Coordinate measuring device and tracking scanning system

Abstract

The utility model provides a coordinate measuring device and a tracking scanning system. The coordinate measuring device comprises a supporting base, a first support, a second support, a rotating shaft assembly and a target ball. The first support is rotatably arranged on the supporting base in the first direction; the second support is rotatably arranged on the first support in the second direction; the rotating shaft assembly is rotatably arranged on the second support in the third direction; the rotating shaft assembly is provided with a target ball and a coordinate point label. According to the utility model, under the gravity action of the rotating shaft assembly, the rotating shaft assembly vertically rotates to drive the rotating shaft assembly to rotate around the third direction and simultaneously drive the second support to rotate around the second direction, and the center of the target ball and the center of the coordinate point label are located on the same gravity vector line. In this way, the coordinate positions of the target ball and the coordinate point label are associated, and the coordinate value of the coordinate point label is always the coordinate value of the target ball which deviates downwards by a constant, so that the measurement reference is accurately and efficiently obtained.

Description

Technical Field

[0001] The utility model relates to the technical field of coordinate measuring devices, in particular to a coordinate measuring device and a tracking scanning system. Background Art

[0002] During the R&D and manufacturing process of many products, it is necessary to measure and scan large areas. For example, whole vehicle measurement and scanning is an essential task to ensure quality during the R&D and manufacturing process of the whole vehicle.

[0003] The current laser tracker can achieve single measurement work over a large range (up to tens of meters); the scanner can achieve external scanning work, but the scanning range is small and can only cover a few meters. The laser tracker and the scanner can be combined to achieve large-scale measurement scanning, but the coordinates of the two devices are not unified. In actual use, the coordinate values ​​of the coordinate measuring device need to be used for transition. The existing coordinate measuring device cannot accurately and efficiently obtain the measurement benchmark and cannot meet the measurement needs. Utility Model Content

[0004] The utility model provides a coordinate measuring device and a tracking scanning system to solve the problem that the existing coordinate measuring device cannot obtain the measuring reference accurately and efficiently.

[0005] A coordinate measuring device comprises a supporting base, a first bracket, a second bracket, a rotating shaft assembly and a target ball;

[0006] The first bracket is rotatably arranged on the support base around a first direction;

[0007] The second bracket is rotatably arranged on the first bracket around a second direction;

[0008] The rotating shaft assembly is rotatably arranged on the second bracket around a third direction;

[0009] The target ball and the coordinate point label are arranged on the rotating shaft assembly, and the center of the target ball and the center of the coordinate point label are located on the same gravity vector line.

[0010] Preferably, the support base is provided with a first connection protrusion arranged along the first direction, and the first bracket is provided with a first connection groove arranged along the first direction;

[0011] Alternatively, the support base is provided with a first connection groove arranged along the first direction, and the first bracket is provided with a first connection protrusion arranged along the first direction;

[0012] The first connecting protrusion matches the first connecting groove.

[0013] Preferably, the first bracket comprises a first bracket body, a first support arm and a second support arm;

[0014] The first bracket body is rotatably mounted on the support base around a first direction;

[0015] The first end of the first supporting arm and the first end of the second supporting arm are respectively connected to two opposite ends of the first bracket body along the second direction;

[0016] The second bracket is rotatably disposed on the second end of the first support arm and the second end of the second support arm around a second direction.

[0017] Preferably, the second bracket comprises a second bracket body, an inner shaft and two outer shafts;

[0018] The two outer shafts are respectively arranged at opposite ends of the second bracket body along the second direction, and the two outer shafts are rotatably arranged on the first bracket around the second direction;

[0019] The inner shaft is arranged at opposite ends of the second bracket body along the third direction;

[0020] The rotating shaft assembly is rotatably arranged on the inner shaft around a third direction.

[0021] Preferably, the shaft assembly comprises a target ball support column and a coordinate point shaft arranged along the first direction;

[0022] The target ball support column is rotatably mounted on the second bracket;

[0023] The target ball is arranged on the first end of the target ball supporting column and is magnetically connected to the target ball supporting column;

[0024] The coordinate point rotating shaft is rotatably mounted on the second end of the target ball supporting column around a first direction, and the coordinate point label is arranged on the coordinate point rotating shaft.

