Ball sweeper anti-collision system

Abstract

The utility model discloses a ball sweeper anti-collision system which further comprises an installation support and a distance measuring unit, the installation support is fixed on a mechanical arm and extends to the inner side of a frame, a plurality of installation points are arranged in gaps between adjacent spoke supports, and the distance measuring unit is fixedly arranged on the installation points. The spoke support, the marking island and the scanning body are located outside the detection range of the distance measuring unit, and the distance between the distance measuring unit and the center of the frame is smaller than that between the marking island and the center of the frame. And a signal feedback line of the distance measuring unit is connected with the PLC or the scram input of the mechanical arm. On the premise that the frame is not damaged, the distance measuring unit is arranged in the gap of the frame through the mounting bracket, so that the peripheral area of the three-dimensional scanning equipment is monitored in real time, and whether an obstacle exists or not is judged. And when it is judged that the distance between the obstacle and the three-dimensional scanning equipment is about to be smaller than the safety distance, the mechanical arm stops moving continuously. And the anti-collision performance of the scanner is improved on the premise that the normal use scene and precision of the scanner are not influenced.

Description

Technical Field

[0001] The utility model relates to the technical field of three-dimensional scanning, in particular to a ball scanning anti-collision system. Background Art

[0002] In order to meet the needs of scanning large quantities of workpieces, existing handheld 3D scanning equipment is fixed on a robotic arm, and the movement of the robotic arm replaces manual handheld operations, thereby improving scanning efficiency and reducing costs.

[0003] In the above-mentioned automated scanning scenario of the 3D scanner, human errors such as incorrect robot path teaching, incorrect scanning program calling, and incorrect workpiece placement often cause the scanner to collide with the workpiece, resulting in damage to the scanner or the workpiece.

[0004] To address the above issues, there are three common anti-collision measures for scanners: 1. Adding a protective shell to the outside of the scanner; 2. Adding a torque feedback sensor to the end of the robotic arm; 3. Adding a diffuse reflection infrared sensor for anti-collision protection. However, all of them have the following problems:

[0005] Adding a protective cover to the scanner only protects the scanner, but it doesn't effectively protect the workpiece. Furthermore, in tracking scanners, the scanner's markers may be obscured. It also can't effectively operate in areas with raised obstacles.

[0006] In the solution of installing a torque feedback sensor at the end of the robotic arm, if the torque sensor sensitivity is low, a strong collision is required to stop the robotic arm. If the torque sensor sensitivity is high, false triggering will occur in scenarios where the robotic arm moves rapidly, affecting the normal scanning rhythm.

[0007] In the solution using diffuse reflection sensors, diffuse reflection sensors are greatly affected by background interference, mainly the intensity of ambient light, the color and material of objects, etc., and cannot stably and effectively detect obstacles (such as workpieces and tooling).

[0008] In addition, since the frame of the handheld 3D scanning device adopts an integrated carbon fiber structure, in order to avoid affecting the scanning accuracy of the handheld 3D scanning device, the frame should be kept from being punched or subjected to additional loads as much as possible. Utility Model Content

[0009] In response to the above-mentioned defects in the existing technology, a ball scanner anti-collision system is provided to improve the anti-collision performance of the scanner without affecting the normal use scenario and accuracy of the scanner.

[0010] The technical solution adopted by the present invention to solve the above technical problems is:

[0011] First, a ball-sweep collision avoidance system is used in tracking-type 3D scanning equipment. The ball-sweep collision avoidance system includes a robotic arm, a frame, a marking island, and a scanning body. The frame includes a central main frame and spoke frames fixed to the sides of the main frame. The main frame is fixed to the end of the robotic arm, and the marking island and scanning body are mounted on the spoke frames.

[0012] The characteristics are as follows: the ball-sweeping anti-collision system also includes a mounting bracket and a ranging unit, one end of the mounting bracket is fixed on the robotic arm, and the other end of the mounting bracket extends to the inner side of the frame, and multiple mounting points are provided in the gaps between adjacent spoke brackets, and the ranging unit is fixed on the mounting points; the spoke bracket, the marking island, and the scanning body are located outside the detection range of the ranging unit, and the distance between the ranging unit and the center of the frame is less than the distance between the marking island and the center of the frame; the signal feedback line of the ranging unit is connected to the PLC or the emergency stop input of the robotic arm.

