-mentioned technological effect, the utility model discloses a following technical scheme realizes:

a multi-axis linkage interaction integrated three-dimensional scanner comprises a scanner base, a scanning arm, a first T-shaped screw rod linear module, a first screw rod sliding table, an indexing rotary table and an object stage, wherein the end part of the scanner base is provided with a scanner lower arm, the scanning arm is arranged at the upper end of the scanner lower arm, the lower end of the scanning arm is vertically arranged and is fixedly connected with the scanner base, the scanning head is connected with the side edge of the upper end of the scanning arm through a cylindrical shaft, the first T-shaped screw rod linear module is horizontally embedded in the scanner base, the first screw rod sliding table, the indexing rotary table and the object stage are sequentially arranged on the first T-shaped screw rod linear module from bottom to top, a first motor, a semi-circular gear, a control circuit board and an upper computer are arranged in the scanner base, and the first motor is arranged on the indexing rotary table and is used; a fifth motor is arranged in the first T-shaped lead screw linear module, a second lead screw sliding table is arranged on the second T-shaped lead screw linear module in a sliding mode, a third motor is arranged at the lower end of the second T-shaped lead screw linear module, the third motor is arranged on the scanner base, and the second lead screw sliding table is fixedly connected with the scanning arm; the scanning arm is internally provided with a second motor, the lower arm of the scanner is internally provided with a fourth motor for controlling the rotation of the indexing rotary table, the first motor comprises a motor gear, the semicircular gear is fixed at the central position of the bottom of the objective table, the motor gear is meshed and connected with the semicircular gear, and the objective table is supported and fixed with the indexing rotary table through a movable support.

Furthermore, be provided with in the scanning arm and fix 45 bevel gears of second on the cylindrical shaft, the connection of cylindrical shaft one side the second motor and with 45 bevel gears meshing's of second first 45 bevel gears and cylindrical shaft opposite side with the flabellum relatively fixed on the minor axis and with 45 bevel gears meshing's of second third 45 bevel gears, the minor axis upper end is fixed on the terminal surface of scanning arm, the terminal surface is provided with a plurality of louvres.

Further, first lead screw slip table upper surface is higher than scanner base upper surface, first lead screw slip table upper surface is provided with four 1/4 standard screw hole sites, and the hole interval is 15mm and 20mm respectively, through set up the external screw connection in the standard screw hole site the graduation revolving stage, the diameter 100mm of graduation revolving stage.

Furthermore, control circuit board contains five opto-couplers, five miniature drivers, five stepper motor interfaces and PLC control module, five stepper motor interfaces are connected respectively first motor, the second motor, the third motor, the fourth motor with the fifth motor.

Further, the scanner base is provided with an embedded pull type panel and an internal space, sliding rails are mounted on two sides of the pull type panel, and the upper computer is fixed on the pull type panel.

Furthermore, the second T type lead screw straight line module is two sets of, correspond the second lead screw slip table with the third motor is two sets of, two sets of the third motor sets up coaxially.

Further, the motor wiring of the first motor, the second motor, the third motor, the fourth motor and the fifth motor passes through the scanner base and the lower arm of the scanner is gathered on the control circuit board, the scanning head data line, the power line and the power line of the control circuit board pass through the scanning arm and the lower arm of the scanner is gathered in the scanner base, and the scanning head data line is connected with the upper computer.

Furthermore, a handle is fixed on the side edge of the pull-out panel, and a lock is arranged on the handle.

Further, the first motor is fixed on the indexing table through a double support.

The utility model has the advantages that:

the utility model realizes the omnibearing and automatic three-dimensional scanning of small objects with complex shapes by an integrated control circuit board and cooperating with upper computer software to jointly control the linear movement of the indexing turntable, the rotation of the indexing turntable, the pitching of the objective table, the lifting of the scanning arm and the rotation of the scanning head; by embedding the drawer type human-computer interaction micro tablet personal computer and the transmission interface in the base, a user does not need to externally arrange a computer, and integration of three-dimensional scanning and data processing is realized; the scanning method is simple and practical, can meet the requirements of precision and speed of different users, and is easy for the first user to learn and use, and each line is reasonably placed in the inner space of the scanner device, so that the appearance is simpler.

The above description is only an overview of the technical solution of the present invention, and in order to make the technical means of the present invention clearer and can be implemented according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and accompanying drawings. The detailed description of the present invention is given by the following examples and the accompanying drawings.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic view of a first T-shaped screw linear module, an indexing turntable and an objective table of the present invention;

fig. 3 is a schematic view of the pitch of the first motor-controlled stage according to the present invention;

fig. 4 is the three-dimensional structure diagram of the lifting principle of the scanner of the present invention.