[0025] Preferably, the first end of the coordinate point rotating shaft is provided with a second connecting groove arranged along the first direction, and the second end of the target ball supporting column is provided with a second connecting protrusion arranged along the first direction;

[0026] Alternatively, the first end of the coordinate point rotating shaft is provided with a second connecting protrusion arranged along the first direction, and the second end of the target ball supporting column is provided with a second connecting groove arranged along the first direction;

[0027] The second connecting protrusion matches the second connecting groove.

[0028] Preferably, a first magnetic receiving groove is provided at the first end of the target ball support column, and the target ball is arranged in the first receiving groove and is magnetically connected to the first receiving groove;

[0029] The target ball supporting column is provided with a through hole which is arranged radially along the target ball supporting column, and the second bracket is arranged in the through hole.

[0030] Preferably, the coordinate point rotating shaft comprises a rotating shaft body and a second receiving groove arranged on the rotating shaft body along a direction perpendicular to the first direction;

[0031] The rotating shaft body is rotatably mounted on the second end of the target ball support column around a third direction;

[0032] The bottom wall of the second containing groove coincides with the central axis of the coordinate point rotating shaft, and the coordinate point label is arranged on the bottom wall of the second containing groove.

[0033] Preferably, the support base and the shaft assembly are both made of metal.

[0034] A tracking and scanning system, comprising a laser tracker, a scanner and the coordinate measuring device;

[0035] The laser tracker is used to track the coordinate values ​​of the target ball of the coordinate measuring device and output the coordinate values ​​of the coordinate point labels;

[0036] The scanner is used to scan according to the coordinate values ​​of the coordinate point labels output by the laser tracker.

[0037] The coordinate measuring device provided by the embodiment of the utility model includes a support base, a first bracket, a second bracket, a rotating shaft assembly and a target ball; when installing, the first bracket is rotatably arranged on the support base around a first direction, the second bracket is rotatably arranged on the first bracket around a second direction, the rotating shaft assembly is rotatably arranged on the second bracket around a third direction, and finally a target ball and a coordinate point label are arranged on the rotating shaft assembly. When in use, the actual distance between the center of the target ball and the center of the coordinate point label is first calibrated as a constant a, and the support base is fixed on the object to be measured. Under the gravity of the rotating shaft assembly, the rotating shaft assembly rotates vertically, driving the rotating shaft assembly to rotate around the third direction, and at the same time driving the second bracket to rotate around the second direction. The center of the target ball and the center of the coordinate point label are located on the same gravity vector line, so that the coordinate positions of the target ball and the coordinate point label are associated, and the coordinate value of the coordinate point label is always a constant offset downward from the coordinate value of the target ball, thereby accurately and efficiently obtaining the measurement benchmark to meet the measurement use requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the description of the embodiments of the utility model will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 This is an isometric view of a coordinate measuring device in one embodiment of the utility model.

[0040] Figure 2 It is a schematic diagram of the rotating shaft of the coordinate measuring device in one embodiment of the utility model;

[0041] Figure 3 It is an axonometric view of a support base in one embodiment of the utility model;

[0042] Figure 4 It is an isometric view of the first bracket in one embodiment of the utility model;

[0043] Figure 5 is an isometric view of the second bracket in one embodiment of the utility model;

[0044] Figure 6 It is an isometric view of a target ball support column in one embodiment of the utility model;

[0045] Figure 7 It is an isometric view of the coordinate point rotation axis in one embodiment of the utility model;

[0046] Figure 8 This is a schematic diagram of the coordinate conversion of the direction of the centroid vector in one embodiment of the utility model;

[0047] Fig. 9 It is a working schematic diagram of a tracking and scanning system in one embodiment of the utility model.

