CN216098947U - Industrial robot equipped with three-dimensional scanner - Google Patents
Industrial robot equipped with three-dimensional scanner Download PDFInfo
- Publication number
- CN216098947U CN216098947U CN202121851669.3U CN202121851669U CN216098947U CN 216098947 U CN216098947 U CN 216098947U CN 202121851669 U CN202121851669 U CN 202121851669U CN 216098947 U CN216098947 U CN 216098947U
- Authority
- CN
- China
- Prior art keywords
- dimensional scanner
- movable part
- industrial robot
- shaft lever
- manipulator
- 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
Images
Abstract
The utility model provides an industrial robot with a three-dimensional scanner, which comprises a manipulator and a clamp, wherein the manipulator is provided with a working tail end capable of moving in six axes, the industrial robot also comprises an adjusting component, the adjusting component comprises a fixed part, a movable part and limiting parts, the fixed part is arranged on the working tail end, one side of the fixed part, which is far away from the working tail end, is provided with at least two limiting parts, the movable part is movably connected with the fixed part and is positioned between the two limiting parts, the movable part can move between the two limiting parts which are farthest away from each other relative to the fixed part, the moving direction of the movable part is parallel to the scanning direction of the three-dimensional scanner, and the clamp is arranged on the movable part; set up adjusting part between the work end of manipulator and anchor clamps, improved the moving range of scanner by a wide margin, and can just realize finely tuning the removal orbit of scanner through adjusting part, and need not to drive the six-axis of manipulator and remove and realize, improved the adaptability and the work efficiency of the way point planning of manipulator.
Description
Technical Field
The utility model relates to the technical field of industrial robots, in particular to an industrial robot with a three-dimensional scanner.
Background
With the improvement of the automation degree of manufacturers in China, the production line of the manufacturing industry tends to be personalized, and a novel automatic scanning detection mode is provided at present, wherein an industrial mechanical arm clamps a three-dimensional scanner, the three-dimensional scanner is driven to scan a workpiece by the movement of the industrial mechanical arm, and then a scanned point cloud file and a data model of the workpiece are compared to obtain a detection comparison result.
In the conventional industrial mechanical arm clamping scanner, an industrial mechanical arm capable of moving in six axes clamps a three-dimensional scanner through a metal clamp, and then the path of the scanner is controlled by the tail end of the mechanical arm, so that the workpiece can be scanned. However, as the size of the workpiece increases, the scanning stroke increases, and only a larger industrial robot arm can be selected to fit, which increases the cost of the enterprise.
Meanwhile, the six-axis movement speed of the industrial mechanical arm is very slow, so that the beat of scanning is often influenced in the setting of the automatically scanned waypoints, only one simple linear movement is needed sometimes, but the mechanical arm needs the cooperation of six axes to achieve the effect of linear movement, the workload of waypoint setting is increased, and the working efficiency is greatly reduced.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides an industrial robot equipped with a three-dimensional scanner, which can expand a scanning range and improve adaptability and working efficiency of a way point planning of a manipulator.
The technical scheme of the utility model is realized as follows: the utility model provides an industrial robot with a three-dimensional scanner, which comprises a manipulator and a clamp for arranging the three-dimensional scanner on the manipulator, wherein the manipulator is provided with a working tail end capable of moving in six axes, the clamp is arranged on the working tail end, the industrial robot further comprises an adjusting assembly, the adjusting assembly comprises a fixing part, a movable part and limiting parts, the fixing part is arranged on the working tail end, one side of the fixing part, which is far away from the working tail end, is provided with at least two limiting parts, the movable part is movably connected with the fixing part and is positioned between the two limiting parts, the movable part can move between the two limiting parts which are farthest away from each other relative to the fixing part, the moving direction of the movable part is parallel to the scanning direction of the three-dimensional scanner, and the clamp is arranged on the movable part.
On the basis of above technical scheme, preferred, adjusting part includes the axostylus axostyle, and the locating part is connected respectively to the extension of movable part moving direction in axostylus axostyle both ends, sets up the movable part on the axostylus axostyle.
Still further preferably, still include actuating mechanism, the axostylus axostyle is the threaded rod, and the axostylus axostyle both ends all are connected with the locating part hub connection, axostylus axostyle and movable part threaded connection, and one of them one end of axostylus axostyle runs through the locating part and outwards extends, and actuating mechanism sets up on the fixed part and is close to the axostylus axostyle and runs through the one end of locating part, and actuating mechanism has output and output connection axostylus axostyle and runs through the one end of locating part.