The reference numbers in the figures illustrate:

1. a lower scanner arm, 2, a scanning arm, 3, a scanner base, 4, an indexing turntable, 5, a first T-shaped screw rod linear module, 6, a first screw rod sliding table, 7, a first motor, 8, a motor gear, 9, a semicircular gear, 10, an object stage, 11, a movable support, 12, a second T-shaped screw rod linear module, 13, a third motor, 14, a second motor, 15, a first 45-degree bevel gear, 16, a second 45-degree bevel gear, 17, a third 45-degree bevel gear, 18, a fan blade, 19, an end face, 20, a cylindrical shaft, 21, a scanning head, 22, a pull-out panel, 23, an upper computer, 24, an inner space, 25, a second screw rod sliding table, 27, a handle, 28, a control circuit board, A is the movement direction of the screw rod sliding table, B is the clockwise and counterclockwise rotation directions of the indexing turntable, C is the bottom surface of the indexing table is aligned with the fixed installation hole site of the screw rod sliding table, d is the drawing direction of the drawing panel, and E is the lifting direction of the scanning arm.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Referring to fig. 1-4, a multi-axis linkage interactive integrated three-dimensional scanner comprises a scanner base 3 with a scanner lower arm 1 at the end, a scanner arm 2 at the upper end of the scanner lower arm 1, a second T-shaped screw linear module 12 vertically arranged and fixedly connected with the scanner base 3 at the lower end, the scanning device comprises a scanning head 21 connected with the side edge of the upper end of a scanning arm 2 through a cylindrical shaft 20, a first T-shaped screw rod linear module 5 horizontally embedded in a scanner base 3, a first screw rod sliding table 6, an indexing rotary table 4 and an object stage 10 which are sequentially arranged on the first T-shaped screw rod linear module 5 from bottom to top, a first motor 7 arranged on the indexing rotary table 4 and used for controlling the pitching action of the object stage 10, a semicircular gear 9, a control circuit board 28 arranged in the scanning arm 2 and an upper computer 23 arranged in the scanner base 3; a fifth motor is arranged in the first T-shaped screw rod linear module 5; be provided with second motor 14 in the scanning arm 2, be provided with the fourth motor of control graduation revolving stage 4 rotations in the scanner underarm 1, the effective stroke 200mm of first T type lead screw straight line module 5, the step precision 0.05mm of first lead screw slip table 6, first motor 7 includes motor gear 8, semicircle type gear 9 is fixed in objective table 10 bottom central point and is put, motor gear 8 is connected with semicircle type gear 9 meshing, objective table 10 supports fixedly through movable support 11 and graduation revolving stage 4, through the pitching action of first motor 7 operation and motor gear 8 and semicircle type gear 9 meshing transmission control objective table 10.

The second T-shaped screw linear module 12 is provided with a second screw sliding table 25 in a sliding manner, the lower end of the second T-shaped screw linear module is provided with a third motor 13, the third motor 13 is arranged on the scanner base 3, the second screw sliding table 25 and the scanning arm 2 keep fixed positions, the operation of the third motor 13 is controlled, the synchronous lifting of the second screw sliding table 25 and the scanning arm 2 can be controlled, the lifting range of the second screw sliding table is controlled by a stopper, and the lifting stroke of the scanning arm 2 is 80 mm.

Further, a second 45-degree bevel gear 16 fixed on the cylindrical shaft 20, a first 45-degree bevel gear 15 connected with the second motor 14 and meshed with the second 45-degree bevel gear 16 and arranged on one side of the cylindrical shaft 20, and a third 45-degree bevel gear 17 fixed on the stub shaft opposite to the fan blade 18 and meshed with the second 45-degree bevel gear 16 and arranged on the other side of the cylindrical shaft 20 are arranged in the scanning arm 2, the upper end of the stub shaft is fixed on the end face 19 of the scanning arm 2 and can rotate freely, the end face 19 is provided with a plurality of heat dissipation holes, and when the second motor 14 works, the first 45-degree bevel gear 15, the second 45-degree bevel gear 16 and the third 45-degree bevel gear 17 are driven to rotate, so that the scanning head 21 is controlled to rotate.

Furthermore, the upper surface of the first screw rod sliding table 6 is higher than the upper surface of the scanner base 3, four 1/4 standard thread hole sites are arranged on the upper surface of the first screw rod sliding table 6, the hole intervals are respectively 15mm and 20mm, an external screw is arranged in the standard thread hole sites to be connected with the indexing rotary table 4, and the diameter of the indexing rotary table 4 is 100 mm.