[0048] Among them, 1. support base; 2. first bracket; 21. first bracket body; 22. first support arm; 23. second support arm; 3. second bracket; 31. second bracket body; 32. inner shaft; 33. outer shaft; 4. shaft assembly; 41. target ball support column; 42. coordinate point shaft; 5. target ball; 6. coordinate point label; 7. first connecting protrusion; 8. first connecting groove; 9. second connecting groove; 10. second connecting protrusion; 11. first receiving groove; 12. through hole; 13. second receiving groove; 14. laser tracker; 15. scanner. DETAILED DESCRIPTION

[0049] In order to make the technical problems, technical solutions and beneficial effects solved by the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0050] In the description of the present invention, it should be understood that the terms "longitudinal", "radial", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0051] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] The utility model provides a coordinate measuring device, referring to Figure 1 and Figure 2 The coordinate measuring device includes a supporting base 1, a first bracket 2, a second bracket 3, a rotating shaft assembly 4 and a target ball 5; the first bracket 2 is rotatably arranged on the supporting base 1 around a first direction; the second bracket 3 is rotatably arranged on the first bracket 2 around a second direction; the rotating shaft assembly 4 is rotatably arranged on the second bracket 3 around a third direction; the rotating shaft assembly 4 is provided with a target ball 5 and a coordinate point label 6, and the center of the target ball 5 and the center of the coordinate point label 6 are located on the same gravity vector line; wherein the first direction, the second direction and the third direction are perpendicular to each other.

[0053] As an example, the coordinate measuring device includes a support base 1, a first bracket 2, a second bracket 3, a rotating shaft assembly 4 and a target ball 5; when installed, the first bracket 2 is rotatably arranged on the support base 1 around a first direction, the second bracket 3 is rotatably arranged on the first bracket 2 around a second direction, the rotating shaft assembly 4 is rotatably arranged on the second bracket 3 around a third direction, and finally the target ball 5 and the coordinate point label 6 are arranged on the rotating shaft assembly 4. When in use, the actual distance between the center of the target ball 5 and the center of the coordinate point label 6 is first calibrated as a constant a, and the support base 1 is fixed on the object to be measured. Under the gravity of the rotating shaft assembly 4, the rotating shaft assembly 4 rotates vertically, driving the rotating shaft assembly 4 to rotate around the third direction, and at the same time driving the second bracket 3 to rotate around the second direction. The center of the target ball 5 and the center of the coordinate point label 6 are located on the same gravity vector line, so that the coordinate positions of the target ball 5 and the coordinate point label 6 are associated, and the coordinate value of the coordinate point label 6 is always the coordinate value of the target ball 5, which is offset downward by a constant a, so as to accurately and efficiently obtain the measurement benchmark to meet the measurement use requirements.

[0054] For example, the coordinate measuring device is used to work with the laser tracker 14 and the scanner 15, and the target ball 5 corresponding to the laser tracker 14 is associated with the coordinate point label 6 corresponding to the scanner 15 by the gravity vector method. Combined with a specific calculation application method, the two devices "track and match in real time" to achieve ultra-long-distance tracking and scanning with high accuracy and efficiency, which well solves the problem of long-distance measurement and scanning. Among them, the target ball 5 is a standard reflective ball matched with the laser tracker 14. The coordinate point label 6 can be a patch with a black background and white dots, which is easy to install on the shaft assembly 4.

[0055] In one embodiment, referring to Figure 3 and Figure 4 , the support base 1 is provided with a first connecting protrusion 7 arranged along the first direction, and the first bracket 2 is provided with a first connecting groove 8 arranged along the first direction; or, the support base 1 is provided with a first connecting groove 8 arranged along the first direction, and the first bracket 2 is provided with a first connecting protrusion 7 arranged along the first direction; the first connecting protrusion 7 matches the first connecting groove 8.

[0056] As an example, a first connection protrusion 7 arranged along the first direction is provided on the support base 1, and a first connection groove 8 arranged along the first direction is provided on the first bracket 2. The first connection protrusion 7 matches the first connection groove 8, so that the first bracket 2 can be rotatably mounted on the support base 1, which facilitates the installation and removal of the first bracket 2. In other embodiments, the first connection groove 8 arranged along the first direction is provided on the support base 1, and the first connection protrusion 7 arranged along the first direction is provided on the first bracket 2, which can also achieve the above functions.

[0057] In one embodiment, referring to Figure 4The first bracket 2 includes a first bracket body 21, a first support arm 22 and a second support arm 23; the first bracket body 21 is rotatably mounted on the support base 1 around a first direction; the first end of the first support arm 22 and the first end of the second support arm 23 are respectively connected to the opposite ends of the first bracket body 21 along the second direction; the second bracket 3 is rotatably arranged on the second end of the first support arm 22 and the second end of the second support arm 23 around the second direction.

[0058] As an example, the first bracket 2 includes a first bracket body 21, a first support arm 22 and a second support arm 23; when installing, the first bracket body 21 is rotatably installed on the support base 1 around the first direction, specifically, a first connection groove 8 or a first connection protrusion 7 arranged along the first direction is provided on the first bracket body 21, and a first connection protrusion 7 or a first connection groove 8 arranged along the first direction is provided on the support base 1, and the first connection protrusion 7 matches the first connection groove 8, so as to facilitate the installation of the first bracket body 21 on the support base 1. The first end of the first support arm 22 and the first end of the second support arm 23 are respectively connected to the opposite ends of the first bracket body 21 along the second direction, and the second end of the first support arm 22 and the second end of the second support arm 23 are connected to the opposite ends of the second bracket 3 along the second direction, that is, the opposite ends of the second bracket 3 are rotatably installed on the second end of the first support arm 22 and the second end of the second support arm 23 around the second direction, so that the second bracket 3 is conveniently installed between the first support arm 22 and the second support arm 23 of the first bracket 2, so that the second bracket 3 can rotate around the second direction.

[0059] In one embodiment, referring to Figure 5 The second bracket 3 includes a second bracket body 31, an inner shaft 32 and two outer shafts 33; the two outer shafts 33 are respectively arranged on the opposite ends outside the second bracket body 31 along the second direction, and the two outer shafts 33 are rotatably arranged on the first bracket 2 around the second direction; the inner shaft 32 is arranged on the opposite ends inside the second bracket body 31 along the third direction; the rotating shaft assembly 4 is rotatably arranged on the inner shaft 32 around the third direction.

[0060] As an example, the second bracket 3 includes a second bracket body 31, an inner shaft 32 and two outer shafts 33; the two outer shafts 33 are respectively arranged at opposite ends outside the second bracket body 31 along the second direction, and the inner shaft 32 is arranged at opposite ends inside the second bracket body 31 along the third direction; the inner shaft 32 and the central axes of the two outer shafts 33 are arranged in a cross shape to form a cross bracket. During installation, the second bracket body 31 is sleeved on the periphery of the rotating shaft assembly 4, and the inner shaft 32 is passed through the middle of the rotating shaft assembly 4. The rotating shaft assembly 4 can rotate around the third direction. The first bracket 2 is installed on the two outer shafts 33, and the second bracket 3 can rotate around the second direction; under the action of gravity of the rotating shaft assembly 4, the rotating shaft assembly 4 rotates vertically, driving the rotating shaft assembly 4 to rotate around the third direction, and at the same time driving the second bracket 3 to rotate around the second direction. The center of the target sphere 5 and the center of the coordinate point label 6 are located on the same gravity vector line, so that the coordinate positions of the target sphere 5 and the coordinate point label 6 are associated, and the coordinate value of the coordinate point label 6 is always the coordinate value of the target sphere 5 offset downward by a constant, so as to accurately and efficiently obtain the measurement benchmark to meet the measurement requirements.

[0061] In one embodiment, referring to Figure 6 , Figure 7 and Figure 8 The rotating shaft assembly 4 includes a target ball supporting column 41 and a coordinate point rotating shaft 42 arranged along a first direction; the target ball supporting column 41 is rotatably mounted on the second bracket 3; the target ball 5 is arranged on the first end of the target ball supporting column 41 and is magnetically connected to the target ball supporting column 41; the coordinate point rotating shaft 42 is rotatably mounted on the second end of the target ball supporting column 41 around the first direction, and the coordinate point label 6 is arranged on the coordinate point rotating shaft 42.

[0062] As an example, the rotating shaft assembly 4 includes a target ball support column 41 and a coordinate point rotating shaft 42 arranged along a first direction; during installation, the target ball support column 41 is rotatably mounted on the second bracket 3, and the first end of the coordinate point rotating shaft 42 is rotatably mounted on the second end of the target ball support column 41 around the first direction, that is, the coordinate point rotating shaft 42 can rotate around the first direction, and the target ball support column 41 can rotate around the third direction. The target ball 5 is arranged on the first end of the target ball support column 41 and is magnetically connected to the target ball support column 41. The magnetic adsorption can rotate in any direction. The coordinate point label 6 is arranged on the coordinate point rotating shaft 42. This arrangement can achieve that under the action of gravity of the coordinate point rotating shaft 42, after vertical rotation, the center of the target ball 5 and the center of the coordinate point label 6 are located on the same gravity vector line. Among them, the coordinate point label 6 can be set at any position of the middle, upper and lower part of the coordinate point rotating shaft 42. The coordinate point rotation axis 42 is the carrier of the coordinate point label 6, so that the coordinate positions of the target ball 5 and the coordinate point label 6 are associated, and the coordinate value of the coordinate point label 6 is always the coordinate value of the target ball 5 offset downward by a constant. For example, the distance between the center of the target ball 5 and the center of the coordinate point label 6 is a; in a coordinate system where the gravity vector is perpendicular to the z-axis, the center coordinate value of the target ball 5 is (x, y, z), then the center coordinate value of the coordinate point label 6 is a distance a downwardly shifted from the z-axis, and the coordinate value is [x, y, (za)].

[0063] In one embodiment, referring to Figure 1 , Figure 6 and Figure 7 , the first end of the coordinate point rotating shaft 42 is provided with a second connecting groove 9 arranged along the first direction, and the second end of the target ball supporting column 41 is provided with a second connecting protrusion 10 arranged along the first direction; or, the first end of the coordinate point rotating shaft 42 is provided with a second connecting protrusion 10 arranged along the first direction, and the second end of the target ball supporting column 41 is provided with a second connecting groove 9 arranged along the first direction; the second connecting protrusion 10 matches the second connecting groove 9.

[0064] As an example, a second connection groove 9 arranged along the first direction is provided at the first end of the coordinate point shaft 42, and a second connection protrusion 10 arranged along the first direction is provided at the second end of the target ball support column 41. The second connection protrusion 10 matches the second connection groove 9, so that the coordinate point shaft 42 can be rotatably mounted on the target ball support column 41, which facilitates the installation and removal of the coordinate point shaft 42. In other embodiments, a second connection protrusion 10 arranged along the first direction is provided at the first end of the coordinate point shaft 42, and a second connection groove 9 arranged along the first direction is provided at the second end of the target ball support column 41, which can also achieve the above functions.

[0065] In one embodiment, referring to Figure 1 and Figure 6A first magnetic receiving groove 11 is provided at the first end of the target ball support column 41; the target ball 5 is arranged in the first receiving groove 11 and is magnetically connected to the first receiving groove 11; a through hole 12 is provided on the target ball support column 41 and is arranged radially along the target ball support column 41, and the second bracket 3 is arranged in the through hole 12.

[0066] As an example, a first magnetic receiving groove 11 is provided at the first end of the target ball support column 41, and the target ball 5 is placed in the first receiving groove 11 and magnetically connected to the first receiving groove 11, so that it is easy to adsorb the target ball 5, and the magnetic adsorption can rotate in any direction to prevent the target ball 5 from falling and affecting the measurement. A through hole 12 arranged along the radial direction of the target ball support column 41 is provided in the middle of the target ball support column 41, and the second bracket 3 is arranged in the through hole 12, and the inner shaft 32 of the second bracket 3 is specifically inserted into the through hole 12, so that the target ball support column 41 can rotate around the third direction.

[0067] In one embodiment, referring to Figure 6 The first accommodating groove 11 is a bowl-shaped groove.

[0068] As an example, the first receiving groove 11 is a bowl-shaped groove, and the target ball 5 is adsorbed in the bowl-shaped groove. The magnetic adsorption can rotate in any direction to ensure that the target ball 5 is stably placed.

[0069] In one embodiment, referring to Figure 7 The coordinate point rotating shaft 42 includes a rotating shaft body and a second receiving groove 13 arranged on the rotating shaft body along a direction perpendicular to the first direction; the rotating shaft body is rotatably installed on the second end of the target ball support column 41 around a third direction; the bottom wall of the second receiving groove 13 coincides with the central axis of the coordinate point rotating shaft 42, and the coordinate point label 6 is arranged on the bottom wall of the second receiving groove 13.

[0070] As an example, the coordinate point rotating shaft 42 includes a rotating shaft body and a second receiving groove 13. The rotating shaft body can be rotatably installed around a third direction at the second end of the target ball support column 41. The second receiving groove 13 is arranged on the rotating shaft body along a direction perpendicular to the first direction; the bottom wall of the second receiving groove 13 coincides with the central axis of the coordinate point rotating shaft 42, and the coordinate point label 6 is arranged on the bottom wall of the second receiving groove 13, so that the coordinate point label 6 can rotate with the axis of the coordinate point rotating shaft 42 but the coordinate position remains unchanged, thereby ensuring the accuracy of the measurement result.

[0071] In one embodiment, referring to Figure 1 The material of the supporting base 1 and the material of the rotating shaft assembly 4 are both metal.

[0072] As an example, the material of the support base 1 and the material of the rotating shaft assembly 4 are both metal. Specifically, the target ball support column 41 is a round rod made of metal. A bowl-shaped groove (ball bowl) is opened at one end of the round rod and it is magnetic, which is convenient for placing and adsorbing the target ball 5; the coordinate point rotating shaft 42 is a round rod made of metal, and the support base 1 is a metal step shaft body, so that the support base 1 and the rotating shaft assembly 4 are magnetic and easy to adsorb, so that the rotating shaft assembly 4 is in the direction of the gravity vector.

[0073] The utility model embodiment provides a tracking scanning system, referring to Figure 1 , Figure 2 , Figure 8 and Fig. 9 , including a laser tracker 14, a scanner 15 and a coordinate measuring device; the laser tracker 14 is used to track the coordinate value of the target ball 5 of the coordinate measuring device and output the coordinate value of the coordinate point label 6; the scanner 15 is used to scan according to the coordinate value of the coordinate point label 6 output by the laser tracker 14.

[0074] As an example, the tracking and scanning system includes a laser tracker 14, a scanner 15 and a coordinate measuring device; the coordinate measuring device includes a supporting base 1, a first bracket 2, a second bracket 3, a rotating shaft assembly 4 and a target ball 5; during installation, the first bracket 2 is rotatably set on the supporting base 1 around a first direction, the second bracket 3 is rotatably set on the first bracket 2 around a second direction, the rotating shaft assembly 4 is rotatably set on the second bracket 3 around a third direction, and finally, a target ball 5 and a coordinate point label 6 are provided on the rotating shaft assembly 4. When in use, first calibrate the actual distance between the center of the target sphere 5 and the center of the coordinate point label 6 as the constant a, fix the support base 1 on the object to be measured, and under the action of the gravity of the rotating shaft assembly 4, the rotating shaft assembly 4 rotates vertically, driving the rotating shaft assembly 4 to rotate around the third direction, and at the same time driving the second bracket 3 to rotate around the second direction. The center of the target sphere 5 and the center of the coordinate point label 6 are located on the same gravity vector line, so that the coordinate positions of the target sphere 5 and the coordinate point label 6 are associated, and the coordinate value of the coordinate point label 6 is always the coordinate value of the target sphere 5 offset downward by a constant, thereby accurately and efficiently obtaining the measurement benchmark to meet the measurement requirements.

[0075] The coordinate measuring device in this example is used to work with the laser tracker 14 and the scanner 15. The laser tracker 14 is used to track the coordinate value of the target ball 5 of the coordinate measuring device and output the coordinate value of the coordinate point label 6; the scanner 15 is used to scan according to the coordinate value of the coordinate point label 6 output by the laser tracker 14. The laser tracker 14 has a built-in level function, and establishes a coordinate system with the horizontal normal (gravity vector direction) as the z direction, and then tracks the coordinate value (x, y, z) of the target ball 5 at a long distance. At this time, the coordinate value of the coordinate point label 6 is the coordinate value of the target ball 5 in the z direction downward constant a, that is, [x, y, (za)]. Multiple sets of coordinate measuring devices are used at the same time, and the scanner 15 uses the coordinate value of the known coordinate point label 6 to scan synchronously, and the difficulty of low efficiency and poor accuracy of ultra-long-distance measurement scanning is solved.

[0076] The tracking and scanning system in this embodiment uses the gravity vector method to associate the target ball 5 corresponding to the laser tracker 14 with the coordinate point label 6 corresponding to the scanner 15. Combined with a specific calculation application method, the two devices are "real-time tracked and matched" to achieve ultra-long-distance tracking and scanning with high precision and efficiency, which well solves the problem of long-distance measurement and scanning; it has good effects in improving the level of research and development and manufacturing, and improving the level of product manufacturing quality; it has a novel and unique structure, good applicability, convenient use and high precision, and is very suitable for promotion and application in specific industries (complete vehicles, etc.).