Still further preferably, the drive mechanism is a stepper motor.
Still further preferably, the adjusting assembly further comprises a guide rail, the guide rail is disposed between the two limiting members, the guide rail is slidably connected with the movable portion, and the guide rail and the shaft rod extend in the same direction.
In addition to the above technical solution, it is preferable that the fixing device further includes a rotating mechanism disposed between the working end and the fixing portion, so that the fixing portion can rotate axially relative to the working end.
On the basis of the above technical solution, preferably, the detection device further includes a detection assembly, the detection assembly includes a transmitter and a receiver, the transmitter is disposed on one of the position limiting members along the moving direction of the movable portion, the receiver is disposed on the movable portion, and the receiver receives a signal sent by the transmitter and detects a spacing distance between the receiver and the transmitter.
Compared with the prior art, the industrial robot provided with the three-dimensional scanner has the following beneficial effects:
according to the utility model, the adjusting component is arranged between the working tail end of the manipulator and the clamp, so that the movable part can drive the clamp to move in the range between the two limiting parts, the moving direction of the movable part is parallel to the scanning direction of the scanner, the moving range of the scanner is greatly improved, the fine adjustment of the moving track of the scanner can be realized through the adjusting component without driving the six-axis movement of the manipulator, and the adaptability and the working efficiency of the path point planning of the manipulator are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a perspective view of an industrial robot equipped with a hand-held three-dimensional scanner according to the present invention;
fig. 2 is a perspective view of an industrial robot equipped with a spherical three-dimensional scanner according to the present invention;
FIG. 3 is a perspective view of the adjustment assembly of the present invention;
FIG. 4 is a perspective view of an alternative perspective of the adjustment assembly of the present invention;
FIG. 5 is a side cross-sectional view of the adjustment assembly of the present invention.
In the figure: 1. a manipulator; 11. a working end; 2. a clamp; 3. an adjustment assembly; 31. a fixed part; 32. a movable portion; 33. a limiting member; 34. a shaft lever; 35. a guide rail; 4. a drive mechanism; 5. a rotation mechanism; 6. a detection component; 61. a transmitter; 62. a receiver.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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 obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Referring to fig. 1 and fig. 2, an industrial robot equipped with a three-dimensional scanner according to the present invention includes a robot 1 and a jig 2 for mounting the three-dimensional scanner on the robot 1, wherein the robot 1 has a working end 11 capable of six-axis movement, the jig 2 is mounted on the working end 11, and further includes an adjustment assembly 3, a driving mechanism 4, a rotating mechanism 5, and a detection assembly 6.
Most of the robots 1 have a function of six-axis movement, and the six-axis movement means that the working end 11 of the robot 1 can move freely in a three-phase coordinate system.
The adjusting assembly 3 includes a fixing portion 31, a movable portion 32 and limiting members 33, the fixing portion 31 is disposed on the working end 11, one side of the fixing portion 31 away from the working end 11 is provided with at least two limiting members 33, the movable portion 32 is movably connected with the fixing portion 31 and located between two of the limiting members 33, the movable portion 32 can move between the two limiting members 33 which are farthest away from each other relative to the fixing portion 31, a moving direction of the movable portion 32 is parallel to a scanning direction of the three-dimensional scanner, and the movable portion 32 is provided with the fixture 2.
When the technical scheme is adopted, in the actual operation engineering, firstly, the working tail end 11 of the mechanical arm 1 drives the three-dimensional scanner to move by a large amplitude to enable the three-dimensional scanner to approach a scanning area, and then the movable part 32 of the adjusting component 3 drives the three-dimensional scanner to move by a small amplitude, so that the three-dimensional scanner can be aligned to a scanning track or a scanning waypoint.
In addition, the adjusting component 3 can also improve the scanning efficiency of the three-dimensional scanner, because the current three-dimensional scanner is driven by the manipulator 1 to move when scanning, and even if the scanning track of the very simple linear movement is completed, the manipulator 1 needs to consume a large amount of time to complete the scanning. At the same time, the adjustment assembly 3 enables the three-dimensional scanner to move relative to the working end 11 of the robot 1, thereby phase-changing and expanding the scanning range of the scanner.
Specifically, the present invention is realized by the following means.
