Three-dimensional measuring equipment with combination of mechanical arm and rotary table

Abstract

The utility model discloses a mechanical arm and rotary table combined three-dimensional measuring device, which belongs to the field of automatic scanning detection and comprises a connecting rod, a fulcrum, a spring, a connecting block, a fixing column, a lever, a fixing frame, a movable chassis, a rotary table, a fixing groove, a rotary table chassis and a connecting groove. According to the utility model, through equidistantly distributed threaded holes on the surface of the rotary table, the installation of different tested workpiece tools can be satisfied, and the rotary table can be replaced, so that the adaptability of the device is higher; when the rotary table chassis is detached and moved, only the mechanical arm is driven to a planned spatial position and posture, so that large workpieces which cannot be placed on the rotary table can be subjected to spatial surrounding scanning, the moving flexibility and the spatial position accessibility of the equipment are improved by the detachable rotary table chassis, and the moving cost is saved; the approximately accurate relative position and posture relation between the rotary table and the workpiece on the rotary table and the mechanical arm can be obtained in advance through the insertion connection between the movable chassis and the rotary table chassis, so that the automatic rotary table calibration program has universal applicability, and the safety of subsequent pre-scanning can be ensured.

Description

Technical Field

[0001] The utility model relates to the field of automatic scanning detection, in particular to a three-dimensional measuring device composed of a robotic arm and a turntable. Background Technique

[0002] In automatic scanning detection, a device combining a six-degree-of-freedom robotic arm and a turntable is mostly used to detect the surface topography of workpieces. The robotic arm plays the roles of support and transmission, carrying a scanner to move to the planned spatial position and posture, and the turntable plays the role of installing or placing different workpieces or fixtures clamping the workpieces.

[0003] Due to the varying degrees of complex topography of the workpieces to be measured, different fixtures are usually designed to clamp the workpieces to be measured. Therefore, there is an urgent need for a reasonable and convenient design to adapt to different fixtures.

[0004] In addition, when scanning large workpieces, the plane area of the turntable is limited and cannot be placed; therefore, a reasonable way needs to be found to solve this problem.

[0005] Generally, before using the turntable, the turntable needs to be calibrated, that is, the calibration plate is horizontally placed on the turntable plane, and the automatic calibration program drives the robotic arm to carry the scanner to a spatial position and posture where the calibration plate on the turntable can be clearly and completely photographed. Subsequently, the turntable rotates for automatic calibration to determine information such as the rotation axis and spatial position of the turntable.

[0006] And before scanning the workpiece placed on the turntable, the robotic arm needs to drive the scanner to run to a safe spatial position, and then pre-scan the workpiece on the turntable. The partial point cloud of the workpiece obtained by three-dimensional reconstruction is compared with the input CAD model of the workpiece to obtain the accurate relative position and posture relationship between the workpiece and the robotic arm for automatic scanning. Therefore, it is necessary to obtain the approximate relative position relationship between the scanner and the turntable in advance to avoid collisions. Summary of the Utility Model

[0007] The purpose of the utility model is to solve the problems raised in the background technique, and a three-dimensional measuring device composed of a robotic arm and a turntable is designed.

[0008] To achieve the above object, the present utility model provides the following technical solutions: A three-dimensional measurement device composed of a robotic arm and a turntable, comprising: a connecting rod, a fulcrum, a spring, a connecting block, a fixed column, a lever, a fixed frame, a moving chassis, a turntable, a fixed groove, a turntable chassis, and a connecting groove. A scanning device is provided on the moving chassis, a loading device is provided on the turntable chassis, two rods are provided on the left side of the turntable chassis, and fixed grooves are provided on the rods. Two symmetrically distributed connecting grooves are provided on the right side of the moving chassis. A fixed frame is provided on the moving chassis, and the fixed frame is installed on one side of the upper surface of the moving chassis close to the connecting groove. Two symmetrically distributed fixed columns are provided in the fixed frame. The fixed column is a cylinder with a cone at the bottom end. The upper end of the fixed column is connected with a connecting block. A spring is installed above the connecting block, and the other end of the spring is connected to the fixed frame. The two connecting blocks on the two fixed columns are connected by a connecting rod. A fulcrum is provided on the moving chassis, and the fulcrum is installed on the right side of the fixed frame. A lever is provided in the fulcrum, and the short end of the lever is connected to the connecting rod.

