Three-dimensional scanning device

Abstract

The utility model relates to a three-dimensional scanning device, which comprises a scanning and measuring part, which is positioned at the top of the device and is used for scanning and measuring a space to be measured; the driving part comprises a first driving motor and a second driving motor; the autorotation part at least comprises a first bevel gear, a second bevel gear, an autorotation shaft and a conductive slip ring, the first bevel gear is arranged in the vertical direction, the second bevel gear, the autorotation shaft and the conductive slip ring are coaxially arranged in the horizontal direction, and the scanning measurement part is fixed to the autorotation shaft. The first driving motor drives the first bevel gear to rotate; the revolution part at least comprises a coupler and a revolution table, a second driving motor located at the bottom of the device drives the coupler located in the vertical axis direction of the device, the coupler is fixedly connected with the revolution table, and a bearing of the rotation shaft is fixed to the revolution table.

Description

Technical Field

[0001] The utility model relates to the field of scanning measurement, and more specifically, to a three-dimensional scanning device. Background Art

[0002] Through non-contact measurement, the shape and appearance in the real environment space can be measured and analyzed, and through three-dimensional reconstruction, a corresponding digital model can be created in the virtual environment. Three-dimensional reconstruction is to establish a mathematical model suitable for computer representation and processing of three-dimensional objects, which is the basis for processing, operating and analyzing its properties in the computer environment, and is also the key technology for establishing a virtual reality expressing the objective world in the computer. Content of the Utility Model

[0003] To solve the above technical problems, the utility model provides a three-dimensional scanning device, which includes: a scanning and measuring part located at the top of the device for scanning and measuring a space to be measured; a driving part including a first driving motor and a second driving motor; a rotating part at least including a first bevel gear, a second bevel gear, a rotating shaft, and a conductive slip ring, wherein the first bevel gear is arranged in the vertical direction, and the second bevel gear, the rotating shaft, and the conductive slip ring are coaxially arranged in the horizontal direction, the scanning and measuring part is fixed to the rotating shaft, and the first driving motor drives the first bevel gear to make a rotary motion; and a revolving part at least including a coupling and a revolving table, the second driving motor located at the bottom of the device drives the coupling in the vertical axis direction of the device, the coupling is fixedly connected to the revolving table, and the bearing of the rotating shaft is fixed to the revolving table.

[0004] Optionally, the revolving table includes a receiving part surrounded by a bottom and a wall, and the scanning and measuring part is placed in the receiving part.

[0005] Optionally, the height of the wall of the receiving part is higher than the height of the scanning and measuring part, and a pair of notches are provided on the wall in the orthogonal direction of the axis of the rotating shaft.

[0006] Optionally, the rotation speed of the first driving motor is 11 times that of the second driving motor.

[0007] Optionally, the three-dimensional scanning device further includes a power supply part arranged at the bottom of the three-dimensional scanning device.

[0008] Optionally, the three-dimensional scanning device further includes a housing that wraps the stator seat of the first driving motor and is located on both sides of the rotor of the first driving motor with the first bevel gear.

[0009] Optionally, the first drive motor includes a motor stator base, a stator, a rotor, bearings, and a bearing cover. The second drive motor includes a mounting plate, and the mounting plate and the second drive motor are fixed to the bottom of the motor stator base of the first drive motor. Optionally, the monitoring and sensing portions are symmetrically arranged in the stress concentration areas of the diaphragm wall.

[0010] The three-dimensional scanning device according to the embodiment of the present invention is driven by a pair of bevel gears. Through creative design, it has a compact structure and a reasonable layout. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Hereinafter, the drawings of the exemplary embodiments of the present invention are shown by way of examples. The same or similar reference numerals are used in the respective drawings to denote the same or similar elements. In the drawings:

[0012] Figure 1 A schematic structural diagram of the three-dimensional scanning device according to the exemplary embodiment of the present invention is shown.

[0013] Figure 2 A schematic cross-sectional view of the three-dimensional scanning device according to the exemplary embodiment of the present invention is shown.

[0014] Figure 3 Shows Figure 1 A top view of the three-dimensional scanning device. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0015] In the present invention, the term "and / or" is intended to cover all possible combinations and sub-combinations of the listed elements, including any one of the separately listed elements, any sub-combination, or all elements, without necessarily excluding other elements.

