Intelligent scanner positioning system

Abstract

The utility model belongs to scanner field belongs to intelligent scanner positioning system, the utility model discloses a rotating base, first rotary joint, first connecting branch, second rotary joint, second connecting branch, third rotary joint, fourth rotary joint, fifth rotary joint, clamping part and scanner, the rotating base is installed with first rotary joint, and first rotary joint is connected with second rotary joint through first connecting branch, and second rotary joint is connected with third rotary joint through second connecting branch, and third rotary joint is connected with fifth rotary joint through fourth rotary joint, and fifth rotary joint is connected with scanner through clamping part. The utility model research and development purpose is to solve the problem of the prior art in dependence on manual, low efficiency, poor stability, influence production continuity, eliminate the positioning deviation caused by the operation experience deficiency, and the scanning success rate is improved significantly.

Description

Technical Field

[0001] This utility model relates to an intelligent scanner positioning system and belongs to the field of scanners. Background Technology

[0002] In modern production lines, scanners such as laser scanners, vision sensors, and distance sensors are widely used in material identification, quality inspection, dimensional measurement, and data acquisition. Traditional scanner installation methods typically employ fixed brackets or simple adjustable brackets. While fixed brackets offer structural stability, once installed, their scanning area and angle are limited, making them unsuitable for objects of varying sizes, shapes, or positions, resulting in extremely poor flexibility. Simple adjustable brackets, although allowing operators to manually adjust the scanner's angle and position, have significant drawbacks. Accurately positioning the scanning area requires experienced operators to repeatedly adjust manually based on the specific object and scanning requirements. Novice operators often struggle to achieve quick and accurate positioning. Manual adjustment is time-consuming, especially on production lines requiring frequent changes in scanning objects or adjustments to scanning strategies, severely impacting production cycle time and overall efficiency. Furthermore, manual adjustment is susceptible to subjective factors; improper adjustments, such as angle deviations or unsuitable distances, can increase scanning failure rates, hindering the acquisition of stable and effective data. Frequent manual intervention also disrupts the continuity of automated processes, increasing downtime and extending production cycles. The inability to achieve real-time, automatic positioning and scanning when an object arrives at the scanning area limits the level of intelligence in the production line.

[0003] Although some scanner holders with simple rotation or pitch functions exist in the existing technology, their adjustment freedom is limited, their positioning accuracy and flexibility are insufficient, and they usually still require manual preset or intervention, which fails to fundamentally solve the above problems. In particular, they are difficult to meet the requirements of high-precision, high-efficiency, and highly flexible automated production lines for intelligent, fast, and adaptive positioning of scanners.

[0004] Therefore, there is an urgent need for an intelligent scanner positioning system that is structurally sound, intelligently controlled, flexibly adjustable, and can automatically adapt to the object being scanned, in order to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to solve the problems of reliance on manual labor, low efficiency, poor stability, and impact on production continuity in existing technologies. A brief overview of this invention is provided below to offer a basic understanding of certain aspects of it. It should be understood that this overview is not an exhaustive summary of this invention. It is not intended to identify key or essential parts of this invention, nor is it intended to limit its scope.

[0006] The technical solution of this utility model:

[0007] The intelligent scanner positioning system includes a rotating base, a first rotating joint, a first connecting arm, a second rotating joint, a second connecting arm, a third rotating joint, a fourth rotating joint, a fifth rotating joint, a clamping part, and a scanner. The first rotating joint is mounted on the rotating base. The first rotating joint is connected to the second rotating joint through the first connecting arm. The second rotating joint is connected to the third rotating joint through the second connecting arm. The third rotating joint is connected to the fifth rotating joint through the fourth rotating joint. The fifth rotating joint is connected to the scanner through the clamping part.

[0008] Preferably, the scanner is a laser scanning sensor, a vision sensor, or a distance sensor.

[0009] Preferably, the clamping part includes a clamping housing, a telescopic motor, a telescopic rack, a first clamping part, a second clamping part, and a fixed rack. The telescopic motor is installed inside the clamping housing, and the telescopic rack is installed at the output end of the telescopic motor. Fixed racks are fixedly installed on the inner walls of both sides of the bottom of the clamping housing. One end of the first clamping part and the second clamping part extends into the clamping housing and is rotatably installed inside the clamping housing. The left and right side walls of the first clamping part and the second clamping part are provided with arc-shaped teeth. The telescopic rack is disposed between the first clamping part and the second clamping part, and the adjacent side walls of the first clamping part and the second clamping part are engaged with the telescopic rack through the arc-shaped tooth structure. The other two side walls of the first clamping part and the second clamping part are also engaged with the fixed racks on both sides of the bottom of the clamping housing through the arc-shaped tooth structure.

[0010] Preferably, the first rotary joint, the second rotary joint, the third rotary joint, the fourth rotary joint, and the fifth rotary joint are all electrically operated rotary joint mechanisms.

[0011] Preferably, the electric rotary joint mechanism includes a fixed housing, a rotary motor, and a rotating part. The rotary motor is fixedly installed inside the fixed housing, and the rotating part is rotatably installed at the end of the fixed housing. The output end of the rotary motor is connected to the rotating part.

[0012] Preferably, the rotating base includes a base, a motor, and a rotating platform. The motor is fixedly installed inside the base, and the rotating platform is rotatably installed on the top of the base. The rotating platform is connected to the output end of the motor.

[0013] This utility model has the following beneficial effects:

[0014] 1. This utility model utilizes a tandem robotic arm structure consisting of a rotating base and five electrically operated rotating joints to achieve flexible 6-DOF adjustment of the scanner in three-dimensional space. The system can dynamically track the object's position, automatically calculate the optimal scanning angle, completely replace manual adjustment, eliminate positioning deviations caused by insufficient operating experience, and significantly improve the scanning success rate;

[0015] 2. The clamping part of this utility model adopts a gear and rack linkage mechanism. The telescopic motor drives the telescopic rack, which in turn links the arc-shaped tooth structure of the first and second clamping parts, causing them to open and close synchronously. Combined with the constraint of the fixed rack, a self-locking stable clamping is achieved. This structure is compatible with various scanning devices such as laser scanners, vision sensors, and distance sensors. No adjustment of the mechanical structure is required when replacing them, greatly improving the versatility of the equipment.

[0016] 3. All rotating joints and rotating bases of this invention adopt an integrated electric structure, with the rotating motor directly driving the rotating part, abandoning the traditional hydraulic / pneumatic solution and improving the response speed to the millisecond level. Combined with the assembly line sensing signal, the system can complete the angle adjustment the instant the object enters the scanning area, realizing zero-interval continuous scanning and significantly improving production line efficiency;

[0017] 4. This utility model has a self-calibration function to avoid the accumulation of mechanical errors; at the same time, it automatically optimizes the scanning distance and focal length to solve the problem of scanning failure caused by object deformation or positional shift, thereby reducing the overall failure rate of the equipment. Attached Figure Description

[0018] Figure 1 This is a 3D diagram of an intelligent scanner positioning system;

[0019] Figure 2 This is an installation diagram for the intelligent scanner positioning system;

[0020] Figure 3 This is a schematic diagram of the structure of the rotating base of this utility model;

[0021] Figure 4 This is a schematic diagram of the clamping part of this utility model.

[0022] In the diagram: 1-Rotating base, 2-First rotating joint, 3-First connecting arm, 4-Second rotating joint, 5-Second connecting arm, 6-Third rotating joint, 7-Fourth rotating joint, 8-Fifth rotating joint, 9-Clamping part, 10-Scanner, 11-Base, 12-Motor, 13-Rotating table, 91-Clamping housing, 92-Telescopic motor, 93-Telescopic rack, 94-First clamping part, 95-Second clamping part, 96-Fixed rack, 101-Fixed housing, 102-Rotating motor, 103-Rotating part. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the present utility model. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the present utility model.

[0024] The connections mentioned in this utility model are divided into fixed connections and detachable connections. Fixed connections, also known as non-detachable connections, include but are not limited to conventional fixed connection methods such as folded connections, riveted connections, adhesive connections, and welded connections. Detachable connections include but are not limited to conventional disassembly methods such as threaded connections, snap-fit ​​connections, pin connections, and hinged connections. When a specific connection method is not explicitly defined, it is assumed that at least one existing connection method can always be found to achieve the function, and those skilled in the art can choose according to their needs. For example, a welded connection can be chosen for fixed connections, and a hinged connection can be chosen for detachable connections.

[0025] Specific implementation method one: Combining Figures 1-4 This embodiment describes an intelligent scanner positioning system, which includes a rotating base 1, a first rotating joint 2, a first connecting arm 3, a second rotating joint 4, a second connecting arm 5, a third rotating joint 6, a fourth rotating joint 7, a fifth rotating joint 8, a clamping part 9, and a scanner 10. The first rotating joint 2 is mounted on the rotating base 1. The first rotating joint 2 is connected to the second rotating joint 4 via the first connecting arm 3. The second rotating joint 4 is connected to the third rotating joint 6 via the second connecting arm 5. The third rotating joint 6 is connected to the fifth rotating joint 8 via the fourth rotating joint 7. The fifth rotating joint 8 is connected to the scanner 10 via the clamping part 9.

[0026] The scanner 10 is a laser scanning sensor, a vision sensor, or a distance sensor.

[0027] The first rotary joint 2, the second rotary joint 4, the third rotary joint 6, the fourth rotary joint 7, and the fifth rotary joint 8 are all electrically operated rotary joint mechanisms.

[0028] The ESP32 control chip is electrically connected to the rotating base 1, the first rotating joint 2, the second rotating joint 4, the third rotating joint 6, the fourth rotating joint 7, the fifth rotating joint 8, the clamping part 9, and the scanner 10.

[0029] The electric rotary joint mechanism includes a fixed housing 101, a rotary motor 102, and a rotating part 103. The rotary motor 102 is fixedly installed inside the fixed housing 101, and the rotating part 103 is rotatably installed at the end of the fixed housing 101. The output end of the rotary motor 102 is connected to the rotating part 103. When the rotary motor 102 is energized, it outputs torque, which directly drives the rotating part 103, which is fixedly connected to its output end, to rotate. The rotating part 103 drives the first connecting arm 3 to swing. The remaining second rotary joint 4, third rotary joint 6, fourth rotary joint 7, and fifth rotary joint 8 all operate independently according to this principle.

[0030] The rotating base 1 includes a base 11, a motor 12, and a rotating platform 13. The motor 12 is fixedly installed inside the base 11, and the rotating platform 13 is rotatably installed on the top of the base 11. The rotating platform 13 is connected to the output end of the motor 12. The rotating base 1 is fixed to the production line table, and the motor 12 inside drives the rotating platform 13 on the top to rotate 360° horizontally.

[0031] The clamping part 9 includes a clamping housing 91, a telescopic motor 92, a telescopic rack 93, a first clamping part 94, a second clamping part 95, and a fixed rack 96. The telescopic motor 92 is installed inside the clamping housing 91, and the telescopic rack 93 is installed at the output end of the telescopic motor 92. Fixed racks 96 are fixedly installed on the inner walls of both sides of the bottom of the clamping housing 91. One end of the first clamping part 94 and the second clamping part 95 extends into the clamping housing 91 and is rotatably installed inside the clamping housing 91. The left and right side walls of the first clamping part 94 and the second clamping part 95 are provided with arc-shaped teeth. The telescopic rack 93 is disposed between the first clamping part 94 and the second clamping part 95, and the adjacent side walls of the first clamping part 94 and the second clamping part 95 are engaged with the telescopic rack 93 through the arc-shaped tooth structure. The other two side walls of the first clamping part 94 and the second clamping part 95 are also engaged with the fixed racks 96 on both sides of the bottom of the clamping housing 91 through the arc-shaped tooth structure.

[0032] The telescopic motor 92 drives the telescopic rack 93 to move along the axis, causing the arc-shaped teeth on both sides of the telescopic rack 93 to synchronously push the adjacent arc-shaped teeth of the first clamping part 94 and the second clamping part 95. The first clamping part 94 and the second clamping part 95 rotate around the rotating shaft inside the clamping housing 91, and their outer arc-shaped teeth roll along the fixed rack 96, realizing the symmetrical opening and closing of the grippers. When replacing the scanner, the telescopic motor 92 reverses to open the grippers, and after the new equipment is placed in, it rotates forward to lock them.

[0033] The fixed housing 101 of the first rotary joint 2 is vertically mounted on the rotary table 13 by bolts, and its rotating part 103 is connected to one end of the first connecting arm 3; the fixed housing 101 of the second rotary joint 4 is fixed to the other end of the first connecting arm 3, and its rotating part 103 is connected to one end of the second connecting arm 5 to realize pitch adjustment; the fixed housing 101 of the third rotary joint 6 is fixed to the other end of the second connecting arm 5, and its rotating part 103 is directly connected to the fixed housing 101 of the fourth rotary joint 7; the rotating part 103 of the fourth rotary joint 7 is fixedly connected to the fixed housing 101 of the fifth rotary joint 8, and the rotating part 103 of the fifth rotary joint 8 is connected to the clamping housing 91 of the clamping part 9; the scanner 10 is locked and fixed by the first clamping part 94 and the second clamping part 95 of the clamping part 9.

[0034] In the intelligent scanner positioning system of this embodiment, when the scanner 10 is a laser scanning sensor, the workflow is as follows:

[0035] S1, Initial Positioning: After power-on, the ESP32 control chip starts the rotation motors 102 of the first rotation joint 2, the second rotation joint 4, the third rotation joint 6, the fourth rotation joint 7 and the fifth rotation joint 8, driving the scanner 10 to reset to the initial position.

[0036] S2, Object Detection: When the conveyor belt transports materials into the scanning area, the image module in the scanning area identifies the object's outline and position.

[0037] S3, Dynamic posture adjustment: ESP32 calculates the three-dimensional coordinates of the object and generates the target angle parameters of the first rotary joint 2, the second rotary joint 4, the third rotary joint 6, the fourth rotary joint 7 and the fifth rotary joint 8 and the rotating base 1. The rotary motors 102 of each joint are adjusted synchronously, driving the scanner 10 to move to the optimal posture facing the center of the object. The fourth rotary joint 7 is used for horizontal fine adjustment, and the fifth rotary joint 8 compensates for the pitch angle.

[0038] S4, Precision Scanning: The dynamic zoom laser system automatically adjusts the focal length, and the scanner 10 emits a laser to complete data acquisition;

[0039] S5, Data Feedback: The scan results are uploaded to the server via the WiFi module, while each joint returns to the standby position to wait for the next object.

[0040] The rotating base 1 provides horizontal rotational freedom, expanding the scanning coverage radius; the first rotating joint 2, the second rotating joint 4, the first connecting arm 3, and the second connecting arm 5 constitute the main positioning arm, realizing large-range spatial positioning.

[0041] The third rotational joint 6, the fourth rotational joint 7, and the fifth rotational joint 8 form a fine-tuning wrist to compensate for object position deviations.

[0042] The gear self-locking mechanism of the clamping part 9 ensures that the scanner 10 does not vibrate or deviate when moving at high speed.

[0043] It should be noted that the scanner 10 can be replaced by a vision sensor, such as an industrial camera, in which case the image module synchronously triggers the taking of pictures; or it can be replaced by a distance sensor, which dynamically controls the scanning height through the distance measurement value. The motors 102 of each rotating joint can also be stepper motors or servo motors, all of which fall within the protection scope of this utility model.

[0044] It should be noted that in the above embodiments, as long as the technical solutions are not contradictory, they can be arranged and combined. Those skilled in the art can exhaust all possibilities based on the mathematical knowledge of permutation and combination. Therefore, this utility model will not describe the technical solutions after permutation and combination one by one, but it should be understood that the technical solutions after permutation and combination have been disclosed by this utility model.

[0045] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An intelligent scanner positioning system, characterized by: The device includes a rotating base (1), a first rotating joint (2), a first connecting arm (3), a second rotating joint (4), a second connecting arm (5), a third rotating joint (6), a fourth rotating joint (7), a fifth rotating joint (8), a clamping part (9), and a scanner (10). The first rotating joint (2) is mounted on the rotating base (1). The first rotating joint (2) is connected to the second rotating joint (4) through the first connecting arm (3). The second rotating joint (4) is connected to the third rotating joint (6) through the second connecting arm (5). The third rotating joint (6) is connected to the fifth rotating joint (8) through the fourth rotating joint (7). The fifth rotating joint (8) is connected to the scanner (10) through the clamping part (9).

2. The intelligent scanner positioning system of claim 1, wherein: The scanner (10) is a laser scanning sensor, a vision sensor, or a distance sensor.

3. The intelligent scanner positioning system of claim 1, wherein: The clamping part (9) includes a clamping housing (91), a telescopic motor (92), a telescopic rack (93), a first clamping part (94), a second clamping part (95), and a fixed rack (96). The telescopic motor (92) is installed inside the clamping housing (91), and the telescopic rack (93) is installed at the output end of the telescopic motor (92). Fixed racks (96) are fixedly installed on the inner walls of both sides of the bottom of the clamping housing (91). One end of the first clamping part (94) and the second clamping part (95) extends into the clamping housing (91) and is rotatably mounted on the inside. Inside the clamping housing (91), the left and right side walls of the first clamping part (94) and the second clamping part (95) are provided with arc-shaped teeth. The telescopic rack (93) is disposed between the first clamping part (94) and the second clamping part (95). The adjacent side walls of the first clamping part (94) and the second clamping part (95) are engaged with the telescopic rack (93) through the arc-shaped tooth structure. The other side walls of the first clamping part (94) and the second clamping part (95) are also engaged with the fixed racks (96) on both sides of the bottom of the clamping housing (91) through the arc-shaped tooth structure.

4. The intelligent scanner positioning system of claim 1, wherein: The first rotary joint (2), the second rotary joint (4), the third rotary joint (6), the fourth rotary joint (7) and the fifth rotary joint (8) are all electric rotary joint mechanisms.

5. The intelligent scanner positioning system of claim 4, wherein: The electric rotary joint mechanism includes a fixed housing (101), a rotary motor (102), and a rotating part (103). The rotary motor (102) is fixedly installed inside the fixed housing (101), and the rotating part (103) is rotatably installed at the end of the fixed housing (101). The output end of the rotary motor (102) is connected to the rotating part (103).

6. The intelligent scanner positioning system of claim 1, wherein: The rotating base (1) includes a base (11), a motor (12) and a rotating platform (13). The motor (12) is fixedly installed inside the base (11), and the rotating platform (13) is rotatably installed on the top of the base (11). The rotating platform (13) is connected to the output end of the motor (12).

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