[0013] According to the above technical solution, the mounting bracket includes a mounting portion fixed on the robotic arm, an extension portion with one end fixed on the mounting portion and the other end passing through the gap between the main bracket and the spoke and extending to the gap between adjacent spoke brackets, and a mounting base for carrying the ranging unit and fixed on the end of the extension portion located in the gap between adjacent spoke brackets.

[0014] According to the above technical solution, the mounting portion includes a clamping hoop provided on the robotic arm in a detachable fixed connection manner, and a mounting plate fixed on the clamping handle;

[0015] The extension portion includes a first rod, a second rod, and a third rod. One end of the first rod is fixed to the mounting plate, and the other end of the first rod extends to a gap on the surface of the frame. One end of the second rod is located in another gap on the surface of the frame, and the other end of the second rod is indirectly fixed to the first rod or the second rod via the third rod.

[0016] The mounting seat adopts an L-shaped structure or a flat plate structure. The flat plate mounting seat is fixed to the end of the first rod or the end of the second rod, and the L-shaped mounting seat is fixed to the rod body of the first rod or the rod body of the second rod.

[0017] According to the above technical solution, two first rods and two second rods are used, and the third rod is connected between the first rod and the second rod.

[0018] According to the above technical solution, one first rod and three second rods are used, and the third rod is connected between the first rod and the second rod, and between the second rod and the second rod.

[0019] According to the above technical solution, a connecting block is also included, and the first rod, the second rod, and the third rod are connected by the connecting block.

[0020] According to the above technical solution, the first rod, the second rod, and the third rod are fixedly connected.

[0021] According to the above technical solution, the ranging unit is divided into a circumferential ranging unit and an axial ranging unit. The circumferential ranging unit is distributed on the circumference surrounding the end of the robotic arm, and the axial ranging unit is located on a straight line parallel to the end of the robotic arm; at least 3 circumferential ranging units are set, and at least 1 axial ranging unit is set.

[0022] According to the above technical solution, the spoke bracket includes a circular spoke bracket and an arc-shaped spoke bracket. The plane where the circular arc-shaped bracket is located is perpendicular to the straight line where the end of the robotic arm is located. One end of the four arc-shaped spoke brackets is connected to each other, and the other end of the four arc-shaped spoke brackets is fixed to the circular spoke bracket, together forming a spherical frame.

[0023] The distance measuring unit assembly includes four circumferential distance measuring units and one axial distance measuring unit. The four circumferential distance measuring units are respectively arranged in the gaps adjacent to each other in the arc-shaped spoke brackets, and one axial distance measuring unit is in the same gap as one of the circumferential distance measuring units.

[0024] According to the above technical solution, the distance measuring unit adopts an ultrasonic distance measuring sensor, a laser distance measuring sensor, or an infrared distance measuring sensor.

[0025] The utility model has the following beneficial effects:

[0026] Without damaging the frame, the distance measuring unit is positioned within the gaps in the frame using a mounting bracket. This allows real-time monitoring of the area surrounding the 3D scanning device and determines whether there are obstacles. If an obstacle is detected and the distance between the obstacle and the 3D scanning device is approaching the safe distance, the robotic arm stops moving. This improves the scanner's collision avoidance performance without affecting the scanner's normal use or accuracy.

[0027] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and to implement it according to the contents of the description, the following is a detailed description of the preferred embodiments of the present invention with the accompanying drawings. The specific implementation methods of the present invention are given in detail in the following embodiments and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention.

[0029] Figure 1 It is a three-dimensional diagram of an embodiment provided by the utility model;

[0030] Figure 2 This is a front view of an embodiment provided by the utility model;

[0031] Figure 3 It is a side view of an embodiment provided by the utility model;

[0032] Figure 4 This is a top view of an embodiment provided by the utility model;

[0033] Figure 5 This is a three-dimensional diagram of a mounting bracket according to an embodiment of the present invention;

[0034] Figure 6 This is a front view of the mounting bracket of the embodiment provided by the utility model;

[0035] Figure 7 This is a side view of the mounting bracket according to the embodiment of the present invention;

[0036] Figure 8 This is a top view of the mounting bracket according to an embodiment of the present invention;

[0037] In the figure, 1. Robotic arm; 2. Frame; 3. Marking island; 4. Scanning body; 5. Main body bracket; 6. Spoke bracket; 6-1. Circular frame; 6-2. Arc frame; 7. Mounting bracket; 7-1. Clamp; 7-2. Mounting plate; 7-3. First rod; 7-4. Second rod; 7-5. Third rod; 7-6. L-shaped structure; 7-7. Flat plate structure; 7-8. Connecting block; 8. Distance measuring unit; 9. Leg. DETAILED DESCRIPTION

[0038] The following is combined with Figure 1-4 The principles and features of the present invention are described, and the examples provided are intended only to illustrate the present invention and are not intended to limit the scope of the present invention. The following paragraphs describe the present invention in more detail by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become more apparent from the following description and claims. It should be noted that the drawings are greatly simplified and not to exact scale, and are intended solely to facilitate and clearly illustrate the embodiments of the present invention.

[0039] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a central component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a central component. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of this invention are intended only to describe specific embodiments and are not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0041] Reference Figures 1 and 2 As shown, the ball-sweeping anti-collision system provided by the present invention is applied to tracking-type three-dimensional scanning equipment.

[0042] Example 1

[0043] The ball-scanning collision avoidance system comprises a robotic arm 1, a frame 2, a marking island 3, and a scanner body 4. The frame comprises a central main frame 5 and spoke brackets 6 fixed to its sides. The main frame is fixed to the end of the robotic arm, and the marking island and scanner body are mounted on the spoke brackets. Legs are also provided at the bottom of the frame, allowing the 3D scanner to be placed on a tabletop when not required to be fixed to the robotic arm.

[0044] The ball-sweeping anti-collision system also includes a mounting bracket 7 and a ranging unit 8. One end of the mounting bracket is fixed on the robotic arm, and the other end of the mounting bracket extends to the inside of the frame. Multiple mounting points are provided in the gaps between adjacent spoke brackets, and the ranging unit is fixed on the mounting points. The spoke brackets, the marking island, and the scanning body are located outside the detection range of the ranging unit, and the distance between the ranging unit and the center of the frame is less than the distance between the marking island and the center of the frame. The signal feedback line of the ranging unit is connected to the PLC or the emergency stop input of the robotic arm.

[0045] Multiple ranging units are set up around the three-dimensional scanning device, and the ranging units are used to monitor obstacles around the three-dimensional scanning device in real time; the signal feedback line of the ranging unit is connected to the PLC or the emergency stop input of the robotic arm. When the ranging unit detects an obstacle, the PLC or the robotic arm obtains the corresponding signal, which can immediately stop the movement of the robotic arm, thereby avoiding the three-dimensional scanning device from colliding with the obstacle during the movement of the robotic arm and causing damage.

[0046] Furthermore, since the 3D scanning equipment's frame utilizes an integrated carbon fiber structure, a mounting bracket is provided to prevent damage to the frame, which could reduce the scanning accuracy of the 3D scanning equipment. The bracket is fixed to the robotic arm and extends from a fixed point on the robotic arm into the frame. During this process, the bracket is designed to minimize interference with the frame or fixation. A suitable mounting point for the distance measuring unit is selected within the frame, and the mounting bracket is extended to the mounting point to complete the installation of the distance measuring unit.

[0047] Based on the above two points, without damaging the frame, the ranging unit is placed within the frame's gaps using a mounting bracket. This allows real-time monitoring of the area surrounding the 3D scanning device and determines whether there are obstacles. If an obstacle is detected and the distance between the obstacle and the 3D scanning device is approaching the safe distance, the robotic arm stops moving. This improves the scanner's collision avoidance performance without affecting the scanner's normal use or accuracy.

[0048] In Example 1, the mounting bracket includes a mounting portion fixed to the robotic arm, an extension portion with one end fixed to the mounting portion and the other end extending through the gap between the main bracket and the spokes and into the gap between adjacent spoke brackets, and a mounting base for carrying a distance measuring unit and fixed to the end of the extension portion located in the gap between adjacent spoke brackets. The mounting bracket is divided into three components: the mounting portion, the extension portion, and the mounting base, corresponding to the three functions of the mounting bracket: fixing the mounting bracket to the robotic arm, extending into the frame, and mounting the distance measuring unit. The mounting portion can be configured on the robotic arm as either a removable fixed connection or a non-removable fixed connection.