[0009] Preferably, the scanning device includes a robotic arm base, a robotic arm, and a scanner. The robotic arm base is installed at the central position of the moving chassis, the robotic arm is installed on the robotic arm base, and the scanner is installed at the end of the robotic arm.

[0010] Preferably, the loading device includes a turntable, a rotating shaft, and a rotating support member. The rotating support member is installed on the turntable chassis, the rotating shaft is installed between the rotating support members, and the turntable is installed on the rotating shaft.

[0011] Preferably, a plurality of equally spaced threaded holes are provided on the turntable and are fixed to the rotating shaft by screws. The rotating shaft and the support rotating member are connected by a rotating pair.

[0012] Preferably, four electric omnidirectional wheels and two footrest supports are provided at the bottom of the moving chassis, and four omnidirectional wheels and two footrest supports are provided at the bottom of the turntable chassis.

[0013] Beneficial effects: The present utility model provides a three-dimensional measurement device composed of a robotic arm and a turntable, which has the following beneficial effects. Through the equally spaced threaded holes on the surface of the turntable, the installation of different workpieces to be measured can be satisfied, and the replaceable turntable makes the device of the present utility model have a higher adaptability; by removing the turntable chassis and moving the chassis, only the robotic arm can be driven to the planned spatial position and posture, so as to perform spatial circumferential scanning on large workpieces that cannot be placed on the turntable. The detachable turntable chassis increases the flexibility of movement and the accessibility of spatial positions of the device of the present utility model, saving the movement cost; through the insertion between the moving chassis and the turntable chassis, the approximate accurate relative position and posture relationship between the turntable and the workpiece thereon and the robotic arm can be obtained in advance, making the automatic turntable calibration program have universal applicability and ensuring the safety of the subsequent pre-scanning. Brief Description of the Drawings

[0014] Figure 1 is a schematic structural diagram of the three-dimensional measurement device composed of the robotic arm and the turntable of the present utility model;

[0015] Figure 2 is a schematic front view structural diagram of the three-dimensional measurement device composed of the robotic arm and the turntable of the present utility model;

[0016] Figure 3 is a schematic front view A-A sectional structural diagram of the three-dimensional measurement device composed of the robotic arm and the turntable of the present utility model;

[0017] Figure 4 is a schematic structural diagram of the fixed column of the present utility model.

[0018] In the figure, 1, connecting rod; 2, fulcrum; 3, spring; 4, connecting block; 5, fixed column; 6, lever; 7, universal wheel; 8, fixed frame; 9, electric universal wheel; 10, moving chassis; 11, robotic arm base; 12, robotic arm; 13, scanner; 14, turntable; 15, rotating shaft; 16, rotating support; 17, foot support; 18, fixed groove; 19, turntable chassis; 20, connecting groove. Detailed Description of the Preferred Embodiment

[0019] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments; based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0020] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by terms such as "upper / lower end", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model 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. Therefore, it should not be construed as a limitation to the present utility model. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0021] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, terms such as "installation", "provided with", "socket connection", "connection", etc. should be understood in a broad sense. For example, "connection" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0022] Please refer to Figures 1-4, the present utility model provides a technical solution: a three-dimensional measurement device composed of a robotic arm and a turntable, including: a connecting rod 1, a fulcrum 2, a spring 3, a connecting block 4, a fixed column 5, a lever 6, a fixed frame 8, a moving chassis 10, a fixed groove 18, a turntable chassis 19, and a connecting groove 20; a scanning device is provided on the moving chassis 10, a loading device is provided on the turntable chassis 19, two rods are provided on the left side of the turntable chassis 19, and fixed grooves 18 are provided on the rods. Two symmetrically distributed connecting grooves 20 are provided on the right side of the moving chassis 10. A fixed frame 8 is provided on the moving chassis 10. The fixed frame 8 is installed on the upper surface of the moving chassis 10 near one side of the connecting groove 20. Two symmetrically distributed fixed columns 5 are provided inside the fixed frame 8. The fixed column 5 is a cylinder with a cone at the bottom end. The upper end of the fixed column 5 is connected with a connecting block 4. A spring 3 is installed above the connecting block 4. The other end of the spring 3 is connected to the fixed frame 8. The two connecting blocks 4 on the two fixed columns 5 are connected by a connecting rod 1. A fulcrum 2 is provided on the moving chassis 10. The fulcrum 2 is installed on the right side of the fixed frame 8. A lever 6 is provided inside the fulcrum 2. The short end of the lever 6 is connected to the connecting rod 1; the scanning device includes a robotic arm base 11, a robotic arm 12, and a scanner 13. The robotic arm base 11 is installed at the center position of the moving chassis 10. The robotic arm 12 is installed on the robotic arm base 11. The scanner 13 is installed at the end of the robotic arm 12 and can cooperate with the robotic arm 12 to better scan the workpiece from multiple aspects; the loading device includes a turntable 14, a rotating shaft 15, and a rotating support 16. The rotating support 16 is installed on the turntable chassis 19. The rotating shaft 15 is installed between the rotating supports 16. The turntable 14 is installed on the rotating shaft 15. The cooperation between the rotating shaft 15 and the rotating support 16 enables the turntable 14 to rotate on the turntable chassis 19, making the workpiece scanning more comprehensive; multiple equally spaced threaded holes are provided on the turntable 14 and are fixed to the rotating shaft 15 by screws. The rotating shaft 15 and the supporting rotating member 16 are connected by a rotating pair to adapt to workpieces of different sizes; four electric universal wheels 9 and two footrest supports 17 are provided at the bottom of the moving chassis 10. Four universal wheels 7 and two footrest supports 17 are provided at the bottom of the turntable chassis 19, facilitating the movement of the two platforms and fixing them after the movement is completed.

[0023] Those skilled in the art should connect all the electrical components in this case to their adapted power supplies through wires, and should select a suitable controller according to the actual situation to meet the control requirements. For the specific connection and control sequence, reference should be made to the sequence of the electrical components working successively in the following working principle to complete the electrical connection. The detailed connection means are well-known techniques in the art. The following mainly introduces the working principle and process, and no further description of the electrical control will be made.

[0024] In this embodiment: When scanning and detecting a workpiece with a tooling or directly placed on the turntable 14, the moving chassis 10 is connected to the turntable chassis 19. By pressing down the long end of the lever 6, the connecting rod 1 drives the connecting block 4 to compress the spring 3, so that the fixed column 5 rises. Then, the turntable chassis 19 is moved to make the fixed groove 18 enter the connecting groove 20. Then, the lever 6 is released, so that the connecting block 4 pushes the fixed column 5 to descend under the action of the spring 3, and then the fixed groove 18 is clamped, completing the connection between the two platforms. Subsequently, the footrest supports 17 under the moving chassis 10 and the turntable chassis 19 are stepped on to fix the device of the present invention; Through the customizable and detachable turntable 14 and the equally spaced and uniformly distributed threaded holes on its surface, various different workpieces to be measured can be adapted; Since the moving chassis 10 is connected to the turntable chassis 19, the relative positional relationship between the robotic arm 12 and the turntable 14 is known. The program can drive the robotic arm 12 to carry the scanner 13 to a spatial position and attitude where the calibration plate horizontally placed on the turntable 14 can be clearly and completely photographed. The turntable rotates to complete the automatic calibration of the turntable. Subsequently, a pre-scan is performed before the formal scan. The automatic pre-scan program can drive the robotic arm 12 to run to a collision-free safe position and attitude to pre-scan the workpiece to be measured placed on the turntable, so as to obtain partial point clouds of the workpiece, and then compare them with the CAD model of the workpiece to be measured, and finally obtain the relative position and attitude of the workpiece relative to the robotic arm 12 for automatic scanning.

[0025] In this embodiment: When scanning and detecting a large workpiece, since the surface area of the turntable is limited, only the robotic arm 12 can be driven to measure around the space where the workpiece is located. At this time, in order to save the moving cost, the turntable chassis 19 should be disassembled. Press the lever 6 to compress the spring 3 to raise the fixed block 5, and then the turntable chassis 19 can be disassembled. Subsequently, the electric omnidirectional wheels 9 can drive the robotic arm 12 to the planned scanning space position and attitude for scanning and detection.

[0026] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation. An element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0027] Although embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. A three-dimensional measuring device composed of a mechanical arm and a turntable, comprising a connecting rod (1), a fulcrum (2), a spring (3), a connecting block (4), a fixing column (5), a lever (6), a fixing frame (8), a moving chassis (10), a fixing groove (18), a turntable chassis (19), and a connecting groove (20), characterized in that: The mobile chassis (10) is provided with a scanning device, the turntable chassis (19) is provided with a loading device, two rods are provided on the left side of the turntable chassis (19), and fixing grooves (18) are provided on the rods, and two symmetrically distributed connecting grooves (20) are provided on the right side of the mobile chassis (10), and a fixing frame (8) is provided on the mobile chassis (10), and the fixing frame (8) is installed on a side of the upper surface of the mobile chassis (10) close to the connecting grooves (20), and two symmetrically distributed fixing columns (5) are provided in the fixing frame (8), and the fixing columns (5) is a cylindrical body with a conical bottom end, the upper end of the fixed column (5) is connected to a connecting block (4), a spring (3) is installed above the connecting block (4), the other end of the spring (3) is connected to the fixed frame (8), the two connecting blocks (4) on the two fixed columns (5) are connected by a connecting rod (1), the mobile chassis (10) is provided with a fulcrum (2), the fulcrum (2) is installed on the right side of the fixed frame (8), a lever (6) is provided in the fulcrum (2), and the short end of the lever (6) is connected to the connecting rod (1).

2. The three-dimensional measuring device of the robot arm and turntable combination according to claim 1, characterized in that: The scanning device comprises a mechanical arm base (11), a mechanical arm (12), and a scanner (13); the mechanical arm base (11) is mounted at the center of a mobile chassis (10); the mechanical arm (12) is mounted on the mechanical arm base (11); and the scanner (13) is mounted at the end of the mechanical arm (12).

3. The three-dimensional measuring device of a combination of a robot arm and a turntable according to claim 1, characterized in that: The loading device comprises a turntable (14), a rotating shaft (15), and a rotating support member (16); the rotating support member (16) is mounted on a turntable chassis (19); the rotating shaft (15) is mounted between the rotating support members (16); and the turntable (14) is mounted on the rotating shaft (15).

4. The three-dimensional measuring device of the robot arm and turntable combination according to claim 1, characterized in that: The turntable (14) is provided with a plurality of threaded holes distributed at equal intervals, and is fixed to the rotating shaft (15) by means of screws; the rotating shaft (15) and the rotating support (16) are connected by means of a rotating pair.

5. The three-dimensional measuring device of a combination of a robot arm and a turntable according to claim 1, characterized in that: Four electric universal wheels (9) and two pedal supports (17) are arranged at the bottom of the mobile chassis (10), and four universal wheels (7) and two pedal supports (17) are arranged at the bottom of the turntable chassis (19).

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