Rotary calibration holder special for 3D scanner

Abstract

The utility model discloses a rotary calibration holder special for a 3D scanner, and relates to the technical field of holder equipment. The pitching mechanism comprises two pitching motors which are symmetrically arranged, the pitching motors are in transmission connection with the course rotating mechanism, the course rotating mechanism comprises a course middle shell and a course motor, the course motor is installed at the position, close to the side wall, of the bottom shell and is in transmission connection with the course middle shell, the pitching mechanism further comprises a pitching encoder PCBA, and the pitching encoder PCBA is in transmission connection with the course middle shell. The heading rotating mechanism further comprises a heading left-right limiting PCBA and a heading zero position detection PCBA which are installed on the bottom shell, the heading left-right limiting PCBA and the heading zero position detection PCBA correspond to the position of the pitching motor when the heading left-right limiting PCBA and the heading zero position detection PCBA are located at the initial position, and adjustment of the pitching angle of + / -90 degrees and adjustment of the heading angle of + / -170 degrees can be conducted. The rotary table is driven through the offset gear, the rotation angle is accurately controlled through the encoder and the PCBA detection board, and the rotation angle control is more accurate.

Description

Technical Field

[0001] The utility model relates to a special rotary calibration cloud platform for a 3D scanner, belonging to the technical field of cloud platform devices. Background Art

[0002] A 3D scanner is used to detect and analyze the shape (geometric structure) and appearance data (such as properties like color and surface albedo) of objects or environments in the real world. The collected data is often used for 3D reconstruction calculations to create digital models of actual objects in a virtual world.

[0003] When scanning an object, a 3D scanner usually needs to be used in cooperation with a turntable. When scanning, the scanner usually scans in the vertical direction. When circumferential scanning is required, the turntable needs to be manually rotated to complete the overall scanning of the object, which is rather troublesome in operation. Or the position of the scanner is adjusted for use. The patented technology with the publication number CN110375168A discloses a camera calibration cloud platform and a calibration tooling including the calibration cloud platform. The calibration cloud platform is used to install a camera to be calibrated, and includes a cloud platform base, a horizontal steering component arranged on the cloud platform base, a vertical steering component arranged on the horizontal steering component, and a camera fixing component fixed on the vertical steering component; the camera is fixed on the camera fixing component. This calibration cloud platform has a simple structure and ingenious design, can adjust the angle of the camera in the horizontal and vertical directions, and can realize the quick disassembly and replacement of multiple cameras. The calibration tooling includes a calibration cloud platform, a cloud platform bracket, a calibration plate component, and a calibration track, and has beneficial effects such as a simple structure, reasonable design, simple operation, better compatibility, and the ability to improve the quality inspection efficiency during the production process of the camera. However, the overall structure is relatively complex, the stability of the turntable is insufficient, and during scanning, due to directly driving the turntable to rotate by a motor, the precision control is insufficient. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a special rotary calibration cloud platform for a 3D scanner aiming at the defects or deficiencies in the prior art, which can perform pitching angle adjustment of ±90 degrees and yaw angle adjustment of ±170 degrees, drive the turntable through an offset gear, and accurately control the rotation angle through an encoder and a PCBA detection board, and the rotation angle control is more precise.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme: it includes a quick-loading platform 1, a pitch mechanism 2, a heading rotation mechanism 3, and a bottom shell 4, the quick-loading platform 1 is connected to the pitch mechanism 2, the heading rotation mechanism 3 is movably connected to the bottom shell 4, the pitch mechanism 2 includes two symmetrically arranged pitch motors 23, the pitch motor 23 is transmission-connected to the heading rotation mechanism 3, the heading rotation mechanism 3 includes a heading middle shell 32, a heading motor 34, the heading motor 34 is installed at the side wall of the bottom shell 4, the heading motor 34 is transmission-connected to the heading middle shell 32, the pitch mechanism 2 also includes a pitch encoder PCBA24, the pitch encoder PCBA24 corresponds to the pitch motor 23, the heading rotation mechanism 3 also includes a heading left and right limit PCBA38 and a heading zero position detection PCBA39 installed on the bottom shell 4, the heading left and right limit PCBA38 and the heading zero position detection PCBA39 correspond to the position of the pitch motor 23 in the initial position.

[0006] Furthermore, the quick-release platform 1 includes a mounting platform 11 and a silicone pad 12. The silicone pad 12 is arranged on the top of the mounting platform 11. A self-locking quick-release turntable 13 is movably arranged at the bottom of the mounting platform 11, and a self-locking screw 14 is arranged at the center of the self-locking quick-release turntable 13. The self-locking screw 14 passes through the mounting platform 11 and the silicone pad 12. Quick-release positioning columns 15 are also symmetrically arranged on the mounting platform 11.

[0007] Furthermore, the pitch mechanism 2 also includes a pitch lower shell main body 21 , and lower shell side covers 22 are symmetrically arranged on both sides of the pitch lower shell main body 21 , and the pitch motor 23 is installed in the lower shell side cover 22 .

[0008] Furthermore, a pitch driving gear 231 is arranged on the output shaft of the pitch motor 23, and the pitch driving gear 231 is eccentrically arranged.

[0009] Furthermore, the heading rotation mechanism 3 also includes a heading upper shell 31, which is connected to the heading middle shell 32. The heading upper shell 31 includes a symmetrically arranged support seat 311, which is located on the outside of the lower shell side cover 22, and a pitch driving tooth groove 312 is arc-shapedly arranged at the bottom of the inner side of the support seat 311.

[0010] Furthermore, the inner ring at the bottom of the heading middle shell 32 is provided with a heading drive gear ring 321, the heading motor 34 is provided with a heading drive gear 35, the heading drive gear 35 is meshed with the heading drive gear ring 321, and the outer ring at the bottom of the heading middle shell is provided with a ball groove 322.

[0011] Furthermore, the heading rotation mechanism 3 also includes a steel ball bearing connecting piece 33, which is located between the heading middle shell 32 and the bottom shell 4 and fixed on the bottom shell 4. A plurality of balls 331 are arranged on the steel ball bearing connecting piece 33, and the balls 331 are rollingly connected to the heading middle shell 23.

[0012] Further, the heading rotation mechanism 3 further includes a heading bearing 36 and a fixed shaft 37. The heading bearing 36 is installed at the top of the fixed shaft 37, and the heading bearing 36 is connected to the middle heading housing 32.

[0013] Further, a control main board PCBA5 is arranged inside the bottom shell 4. A Bluetooth module and a voice control module are arranged on the control main board PCBA5, and an anti-slip silica gel pad 6 is arranged at the bottom of the bottom shell 4.

[0014] After adopting the above technical solution, the beneficial effects of the present utility model are as follows: It can perform the adjustment of the pitching angle of ±90 degrees and the adjustment of the heading angle of ±170 degrees. The turntable is driven by an offset gear, and the rotation angle is accurately controlled through an encoder and a PCBA detection board, and the rotation angle control is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1 is the structural schematic diagram of the present utility model;

[0017] Figure 2 is Figure 1 the second angle view of

[0018] Figure 3 is the assembly state schematic diagram of the pitching mechanism 2 and the quick release platform 1 in the present utility model;

[0019] Figure 4 is the structural schematic diagram of the upper heading housing 31 in the present utility model;

[0020] Figure 5 is the bottom structural schematic diagram of the middle heading housing 32 in the present utility model;

[0021] Figure 6 is the internal structural schematic diagram of the heading rotation mechanism 3 in the present utility model;

[0022] Figure 7 is the structural schematic diagram of the pitching motor 23 in the present utility model;

[0023] Figure 8 is the explosion structural schematic diagram of the present utility model.

[0024] Explanation of the accompanying drawings: quick-release platform 1, pitch mechanism 2, heading rotation mechanism 3, bottom shell 4, control main board PCBA5, non-slip silicone pad 6, mounting platform 11, silicone pad 12, self-locking quick-release turntable 13, self-locking screws 14, quick-release positioning column 15, pitch lower shell main part 21, lower shell side cover 22, pitch motor 23, heading upper shell 31, heading middle shell 32, ball bearing connecting piece 33, heading motor 34, heading drive gear 35, heading bearing 36, fixed shaft 37, heading left and right limit PCBA 38, heading zero position detection PCBA 39, pitch drive gear 231, support seat 311, pitch drive tooth groove 312, heading drive gear ring 321, ball groove 322, ball 331. DETAILED DESCRIPTION

[0025] See also Figures 1-8 As shown, the technical solution adopted in this specific embodiment is: it includes a quick-loading platform 1, a pitch mechanism 2, a heading rotation mechanism 3, and a bottom shell 4. The quick-loading platform 1 is connected to the pitch mechanism 2, and can be quickly connected to and installed with a scanner or a camera through the quick-loading platform. Specifically, the quick-loading platform 1 includes a mounting platform 11 and a silicone pad 12. The silicone pad 12 is arranged on the top of the mounting platform 11. A self-locking quick-release turntable 13 is movably arranged at the bottom of the mounting platform 11, and a self-locking screw 14 is arranged at the center of the self-locking quick-release turntable 13. , the self-locking screw 14 passes through the mounting platform 11 and the silicone pad 12. The mounting platform 11 is also symmetrically provided with quick-release positioning columns 15. When in use, align the connection hole at the bottom of the scanner with the quick-release platform, so that the quick-release positioning column corresponds to the positioning hole of the scanner quick-release mechanism, and the self-locking screw is aligned with the connection hole. Turn the self-locking quick-release turntable to complete the connection with the scanner quick-release mechanism. Tighten the fastening screws of the quick-release mechanism to achieve quick installation. The reverse operation can achieve quick release. After the installation is completed, the silicone pad plays an anti-slip role and increases the fastening effect.

[0026] The heading rotation mechanism 3 is movably connected to the bottom shell 4, and the heading rotation mechanism can rotate on the bottom shell with the bottom shell as the base;

[0027] The pitch mechanism 2 includes two symmetrically arranged pitch motors 23, which are transmission-connected to the heading rotation mechanism 3. A pitch drive gear 231 is arranged on the output shaft of the pitch motor 23, and the pitch drive gear 231 is eccentrically arranged. The pitch drive gear and the heading rotation mechanism cooperate to drive the pitch mechanism to rotate on the heading rotation mechanism. The pitch mechanism 2 also includes a pitch encoder PCBA24, which corresponds to the pitch motor 23. The pitch motor is electromagnetically inductively controlled through a program set by the pitch encoder PCBA, thereby realizing precise control of the pitch angle, so that the gimbal can be used horizontally after being connected to a load, and can also be installed vertically at 90 degrees for scanning or shooting in pitch and heading.

[0028] The heading rotation mechanism 3 includes a heading middle shell 32 and a heading motor 34. The heading motor 34 is installed on the side wall of the bottom shell 4. The heading motor 34 is connected to the heading middle shell 32 in a transmission manner. The heading rotation mechanism 3 also includes a heading left and right limit PCBA 38 and a heading zero position detection PCBA 39 installed on the bottom shell 4. The heading left and right limit PCBA 38 and the heading zero position detection PCBA 39 correspond to the position of the pitch motor 23 in the initial position. In this embodiment, the heading left and right limit PCBA and the heading zero position detection PCBA are set, and the heading zero position detection PCBA is performed. The zero-degree angle of the initial position is recorded. In one embodiment, the zero-degree position is the vertical position with respect to the charging port. When the gimbal is started, the power key is pressed, and the heading zero-position detection PCBA detects the state of the heading motor and controls it to return to the zero-degree position. The zero-degree position is used as a reference, and the left and right rotation angles of the heading motor are controlled by the heading left and right limit PCBAs. To prevent the charging cable from getting entangled during rotation, the rotation angle of the heading motor is ±170 degrees. In this embodiment, the two PCBAs detect and control the control board, and thus the rotation angle of the motor is precisely controlled.

[0029] More specifically, the pitch mechanism 2 further comprises a pitch lower shell main body 21 , lower shell side covers 22 are symmetrically arranged on both sides of the pitch lower shell main body 21 , and a pitch motor 23 is installed in the lower shell side covers 22 .

[0030] More specifically, the heading rotation mechanism 3 further includes a heading upper shell 31, the heading upper shell 31 is connected to the heading middle shell 32, and the top of the heading upper shell is connected to the pitch mechanism to support the pitch mechanism to perform pitch rotation;

[0031] The heading upper shell 31 includes a symmetrically arranged support seat 311, which is located on the outside of the lower shell side cover 22, and a pitch driving tooth groove 312 is arranged in an arc shape at the bottom inner side of the support seat 311. In order to ensure the rotational stability of the pitch mechanism and better perform precise control, a pitch driving tooth groove is arranged to cooperate with the pitch driving gear 231 of the pitch motor 23. In this embodiment, the pitch driving tooth groove is arranged in an arc shape, and limit plates are also arranged at both ends to limit the stroke of the pitch driving gear so that the rotation angle of the pitch mechanism is ±90 degrees.

[0032] To be more specific, the inner ring at the bottom of the heading middle shell 32 is provided with a heading drive gear ring 321, and the heading motor 34 is provided with a heading drive gear 35. The heading drive gear 35 is meshed with the heading drive gear ring 321. The heading motor is eccentrically arranged, and the heading drive gear drives the heading middle shell to rotate. A ball groove 322 is provided on the outer ring at the bottom of the heading middle shell.

[0033] More specifically, the heading rotation mechanism 3 further includes a steel ball bearing connecting piece 33. The steel ball bearing connecting piece 33 is located between the middle housing 32 of the heading and the bottom housing 4 and is fixed to the bottom housing 4. A number of ball bearings 331 are provided on the steel ball bearing connecting piece 33. The ball bearings 331 are in rolling connection with the middle housing 23 of the heading. Through the cooperation of the ball bearings and the middle housing of the heading, the middle housing of the heading can rotate more smoothly and steadily.

[0034] More specifically, the heading rotation mechanism 3 further includes a heading bearing 36 and a fixed shaft 37. The heading bearing 36 is installed at the top of the fixed shaft 37, and the heading bearing 36 is connected to the middle housing 32 of the heading. In the existing structure, the rotating table is mostly directly driven by a motor, resulting in insufficient stability. In this embodiment, not only are ball bearings added for cooperation, but also a fixed shaft and a heading bearing are provided, further increasing the rotational stability of the heading rotation mechanism. Since the fixed shaft and the heading bearing are used in cooperation, when the pan-tilt is installed vertically, the bracket is connected to the bottom housing through the L connecting plate. During the rotation process, the heading bearing can ensure smooth rotation of the whole without jamming. In addition, a steel ball bearing connecting piece is used in cooperation with the ball bearings to roll-connect with the middle housing of the heading, further ensuring smooth rotation of the pan-tilt.

[0035] More specifically, a control main board PCBA5 is provided inside the bottom housing 4. A Bluetooth module and a voice control module are provided on the control main board PCBA5. By setting the Bluetooth module, it is convenient for the device to be connected to external control devices, such as computers, tablets, mobile phones, etc., so as to realize remote operation, which is more convenient. The voice module can realize voice control, which is more convenient through voice control when it is not convenient to use external devices. It should be noted that the control main board PCBA also supports power supply using a computer serial port, USB, and 3D scanner. When multiple devices are used, the 3D scanner can be used to supply power to the pan-tilt, providing a better user experience. An anti-slip silicone pad 6 is provided at the bottom of the bottom housing 4, which plays an anti-slip role during placement and increases the stability during use.

[0036] Working principle of the utility model: Align the connection hole at the bottom of the scanner with the quick mounting table 1, so that the quick-release positioning post 15 corresponds to the positioning hole of the quick mounting mechanism of the scanner, and the self-locking screw aligns with the connection hole. Rotating the self-locking quick-release turntable 13 can complete the connection with the quick mounting mechanism of the scanner. Tightening the fastening screw of the quick mounting mechanism can achieve quick mounting. After the connection is completed, connect the data cable to the charging port on the bottom shell 4 for power supply. At this time, press the switch on one side of the pitching mechanism 2, and the pitching encoder PCBA 24 detects the position of the pitching motor 23 to return to the center. The heading zero position detection PCBA 39 also detects the relative position with the pitching motor 23 and controls the heading motor 34 to return to the position. After the self-check is completed, establish a connection with an external device through Bluetooth, and the gimbal can be operated through the external device. Since an arc-shaped pitching drive tooth groove 312 is provided on the heading upper shell 31 to match the pitching drive gear 231, when the two pitching motors 23 start, they drive the entire pitching mechanism 2 to rotate ±90 degrees along the pitching drive tooth groove 312. During the rotation process, the pitching encoder PCBA 24 precisely controls the rotation by detecting the position of the pitching motor 23 through electromagnetic induction. When a heading rotation is to be performed, control the heading motor 34 to start. Similarly, the heading motor 34 is eccentrically arranged, and the heading drive gear 35 drives the heading middle shell 32 to rotate. During the rotation of the heading middle shell 32, the cooperation between the ball 331 and the ball groove 322 ensures the smooth rotation of the heading middle shell 32. During the rotation process, the left and right heading limit PCBA 38 has stored a rotation angle of ±170 degrees, and the heading zero position detection PCBA 39 has also set the zero degree position. Centered on the zero degree position, drive the heading motor 34 to perform a heading rotation of ±170 degrees, and drive the heading motor to perform a zero degree reset when the reset button is pressed, thereby achieving precise control.

[0037] The above is only used to illustrate the technical solution of the utility model and not to limit it. Any other modifications or equivalent replacements made by those of ordinary skill in the art to the technical solution of the utility model shall be covered by the scope of the claims of the utility model as long as they do not depart from the spirit and scope of the technical solution of the utility model.

Claims

1. A special rotary calibration pan-tilt for a 3D scanner, characterized in that: It includes a quick - mounting platform (1), a pitching mechanism (2), a heading rotation mechanism (3), and a bottom shell (4). The quick - mounting platform (1) is connected to the pitching mechanism (2), and the heading rotation mechanism (3) is movably connected to the bottom shell (4). The pitching mechanism (2) includes two symmetrically arranged pitching motors (23), and the pitching motors (23) are drivingly connected to the heading rotation mechanism (3). The heading rotation mechanism (3) includes a heading middle shell (32) and a heading motor (34). The heading motor (34) is installed at the side wall of the bottom shell (4), and the heading motor (34) is drivingly connected to the heading middle shell (32). The pitching mechanism (2) also includes a pitching encoder PCBA (24), and the pitching encoder PCBA (24) corresponds to the pitching motor (23). The heading rotation mechanism (3) also includes a left - right heading limit PCBA (38) and a heading zero - position detection PCBA (39) installed on the bottom shell (4). The left - right heading limit PCBA (38) and the heading zero - position detection PCBA (39) correspond to the position of the pitching motor (23) at the initial position.

2. The 3D scanner special rotary calibration pan-tilt according to claim 1, characterized in that: The quick - mounting platform (1) includes a mounting platform (11) and a silica gel pad (12). The silica gel pad (12) is arranged on the top of the mounting platform (11). A self - locking quick - release turntable (13) is movably arranged at the bottom of the mounting platform (11), and a self - locking screw (14) is arranged at the center of the self - locking quick - release turntable (13). The self - locking screw (14) penetrates through the mounting platform (11) and the silica gel pad (12). Quick - release positioning posts (15) are symmetrically arranged on the mounting platform (11).

3. A special rotary calibration pan-tilt for 3D scanners according to claim 1, characterized in that: The pitching mechanism (2) also includes a main pitching lower - shell part (21). Lower - shell side covers (22) are symmetrically arranged on both sides of the main pitching lower - shell body (21), and the pitching motors (23) are installed inside the lower - shell side covers (22).

4. A special rotary calibration pan-tilt for a (3)D scanner according to claim 1, characterized in that: A pitching drive gear (231) is arranged on the output shaft of the pitching motor (23), and the pitching drive gear (231) is eccentrically arranged.

5. A rotary calibration pan-tilt specifically for a 3D scanner according to claim 1, characterized in that: The heading rotation mechanism (3) also includes an upper heading shell (31). The upper heading shell (31) is connected to the heading middle shell (32). The upper heading shell (31) includes symmetrically arranged support seats (311). The support seats (311) are located outside the lower - shell side covers (22), and a pitching drive tooth groove (312) is arcuately arranged at the inner bottom of the support seats (311).

6. A dedicated rotary calibration pan-tilt for a 3D scanner according to claim 1, characterized in that: A heading drive gear ring (321) is arranged on the inner circle of the bottom of the heading middle shell (32). A heading drive gear (35) is arranged on the heading motor (34). The heading drive gear (35) meshes with the heading drive gear ring (321). A ball groove (322) is arranged on the outer circle of the bottom of the heading middle shell.

7. A rotary calibration pan-tilt specifically for a 3D scanner according to claim 1, characterized in that: The heading rotation mechanism (3) also includes a steel - ball bearing connecting piece (33). The steel - ball bearing connecting piece (33) is located between the heading middle shell (32) and the bottom shell (4) and is fixed to the bottom shell (4). A number of steel balls (331) are arranged on the steel - ball bearing connecting piece (33), and the steel balls (331) are in rolling connection with the heading middle shell (23).

8. A special rotary calibration pan-tilt for 3D scanners according to claim 1, characterized in that: The described heading rotation mechanism (3) further includes a heading bearing (36) and a fixed shaft (37). The heading bearing (36) is installed on the top of the fixed shaft (37), and the heading bearing (36) is connected to the middle heading housing (32).

9. A dedicated rotary calibration pan-tilt for a 3D scanner according to claim 1, characterized in that: A control main board PCBA (5) is arranged inside the bottom shell (4). A Bluetooth module and a voice control module are arranged on the control main board PCBA (5). An anti-slip silica gel pad (6) is arranged at the bottom of the bottom shell (4).

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