Further, the control circuit board 28 includes five groups of optocouplers, five micro drivers, five groups of stepping motor interfaces and a PLC control module, the five groups of stepping motor interfaces are respectively connected to the first motor 7, the second motor 14, the third motor 13, the fourth motor and the fifth motor, the PLC control module establishes OPC communication with the upper computer 23, and the automatic and manual pulse generation in software controls the forward and reverse rotation and the step length of the motors in the scanning process.

Further, the scanner base 3 is provided with an embedded drawing type panel 22 and an internal space 24, sliding rails are mounted on two sides of the drawing type panel 22, the sliding rails are arranged on one side far away from the scanning arm 2, observation objects and scanning of the scanning head 21 are not affected, and the upper computer 23 is fixed on the drawing type panel 22.

Further, the second T-shaped screw linear modules 12 are two sets, the corresponding second screw sliding tables 25 and the corresponding third motors 13 are two sets, and the two sets of third motors 13 are coaxially arranged.

Further, motor wiring of the first motor 7, the second motor 14, the third motor 13, the fourth motor and the fifth motor is collected on the control circuit board 28 through the scanner base 3 and the scanner lower arm 1, a data line, a power line and a power line of the control circuit board 28 are collected in the scanner base 3 through the scanner arm 2 and the scanner lower arm 1, and the data line of the scanner head 21 is connected with the upper computer 23.

Further, a handle 27 is fixed on the side of the pull-out panel 22, and a lock is arranged on the handle 27.

Further, the first motor 7 is fixed to the index table 4 through a double bracket.

A scanning method of a multi-axis linkage interaction integrated three-dimensional scanner comprises the following steps:

step 1) switching on a main power switch, pulling out a pull-out type panel 22, opening an upper computer 23, entering a software interface, clicking a scanning preparation icon, resetting a first motor 7, a second motor 14, a third motor 13, a fourth motor and a fifth motor according to preset initial positions, and placing an object to be detected on an objective table 10 after resetting is completed;

step 2) judging whether the distance between the object to be measured and the scanning head 21 is in the optimal measurement range or not through a stereoscopic vision principle, if not, enabling the first T-shaped lead screw linear module 5 to work, and controlling the first lead screw sliding table 6 to move linearly through the action of a fifth motor until the distance enters the optimal measurement range; secondly, judging whether an included angle between a connecting line of an imaging center of the camera and the highest point of the object to be measured and a horizontal plane is in accordance with an optimal range, if the included angle is too large, the lower part of the object to be measured is likely to have a scanning blind area, controlling a second screw rod sliding table 25 through a third motor 13, descending a scanning arm 2, raising a scanning head 21 by anticlockwise rotation of a second motor 14 to reduce the included angle, if the included angle is too small, the upper part of the object to be measured is likely to have the scanning blind area, raising the scanning arm 2, and rotating the second motor 14 clockwise to lower the scanning head 21 to improve the included angle, wherein the object stage 10 is kept still in the process, so that the situation that the pitching angles of all the surfaces of the object;

step 3), after the two conditions are met, finishing preliminary scanning and acquiring data by setting the total scanning surface number to be 4 times, 8 times and 12 times, and finishing corresponding scanning surface number setting by controlling the rotation angle of the indexing turntable 4 every time through a fourth motor, wherein for example, the rotation angle is 90 degrees every time when the turntable is rotated 4 times, the scanning times are more, the number of surfaces to be spliced is more, the time consumption is relatively more, the overlapping area of adjacent surfaces is large, the splicing precision is higher, and the setting needs to be carried out by a user according to the requirements;

step 4) coding and labeling each scanning surface according to the rotation sequence of the indexing rotary table 4, performing missing inspection after splicing all the scanning surfaces, if missing is found, accurately positioning the scanning surface with the corresponding number, judging whether the missing part is on the upper part or the lower part, rotating the indexing rotary table 4 back according to the original path, if the upper part is missing, lifting the position of the scanning arm 2, rotating the second motor 14 clockwise to put down the scanning head 21, controlling the objective table 10 to tilt forward through the first motor 7 until the stroke is finished, acquiring the scanning surfaces at intervals during the period, splicing the newly acquired scanning surfaces to obtain one surface, and then splicing the surface with the primary scanning splicing result; similarly, if the lower part is missing, the working direction of the second motor 14 is opposite to that of the former, and the scanning and splicing processes are consistent;

and 5) after splicing, fitting the missing small data to form complete point cloud data, converting the engineering file into a required file format for secondary analysis or 3D printing of the data, transmitting the data to a storage device of a user in a USB (universal serial bus) or wireless or Bluetooth mode, withdrawing the software after the processing is finished, closing the upper computer 23, and pushing the drawing type panel 22 to the scanner base 3.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an interactive integral type three-dimensional scanner of multiaxis linkage which characterized in that: including scanner base (3) that is provided with scanner lower arm (1) at the tip, set up scanner lower arm (1) upper end scanning arm (2), the lower extreme that sets up perpendicularly with scanner base (3) fixed connection's second T type lead screw straight line module (12), through cylindrical axle (20) with scanning head (21) that scanning arm (2) upper end side is connected, the level is sunken to be inlayed first T type lead screw straight line module (5) in scanner base (3) to down and set gradually first lead screw slip table (6), graduation revolving stage (4) and objective table (10) on first T type lead screw straight line module (5) set up graduation revolving stage (4) upper control first motor (7) of objective table (10) pitching action, semicircle type gear (9) set up be in inside control circuit board (28) and the setting of scanning arm (2) are in scanner base (3) inside host computer (23) machine ) (ii) a A fifth motor is arranged in the first T-shaped lead screw linear module (5), a second lead screw sliding table (25) is arranged on the second T-shaped lead screw linear module (12) in a sliding mode, a third motor (13) is arranged at the lower end of the second T-shaped lead screw linear module, the third motor (13) is arranged on the scanner base (3), and the second lead screw sliding table (25) is fixedly connected with the scanning arm (2); be provided with second motor (14) in scanning arm (2), be provided with control in scanner lower arm (1) the rotatory fourth motor of graduation revolving stage (4), first motor (7) include motor gear (8), semicircle type gear (9) are fixed objective table (10) bottom central point puts, motor gear (8) with semicircle type gear (9) meshing is connected, objective table (10) through movable support (11) with graduation revolving stage (4) support is fixed.

2. The multi-axis linkage interactive integrated three-dimensional scanner according to claim 1, wherein: be provided with in scanning arm (2) and fix second 45 bevel gear (16) on cylindrical shaft (20) the connection of cylindrical shaft (20) one side second motor (14) and with first 45 bevel gear (15) of second 45 bevel gear (16) meshing with cylindrical shaft (20) opposite side with flabellum (18) relatively fixed on the minor axis and with third 45 bevel gear (17) of second 45 bevel gear (16) meshing, the minor axis upper end is fixed on terminal surface (19) of scanning arm (2), terminal surface (19) are provided with a plurality of louvres.

3. The multi-axis linkage interactive integrated three-dimensional scanner according to claim 2, wherein: first lead screw slip table (6) upper surface is higher than scanner base (3) upper surface, first lead screw slip table (6) upper surface is provided with four 1/4 standard screw hole sites, and the hole interval is 15mm and 20mm respectively, through set up outer screw connection in the standard screw hole site indexing turntable (4), the diameter 100mm of indexing turntable (4).

4. The multi-axis linkage interactive integrated three-dimensional scanner according to claim 3, wherein: control circuit board (28) contain five opto-couplers, five miniature drivers, five stepper motor interfaces and PLC control module, five stepper motor interfaces are connected respectively first motor (7), second motor (14), third motor (13), fourth motor with the fifth motor.

5. The multi-axis linkage interactive integrated three-dimensional scanner according to claim 4, wherein: the scanner base (3) is provided with an embedded drawing type panel (22) and an internal space (24), sliding rails are mounted on two sides of the drawing type panel (22), and the upper computer (23) is fixed on the drawing type panel (22).

6. The multi-axis linkage interactive integrated three-dimensional scanner according to claim 5, wherein: the second T-shaped screw rod linear modules (12) are two groups, and the corresponding second screw rod sliding tables (25) and the third motors (13) are two groups, and the third motors (13) are coaxially arranged.

7. The multi-axis linkage interactive integrated three-dimensional scanner according to claim 6, wherein: first motor (7), second motor (14) third motor (13) the fourth motor with the motor wiring process of fifth motor scanner base (3) with scanner lower arm (1) gather in on control circuit board (28), scanning head (21) data line, power cord with control circuit board (28) power cord passes through scanning arm (2) scanner lower arm (1) gather extremely in scanner base (3), scanning head (21) data line with host computer (23) are connected.

8. The multi-axis linkage interactive integrated three-dimensional scanner according to claim 7, wherein: a handle (27) is fixed on the side edge of the pull-out panel (22), and a lock is arranged on the handle (27).

9. The multi-axis linkage interactive integrated three-dimensional scanner according to claim 8, wherein: the first motor (7) is fixed on the indexing rotary table (4) through a double support.