As shown in fig. 1 and fig. 5, the adjusting assembly 3 includes a shaft 34, two ends of the shaft 34 extend along the moving direction of the movable portion 32 and are respectively connected to the limiting members 33, and the movable portion 32 is disposed on the shaft 34.
The shaft lever 34 is a threaded rod, two ends of the shaft lever 34 are connected with the limiting piece 33 through shafts, the shaft lever 34 is connected with the movable portion 32 through threads, one end of the shaft lever 34 penetrates through the limiting piece 33 and extends outwards, the driving mechanism 4 is arranged on the fixed portion 31 and is close to one end, through which the shaft lever 34 penetrates through the limiting piece 33, the driving mechanism 4 is provided with an output end, and the output end is connected with one end, through which the shaft lever 34 penetrates through the limiting piece 33; the driving mechanism 4 drives the shaft 34 to rotate, so that the movable portion 32 can move along the shaft 34. Preferably, the drive mechanism 4 is a stepper motor, which helps to control the distance of a single movement of the movable portion 32.
As an alternative embodiment, the adjusting assembly 3 further includes a guide rail 35, the guide rail 35 is disposed between the two limiting members 33, the guide rail 35 is slidably connected to the movable portion 32, and the guide rail 35 and the shaft 34 extend in the same direction, so as to guide the movable portion 32 to move and prevent the movable portion 32 from rotating along with the shaft 34.
In order to further increase the flexibility of the device, the utility model envisages a second embodiment.
As shown in fig. 1, in conjunction with fig. 3, the rotating mechanism 5 is provided between the working tip 11 and the fixed portion 31, and enables the fixed portion 31 to rotate axially with respect to the working tip 11, thereby expanding the moving range of the movable portion 32.
In order to improve the accuracy of the movement of the movable portion 32, the present invention designs a third embodiment.
As shown in fig. 1 and in conjunction with fig. 4, the detecting assembly 6 includes a transmitter 61 and a receiver 62, the transmitter 61 is disposed on one of the position-limiting members 33 along the moving direction of the movable portion 32, the receiver 62 is disposed on the movable portion 32, and the receiver 62 receives a signal transmitted by the transmitter 61 and detects a distance between the receiver 62 and the transmitter 61, so as to accurately control the moving distance of the movable portion 32, and thus accurately control the moving track of the three-dimensional scanner.
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 fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. An industrial robot equipped with a three-dimensional scanner, comprising a manipulator (1) and a jig (2) for setting the three-dimensional scanner on the manipulator (1), the manipulator (1) having a working end (11) which is movable in six axes, the jig (2) being set on the working end (11), characterized in that: still include adjusting part (3), adjusting part (3) include fixed part (31), movable part (32) and locating part (33), fixed part (31) set up on work end (11), one side that work end (11) were kept away from in fixed part (31) sets up two at least locating parts (33), movable part (32) and fixed part (31) swing joint just are located wherein between two locating parts (33), movable part (32) can move between two locating parts (33) at a distance of the farthest for fixed part (31), movable part (32) moving direction is parallel with the scanning direction of three-dimensional scanner, set up anchor clamps (2) on movable part (32).
2. An industrial robot equipped with a three-dimensional scanner according to claim 1, characterized in that: the adjusting assembly (3) comprises a shaft lever (34), two ends of the shaft lever (34) extend along the moving direction of the movable part (32) and are respectively connected with the limiting parts (33), and the movable part (32) is arranged on the shaft lever (34).
3. An industrial robot equipped with a three-dimensional scanner according to claim 2, characterized in that: the novel electric iron core is characterized by further comprising a driving mechanism (4), the shaft lever (34) is a threaded rod, the shaft lever (34) is in threaded connection with the movable portion (32), two ends of the shaft lever (34) are connected with the limiting piece (33) in a shaft mode, one end of the shaft lever (34) penetrates through the limiting piece (33) and extends outwards, the driving mechanism (4) is arranged on the fixing portion (31) and is close to one end, penetrating through the limiting piece (33), of the shaft lever (34), and the driving mechanism (4) is provided with an output end and is connected with one end, penetrating through the limiting piece (33), of the shaft lever (34).
4. An industrial robot equipped with a three-dimensional scanner according to claim 3, characterized in that: the driving mechanism (4) is a stepping motor.
5. An industrial robot equipped with a three-dimensional scanner according to claim 3, characterized in that: the adjusting assembly (3) further comprises a guide rail (35), the guide rail (35) is arranged between the two limiting parts (33), the guide rail (35) is connected with the movable part (32) in a sliding mode, and the extending directions of the guide rail (35) and the shaft rod (34) are the same.