[0016] In the present invention, unless otherwise specified, the terms "first", "second", etc. are used to describe various elements without intending to limit the positional relationship, temporal relationship, or importance relationship of these elements. Such terms are only used to distinguish one element from another.

[0017] In the present invention, unless otherwise specified, the azimuth or positional relationship indicated by the terms "front, rear, up, down, left, right", etc. is usually based on the azimuth or positional relationship shown in the drawings, and is only for the convenience of description and simplification of the description, and cannot be construed as a limitation on the protection scope of the present invention.

[0018] Combined with Figures 1 to 3 As shown, the three-dimensional scanning device 100 includes a scanning and measuring portion 200, a driving portion 300, a self-rotating portion 400, a revolving portion 500, and a housing 600 ( Figure 1 not shown in Figure 2As shown). The scanning measurement unit 200 is fixed on the horizontal self-rotating shaft 406. The self-rotating unit 400 includes a pair of bevel gear sets for transmission in the vertical and horizontal directions. The axis of the first bevel gear 402 is in the vertical direction, the axis of the second bevel gear 404 is in the horizontal direction, and the second bevel gear 404 is connected to one end of the horizontally placed self-rotating shaft 406. A conductive slip ring 408 is provided at the other end of the self-rotating shaft 406, and the conductive slip ring 408 can prevent wire winding. The scanning measurement unit 200 is fixed in the middle of the self-rotating shaft 406. In an embodiment of the present invention, the scanning measurement unit includes a lidar. In an embodiment of the present invention, the lidar is fixed on the self-rotating shaft 406 by screws, and the self-rotating shaft 406 is supported by a pair of miniature deep groove ball bearings. The bearings are installed in two bearing holes of the wall 508 of the revolving table 504.

[0019] The first driving motor 302 drives the scanning measurement unit 200 fixed on the self-rotating shaft 406 through a transmission group composed of the first bevel gear 402 and the second bevel gear 404, so that the lidar emits rays to form a self-rotating scanning plane.

[0020] Combined with Figure 2 As shown, the revolving unit 500 includes a coupling 502 and a revolving table 504, which are fixedly connected. The second driving motor 304 located at the bottom of the three-dimensional scanning device 100 is connected to the coupling 502 through an output shaft, so that the revolving table 504 rotates around the vertical direction, that is, while the lidar emits rays to form a self-rotating scanning plane, it revolves, so as to cover from a plane to a three-dimensional space.

[0021] When rotation is added to revolution, the self-rotating scanning plane rotates around the revolution axis, so the scanning range covers the entire spherical surface. Also, since the bottom of the lidar is the bottom 506 of the revolving table 504, the scanning range approximately covers the upper half of the spherical surface in the figure.

[0022] In order to facilitate the CNC machining of the two bearing holes, a wall 508 is provided around the revolving table 504. At the same time, in order to expand the range of the self-rotating scanning plane (the maximum scanning angle) as much as possible, a notch 510 and a notch 512 are provided at the intersection of the self-rotating scanning plane and the wall 508. By setting a pair of notches, the scanning angle is slightly larger than 180°. In some embodiments, the self-rotating scanning frequency is 100 Hz. In an exemplary embodiment, the height of the wall 508 is higher than the height of the lidar, and setting the wall 508 can also protect the lidar.

[0023] Further, in an exemplary embodiment, the hub hole of the second bevel gear 404 is D-shaped and is matched with the D-shaped shaft at the end of the second bevel gear 404 of the self-rotating shaft 406 to achieve radial connection. At the same time, the second bevel gear 404 is axially fixed by screws in cooperation with gaskets to prevent its axial movement. Furthermore, the first driving motor 302 includes: a motor stator seat 306, a stator 307, a rotor 308, bearings, and a bearing cover 310. In the exemplary embodiment, the stator of the disc frameless motor is fixed on the motor stator seat 306 by anaerobic glue, and the rotor 308 is fixed on the motor output flange by gluing. The rotor of the motor and the output flange are supported by two 61808 bearings.

[0024] The first driving motor 302 is integrally in a hollow disc shape. The revolution transmission shaft passes through the hollow hole of the first driving motor 302. The mounting plate 312 of the second driving motor 304 and the second driving motor 304 are fixed to the bottom of the motor stator seat 306 of the first driving motor 302 by bolts. The motor output flange of the first driving motor 302 fixes the first bevel gear 402 by screws. In some embodiments, the motor stator seat 306 of the first driving motor 302 is fixed to the base by bolts.

[0025] In some embodiments, through an external power supply device or a power supply unit is provided at the bottom, for example, after the detachable battery is powered on, the three-dimensional scanning device 100 starts to operate. First, the brushless motor driver drives the first driving motor 302 to operate at a speed of 660 rpm. At this time, the output shaft of the second driving motor 304 is locked, that is, the revolution part 500 is fixed, and the support of the self-rotating shaft 406 is fixed. The rotation of the self-rotating part 400 is achieved through bevel gear transmission to realize self-rotation. The lidar measures distance while rotating around the axis of the self-rotating shaft 406. It is defined that the plane formed by the rotation of the radar ranging line around the axis of the self-rotating shaft 406 is the self-rotation scanning plane (described above).

[0026] After the self-rotation speed is stable, the second driving motor 304 is driven by the stepper motor driver to drive the revolution table 504 of the revolution part 500 to make a rotary motion at a speed of 60 rpm. That is, the rotation speed of the first driving motor 302 is 11 times that of the second driving motor 304, achieving a better scanning effect. That is, the speed of the self-rotating shaft 406 about its own axis is 600 rpm.

[0027] It should be understood that both self-rotation and revolution are infinitely rotating. In some embodiments, the scanning measurement unit sends out data signals through wireless transmission.

[0028] The three-dimensional scanning device of the embodiment of the present utility model is driven by a pair of bevel gears. Through creative design, it has a compact structure and reasonable layout.

[0029] The various embodiments presented above are merely exemplary and in no way mean to limit the scope of the present utility model. The innovations described in the present utility model and their various variants are within the scope contemplated by the present utility model. Additionally, the subject matter described in the present utility model and the claims is intended to cover and include all suitable technical variants.

Claims

1. A three-dimensional scanning device, characterized in that, The three-dimensional scanning device includes: A scanning and measuring unit, which is located at the top of the device and is used for scanning and measuring a space to be measured; A driving unit, which includes a first driving motor and a second driving motor; A self-rotation unit, which at least includes a first bevel gear, a second bevel gear, a self-rotation shaft, and a conductive slip ring. The first bevel gear is arranged in the vertical direction, and the second bevel gear, the self-rotation shaft, and the conductive slip ring are coaxially arranged in the horizontal direction. The scanning and measuring unit is fixed to the self-rotation shaft, and the first driving motor drives the first bevel gear to perform a rotary motion; and A revolution unit, which at least includes a coupling and a revolution table. The second driving motor located at the bottom of the device drives the coupling located in the vertical axis direction of the device, and the coupling is fixedly connected to the revolution table. The bearing of the self-rotation shaft is fixed to the revolution table.

2. The three-dimensional scanning device according to claim 1, characterized in that, The revolution table includes a receiving portion, which is enclosed by a bottom and a wall, and the scanning and measuring unit is placed in the receiving portion.

3. The three-dimensional scanning device according to claim 2, characterized in that, The height of the wall of the receiving portion is higher than the height of the scanning and measuring unit, and a pair of notches are provided on the wall in the direction orthogonal to the axis of the self-rotation shaft.

4. The three-dimensional scanning device according to claim 3, characterized in that, The rotation speed of the first driving motor is 11 times that of the second driving motor.

5. The three-dimensional scanning device according to claim 3, characterized in that The three-dimensional scanning device further includes: a power supply unit, which is arranged at the bottom of the three-dimensional scanning device.

6. The three-dimensional scanning device according to claim 5, wherein The three-dimensional scanning device further includes: a housing, which wraps the stator seat of the first driving motor and is respectively located on both sides of the rotor of the first driving motor with the first bevel gear.

7. The three-dimensional scanning device according to claim 6, wherein The first driving motor includes a motor stator seat, a stator, a rotor, a bearing, and a bearing cover. The second driving motor includes a mounting plate, and the mounting plate and the second driving motor are fixed to the bottom of the motor stator seat of the first driving motor.

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