[0077] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A coordinate measuring device, characterized in that: It includes a supporting base, a first bracket, a second bracket, a rotating shaft assembly and a target ball; The first bracket is rotatably arranged on the support base around a first direction; The second bracket is rotatably arranged on the first bracket around a second direction; The rotating shaft assembly is rotatably arranged on the second bracket around a third direction; The target ball and the coordinate point label are arranged on the rotating shaft assembly, and the center of the target ball and the center of the coordinate point label are located on the same gravity vector line.

2. The coordinate measuring device according to claim 1, characterized in that: The support base is provided with a first connection protrusion arranged along a first direction, and the first bracket is provided with a first connection groove arranged along the first direction; Alternatively, the support base is provided with a first connection groove arranged along the first direction, and the first bracket is provided with a first connection protrusion arranged along the first direction; The first connecting protrusion matches the first connecting groove.

3. The coordinate measuring device according to claim 1, characterized in that: The first bracket includes a first bracket body, a first support arm and a second support arm; The first bracket body is rotatably mounted on the support base around a first direction; The first end of the first supporting arm and the first end of the second supporting arm are respectively connected to two opposite ends of the first bracket body along the second direction; The second bracket is rotatably disposed on the second end of the first support arm and the second end of the second support arm around a second direction.

4. The coordinate measuring device according to claim 1, characterized in that: The second bracket comprises a second bracket body, an inner shaft and two outer shafts; The two outer shafts are respectively arranged at opposite ends of the second bracket body along the second direction, and the two outer shafts are rotatably arranged on the first bracket around the second direction; The inner shaft is arranged at opposite ends of the second bracket body along the third direction; The rotating shaft assembly is rotatably arranged on the inner shaft around a third direction.

5. The coordinate measuring device according to claim 1, characterized in that: The rotating shaft assembly includes a target ball support column and a coordinate point rotating shaft arranged along a first direction; The target ball support column is rotatably mounted on the second bracket; The target ball is arranged on the first end of the target ball supporting column and is magnetically connected to the target ball supporting column; The coordinate point rotating shaft is rotatably mounted on the second end of the target ball supporting column around a first direction, and the coordinate point label is arranged on the coordinate point rotating shaft.

6. The coordinate measuring device according to claim 5, characterized in that: The first end of the coordinate point rotating shaft is provided with a second connecting groove arranged along the first direction, and the second end of the target ball supporting column is provided with a second connecting protrusion arranged along the first direction; Alternatively, the first end of the coordinate point rotating shaft is provided with a second connecting protrusion arranged along the first direction, and the second end of the target ball supporting column is provided with a second connecting groove arranged along the first direction; The second connecting protrusion matches the second connecting groove.

7. The coordinate measuring device according to claim 5, characterized in that: A first magnetic receiving groove is provided at the first end of the target ball support column, and the target ball is arranged in the first receiving groove and is magnetically connected to the first receiving groove; The target ball supporting column is provided with a through hole which is arranged radially along the target ball supporting column, and the second bracket is arranged in the through hole.

8. The coordinate measuring device according to claim 5, characterized in that: The coordinate point rotating shaft comprises a rotating shaft body and a second receiving groove arranged on the rotating shaft body along a direction perpendicular to the first direction; The rotating shaft body is rotatably mounted on the second end of the target ball support column around a third direction; The bottom wall of the second containing groove coincides with the central axis of the coordinate point rotating shaft, and the coordinate point label is arranged on the bottom wall of the second containing groove.

9. The coordinate measuring device according to claim 1, characterized in that: The material of the support base and the material of the rotating shaft assembly are both metal.

10. A tracking and scanning system, characterized in that: A coordinate measuring device comprising a laser tracker, a scanner and any one of claims 1 to 9; The laser tracker is used to track the coordinate values ​​of the target ball of the coordinate measuring device and output the coordinate values ​​of the coordinate point labels; The scanner is used to scan according to the coordinate values ​​of the coordinate point labels output by the laser tracker.

Images