6. An industrial robot equipped with a three-dimensional scanner according to claim 1, characterized in that: the rotary type welding fixture is characterized by further comprising a rotary mechanism (5), wherein the rotary mechanism (5) is arranged between the working tail end (11) and the fixing portion (31) to enable the fixing portion (31) to axially rotate relative to the working tail end (11).
7. An industrial robot equipped with a three-dimensional scanner according to claim 1, characterized in that: the detection device is characterized by further comprising a detection assembly (6), wherein the detection assembly (6) comprises a transmitter (61) and a receiver (62), the transmitter (61) is arranged on one limiting part (33) along the moving direction of the movable part (32), the receiver (62) is arranged on the movable part (32), and the receiver (62) receives a signal sent by the transmitter (61) and detects the spacing distance between the receiver (62) and the transmitter (61).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121851669.3U CN216098947U (en) | 2021-08-05 | 2021-08-05 | Industrial robot equipped with three-dimensional scanner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121851669.3U CN216098947U (en) | 2021-08-05 | 2021-08-05 | Industrial robot equipped with three-dimensional scanner |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216098947U true CN216098947U (en) | 2022-03-22 |
Family
ID=80725107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121851669.3U Active CN216098947U (en) | 2021-08-05 | 2021-08-05 | Industrial robot equipped with three-dimensional scanner |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216098947U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117433448A (en) * | 2023-11-02 | 2024-01-23 | 广东亚数智能科技股份有限公司 | Manipulator for three-dimensional scanning and control method thereof |
| CN117549352A (en) * | 2023-12-05 | 2024-02-13 | 广东亚数智能科技股份有限公司 | Three-dimensional scanning manipulator for large part identification and control method thereof |
-
2021
- 2021-08-05 CN CN202121851669.3U patent/CN216098947U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117433448A (en) * | 2023-11-02 | 2024-01-23 | 广东亚数智能科技股份有限公司 | Manipulator for three-dimensional scanning and control method thereof |
| CN117433448B (en) * | 2023-11-02 | 2024-04-02 | 广东亚数智能科技股份有限公司 | Manipulator for three-dimensional scanning and control method thereof |
| CN117549352A (en) * | 2023-12-05 | 2024-02-13 | 广东亚数智能科技股份有限公司 | Three-dimensional scanning manipulator for large part identification and control method thereof |
| CN117549352B (en) * | 2023-12-05 | 2024-04-09 | 广东亚数智能科技股份有限公司 | Three-dimensional scanning manipulator for large part identification and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN216098947U (en) | Industrial robot equipped with three-dimensional scanner | |
| CN103978475B (en) | Industrial intelligent robot body | |
| CN212285746U (en) | Full-automatic riveting production line | |
| CN215846959U (en) | Multi-axis moving clamp device | |
| CN214561843U (en) | Manipulator with many specifications built-in fitting functions of location and installation | |
| CN210878365U (en) | Double-shaft positioner | |
| CN216180543U (en) | Wall slotting robot | |
| KR100504027B1 (en) | Bonding apparatus | |
| CN114906604A (en) | Double-cam driving material taking device and method | |
| CN210359960U (en) | Three-axis rectangular coordinate welding robot | |
| CN215432233U (en) | Multi freedom welding set | |
| CN216710877U (en) | Device for transferring workpiece between two stations | |
| CN110640366A (en) | Automatic change welding equipment | |
| CN210549039U (en) | Automatic welding system of manipulator | |
| CN108972105A (en) | Grooving machine tool | |
| CN210081740U (en) | Four-axis snatchs manipulator | |
| CN215941935U (en) | Driving device and processing equipment | |
| CN210005917U (en) | Electronic cam for electronic lateral movement control device | |
| KR200356822Y1 (en) | Horizontal Arm Loader | |
| CN216189115U (en) | Robot 3D vision guidance system is with manipulator positioner that joins in marriage of breaking a jam | |
| CN214978087U (en) | Automatic feed steel pipe cutting device | |
| CN217193535U (en) | Headlight hole threading welding device for automobile | |
| CN114227374B (en) | Shaft machining tool setting device and shaft machining machine tool | |
| CN220241517U (en) | Three-finger clamp holder of industrial robot | |
| CN219151842U (en) | Spot welding robot for welding |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |