CN215881647U

CN215881647U - Manipulator for reverse engineering scanning path planning

Info

Publication number: CN215881647U
Application number: CN202121585503.1U
Authority: CN
Inventors: 王勇
Original assignee: Zhuogan Suqian Intelligent Technology Co ltd
Current assignee: Zhuogan Suqian Intelligent Technology Co ltd
Priority date: 2021-07-13
Filing date: 2021-07-13
Publication date: 2022-02-22
Anticipated expiration: 2031-07-13

Abstract

The utility model discloses a mechanical arm for reverse engineering scanning path planning, and particularly relates to the technical field of engineering mechanical arms. According to the utility model, the rail is arranged on the base, the first electric telescopic arm with the scanner is arranged on the electric sliding rail through the first rotary table and the mounting plate, the electric sliding rail is started to drive the scanner to do circular motion on the base, and after the scanner completely scans the outer wall of the object, the electric clamp is controlled by the single chip microcomputer to clamp the object, so that the scanner can conveniently scan the bottom of the object, the object on the supporting seat can be conveniently scanned in all directions, and the scanning range is more comprehensive.

Description

Manipulator for reverse engineering scanning path planning

Technical Field

The utility model relates to the technical field of engineering manipulators, in particular to a manipulator for reversely planning an engineering scanning path.

Background

At present, reverse engineering means that a real object or a model is measured by using the existing measuring means, and then a CAD model of the real object is reconstructed by a three-dimensional geometric modeling method according to a numerical value obtained after measurement, which is a process of generating a product digital information model from a sample, and performing product design development and production on the basis of the model, and the existing three-dimensional scanning measuring methods have two types: one is through the mode of manual scanning, and it is exactly that operating personnel carries out three-dimensional data acquisition to the material object through the scanner of taking by hand, and the three-dimensional data that this kind of mode obtained is incomplete, inaccurate, and follow-up use to three-dimensional data is very inconvenient, and consumes manual work, work load is big, scanning cost is high, is difficult to the wide application. The other is a mode of scanning by adopting a robot platform, which adopts a mechanical arm and a scanner, and controls the action of the mechanical arm by researching and developing a scanning program with complex functions so as to enable the scanner to automatically scan the object in three dimensions.

The in-process that present scans through scanning manipulator is usually to place the material object on the platform, when scanning the material object bottom, needs the manual work to take up the material object just can scan the bottom, and the scanning process is loaded down with trivial details, and work load is big, and work efficiency is lower.

SUMMERY OF THE UTILITY MODEL

In order to overcome the above-mentioned drawbacks of the prior art, embodiments of the present invention provide a robot for reverse engineering scan path planning, so as to solve the above-mentioned problems occurring in the background art.

In order to achieve the purpose, the utility model provides the following technical scheme: a mechanical arm for reverse engineering scanning path planning comprises a base, wherein an annular rail is arranged at the top of the base, an electric slide rail is fixedly arranged in the annular rail, two first electric rotary tables are arranged on the base, mounting plates are fixedly arranged at the bottoms of the first electric rotary tables, one mounting plate is fixedly arranged at the rear side edge of the top of the base, the other mounting plate is fixedly arranged on the electric slide rail, a first electric telescopic arm is fixedly arranged at the top of the first electric rotary table, a second electric telescopic arm is arranged at the top of the first electric telescopic arm, a second electric rotary table is fixedly arranged between the second electric telescopic arm and the first electric telescopic arm, a third electric rotary table is fixedly arranged at one end of the second electric telescopic arm, a connecting rod is fixedly arranged at one side of the third electric rotary table, a scanner is fixedly arranged at the top of one connecting rod, and a fixing component is fixedly arranged at the top of the other connecting rod, the base top activity is equipped with the supporting seat, the fixed control assembly that is equipped with of base front side outer wall.

In a preferred embodiment, the fixing assembly comprises an electric clamp fixedly arranged on one of the connecting rods.

In a preferred embodiment, an insertion block is fixedly arranged at the bottom of the support seat, a jack is arranged at the center of the top of the base, and the insertion block is arranged in the jack and is inserted into the jack.

In a preferred embodiment, the control assembly comprises a single chip microcomputer, and the single chip microcomputer is fixedly arranged on the outer wall of the base.

In a preferred embodiment, the single chip microcomputer is electrically connected with the electric slide rail, the first electric rotary table, the second electric rotary table, the third electric rotary table, the scanner, the electric clamp, the first electric telescopic arm and the second electric telescopic arm through electric wires.

In a preferred embodiment, handles are fixedly arranged on two sides of the top of the base.

In a preferred embodiment, four corners of the bottom of the base are respectively and fixedly provided with a supporting leg, and the bottom of each supporting leg is fixedly provided with a universal wheel.

The utility model has the technical effects and advantages that:

1. according to the utility model, the rail is arranged on the base, the first electric telescopic arm with the scanner is arranged on the electric sliding rail through the first rotary table and the mounting plate, the electric sliding rail is started to drive the scanner to do circular motion on the base, and after the scanner completely scans the outer wall of the object, the electric clamp is controlled by the single chip microcomputer to clamp the object, so that the scanner can conveniently scan the bottom of the object, the object on the supporting seat can be conveniently scanned in all directions, and the scanning range is more comprehensive.

2. Through being provided with the singlechip on the base, control electronic slide rail, first electric turntable, second electric turntable, third electric turntable, scanner, electric anchor clamps, first electronic flexible arm and the electronic flexible arm of second through using the singlechip, do not need manual operation, labour saving and time saving controls more accurately of adjusting to can dismantle the supporting seat from the base after long-time the use, clear up the change to the supporting seat.

Drawings

Fig. 1 is a front view of the overall structure of the present invention.

Fig. 2 is a front sectional view of the overall structure of the present invention.

Fig. 3 is a top view of the overall structure of the present invention.

Fig. 4 is a rear view of the overall structure of the present invention.

Fig. 5 is a bottom view of the support base of the present invention.

The reference signs are: 1. a base; 2. an annular track; 3. an electric slide rail; 4. a first electric turntable; 5. Mounting a plate; 6. a first electric telescopic arm; 7. a second electric telescopic arm; 8. a second electric turntable; 9. a third electric turntable; 10. a connecting rod; 11. a scanner; 12. a supporting seat; 13. an electric clamp; 14. inserting a block; 15. a jack; 16. a single chip microcomputer; 17. a handle; 18. supporting legs; 19. a universal wheel.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to the attached drawings 1-5 in the specification, the manipulator for reverse engineering scanning path planning in this embodiment includes a base 1, an annular rail 2 is disposed on the top of the base 1, an electric slide rail 3 is fixedly disposed in the annular rail 2, a scanner 11 is driven by the electric slide rail 3 to perform circular motion on the base 1, so that scanning is more comprehensive, two first electric rotary tables 4 are disposed on the base 1, mounting plates 5 are fixedly disposed at the bottoms of the first electric rotary tables 4, one of the mounting plates 5 is fixedly disposed at the rear side edge of the top of the base 1, the other mounting plate 5 is fixedly disposed on the electric slide rail 3, a first electric telescopic arm 6 is fixedly disposed on the top of the first electric rotary table 4, a second electric telescopic arm 7 is disposed on the top of the first electric telescopic arm 6, a second electric rotary table 8 is fixedly disposed between the second electric telescopic arm 7 and the first electric telescopic arm 6, the fixed third electric turntable 9 that is equipped with of 7 one end of electronic flexible arm of second, the fixed connecting rod 10 that is equipped with in 9 one side of third electric turntable, the fixed scanner 11 that is equipped with in 10 tops of one of them connecting rod, the fixed subassembly that is equipped with in 10 tops of another connecting rod, the activity of 1 top of base is equipped with supporting seat 12, the fixed control assembly that is equipped with of 1 front side outer wall of base.

Further, the fixed subassembly includes electric clamp 13, electric clamp 13 is fixed to be established on one of them connecting rod 10, presss from both sides the material object through electric clamp 13, makes things convenient for scanner 11 to scan the bottom in material object, makes the scanning more comprehensive.

The implementation scenario is specifically as follows: when the device is used, the whole device is pushed to move to a specified position, then the insertion block 14 on the supporting seat 12 is aligned with the insertion hole 15 on the base 1 to be inserted, then a scanned object is placed on the supporting seat 12, the scanner 11 is controlled by the single chip microcomputer 16 to be scanned, the single chip microcomputer 16 controls the electric slide rail 3 to move in the annular track 2 on the base 1 to drive the scanner 11 to do circular motion on the base 1, the rotation angle of the scanner 11 can be adjusted through the first electric turntable 4 arranged on the mounting plate 5, the height and the position of the scanner 11 can be adjusted through the first electric telescopic arm 6 and the second electric telescopic arm 7, the inclination angle of the scanner 11 can be adjusted through the second electric turntable 8 between the first electric telescopic arm 6 and the second electric telescopic arm 7, and the overturning angle of the scanner 11 can be adjusted through the third electric turntable 9 between the connecting rod 10 and the second electric telescopic arm 7, make scanner 11 can carry out 180 degrees rotations, conveniently scan the bottom in kind, and through be provided with another a set of first electric turntable 4 in base 1 rear side, second electric turntable 8, third electric turntable 9, first electric telescopic arm 6 and second electric telescopic arm 7, be used for driving electric clamp 13 and remove, after scanner 11 accomplishes the whole scans of outer wall in kind, clip the kind through electric clamp 13 and lift up from supporting seat 12, make things convenient for scanner 11 to scan the bottom in kind, more comprehensive of scanning, carefully, the model of making like this is more accurate.

Referring to the attached drawings 1-5 in the specification, the manipulator for reverse engineering scanning path planning in the embodiment comprises a single chip microcomputer 16, wherein the single chip microcomputer 16 is fixedly arranged on the outer wall of a base 1 and is controlled by the single chip microcomputer 16, manual operation is not needed, time and labor are saved, and working efficiency is improved.

Further, the single chip microcomputer 16 is electrically connected with the electric slide rail 3, the first electric turntable 4, the second electric turntable 8, the third electric turntable 9, the scanner 11, the electric clamp 13, the first electric telescopic arm 6 and the second electric telescopic arm 7 through electric wires.

The implementation scenario is specifically as follows: after installing supporting seat 12 and putting the material object of treating the scanning, the staff can use singlechip 16 on the base 1 to control, through the function of singlechip 16 control electric slide rail 3, first electric turntable 4, second electric turntable 8, third electric turntable 9, scanner 11, electric fixture 13, first electric flexible arm 6 and the electric flexible arm 7 of second, do not need the manual work to operate, and the operation is simpler, improves work efficiency greatly.

Referring to the attached fig. 2 and 5 in the specification, in the manipulator for reverse engineering scanning path planning according to the embodiment, the bottom of the supporting seat 12 is fixedly provided with the insertion block 14, the center of the top of the base 1 is provided with the insertion hole 15, and the insertion block 14 is arranged in the insertion hole 15 and is inserted into the insertion hole 15, so that the supporting seat 12 is conveniently detached from the base 1, and is cleaned and replaced.

Further, base 1 top both sides all are fixed and are equipped with handle 17, make things convenient for the staff to grasp handle 17 and promote whole device and remove.

Furthermore, all fixed supporting legs 18 that are equipped with in base 1 bottom four corners, the fixed universal wheel 19 that is equipped with in supporting leg 18 bottom conveniently removes whole device, is convenient for adjust the position of whole device.

The implementation scenario is specifically as follows: during the use, the staff grasps handle 17 on the base 1 earlier, promote whole device and remove behind the appointed position, then aim at jack 15 on the base 1 with the inserted block 14 of supporting seat 12 bottom and insert, just can put the real object of waiting to scan on supporting seat 12 at last and scan, after the scanning work was accomplished, the staff holds the inserted block 14 with supporting seat 12 bottom and extracts from jack 15 of supporting seat 12, clear up the surface of supporting seat 12, keep the cleanness on supporting seat 12 surface, make the real object more level and more smooth when placing, be convenient for scan.

The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;

secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the utility model, only the structures related to the disclosed embodiments are referred to, other structures can refer to common designs, and the same embodiment and different embodiments of the utility model can be combined with each other without conflict;

and finally: the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present invention are intended to be included in the scope of the present invention.

Claims

1. A manipulator for reverse engineering scan path planning, comprising a base (1), characterized in that: an annular track (2) is arranged at the top of the base (1), an electric sliding rail (3) is fixedly arranged in the annular track (2), two first electric rotating discs (4) are arranged on the base (1), mounting plates (5) are fixedly arranged at the bottoms of the first electric rotating discs (4), one mounting plate (5) is fixedly arranged at the edge of the rear side of the top of the base (1), the other mounting plate (5) is fixedly arranged on the electric sliding rail (3), a first electric telescopic arm (6) is fixedly arranged at the top of each first electric rotating disc (4), a second electric telescopic arm (7) is arranged at the top of each first electric telescopic arm (6), a second electric rotating disc (8) is fixedly arranged between each second electric telescopic arm (7) and each first electric telescopic arm (6), a third electric rotating disc (9) is fixedly arranged at one end of each second electric telescopic arm (7), third electric turntable (9) one side is fixed and is equipped with connecting rod (10), and one of them connecting rod (10) top is fixed and is equipped with scanner (11), and another connecting rod (10) top is fixed and is equipped with fixed subassembly, base (1) top activity is equipped with supporting seat (12), base (1) front side outer wall is fixed and is equipped with control assembly.

2. A robot for reverse engineering scan path planning according to claim 1, wherein: the fixing assembly comprises an electric clamp (13), and the electric clamp (13) is fixedly arranged on one connecting rod (10).

3. A robot for reverse engineering scan path planning according to claim 1, wherein: the supporting seat is characterized in that an inserting block (14) is fixedly arranged at the bottom of the supporting seat (12), an inserting hole (15) is formed in the center of the top of the base (1), and the inserting block (14) is arranged in the inserting hole (15) and is connected with the inserting hole (15) in an inserting mode.

4. A robot for reverse engineering scan path planning according to claim 1, wherein: the control assembly comprises a single chip microcomputer (16), and the single chip microcomputer (16) is fixedly arranged on the outer wall of the base (1).

5. A manipulator for reverse engineering scan path planning according to claim 4, wherein: the single chip microcomputer (16) is electrically connected with the electric sliding rail (3), the first electric rotating disc (4), the second electric rotating disc (8), the third electric rotating disc (9), the scanner (11), the electric clamp (13), the first electric telescopic arm (6) and the second electric telescopic arm (7) through electric wires.

6. A robot for reverse engineering scan path planning according to claim 1, wherein: handles (17) are fixedly arranged on two sides of the top of the base (1).

7. A robot for reverse engineering scan path planning according to claim 1, wherein: supporting legs (18) are fixedly arranged at four corners of the bottom of the base (1), and universal wheels (19) are fixedly arranged at the bottoms of the supporting legs (18).