[0049] In embodiment 1, the distance measuring unit adopts an ultrasonic distance measuring sensor, a laser distance measuring sensor, or an infrared distance measuring sensor. As shown in the embodiment in the figure, the distance measuring unit adopts an ultrasonic distance measuring sensor.

[0050] Example 2

[0051] The structure and principle of Example 2 are similar to those of Example 1, except that a preferred implementation form of the mounting bracket is provided.

[0052] The mounting portion includes a clamp 7-1 which is provided on the robot arm in a detachable fixed connection manner, and a mounting plate 7-2 which is fixed on the clamp handle; according to the shape of the robot arm, the mounting portion is provided with various structural forms.

[0053] The extension portion includes a first rod 7-3, a second rod 7-4, and a third rod 7-5. One end of the first rod is fixed to the mounting plate, and the other end of the first rod extends to a gap on the surface of the frame. One end of the second rod is located in another gap on the surface of the frame, and the other end of the second rod is indirectly fixed to the first rod or the second rod through the third rod.

[0054] The mounting seat adopts an L-shaped structure 7-6 or a flat plate structure 7-7. The flat plate structure mounting seat is fixed to the end of the first rod or the end of the second rod, and the L-shaped structure mounting seat is fixed to the rod body of the first rod or the rod body of the second rod.

[0055] In embodiment 2, in order to ensure the reliability of the connection between the first rod, the second rod, and the third rod, it is preferred to further include connecting blocks 7-8, through which the first rod, the second rod, and the third rod are connected.

[0056] Based on the structural form of the mounting bracket in Example 2 and combined with the frame structure of a certain existing three-dimensional scanning device, the following two representative structures are given, but the structural form of the mounting bracket is not limited to the following two structural forms, nor is it limited to Example 2.

[0057] The frame utilizes a spherical grid structure. The spokes comprise a circular frame 6-1 and four curved frames 6-2. The scanner body is positioned at the centerline of the circular frame. Each of the four curved frames is fixed to the scanner body at one end, connected to the circular frame at the middle, and extends to the other side of the circular frame. Several marking islands are located on the circular and curved frames. The main frame is attached to the circular frame and fixedly connected to the robotic arm. The connections between the main frame and the robotic arm include both removable and non-removable connections. The distance measuring unit is located in the gap between two adjacent curved frames.

[0058] The first type, as shown in the figure, uses two first rods and two second rods, with a third rod connected between the first and second rods. In this first configuration, one first rod, one second rod, and one third rod form a set, with two sets provided within the frame. One end of the first rod is fixed to the mounting portion, and at least one distance measuring unit is mounted on the first rod. The second rod is indirectly fixed to the mounting portion via the third rod, and at least one distance measuring unit is mounted on the second rod.

[0059] The second type, not shown, uses one first rod and three second rods, with a third rod connected between the first and second rods, and between the second and second rods. One end of the first rod is fixed to the mounting portion, and at least one distance measuring unit is mounted on the first rod. All second rods are indirectly fixed to the mounting portion by the third rod, and at least one distance measuring unit is mounted on each second rod.

[0060] The specific structures of the two extensions described above are the preferred structural forms of Example 2. The number of first and second rods can be increased or decreased based on needs. Furthermore, the structural form of the mounting bracket is not limited to Example 2. For example, the second and third rods could be eliminated, with only the first rod being used, and the first rod being fixed to the mounting portion. Furthermore, the structure of the mounting portion is not limited to Example 2; the mounting portion only needs to be fixed to the robotic arm and provide a fixing point for the extension; its specific structural shape is not critical.

[0061] Example 3

[0062] The structure and principle of embodiment 3 are similar to those of embodiment 1 or 2, except that a type of arrangement of distance measuring units is provided.

[0063] Because the frame is fixed to the end of the robotic arm, it moves with the robotic arm in a plane in front of and perpendicular to the end of the robotic arm. To properly arrange the distance measuring units, the distance measuring units are divided into circumferential distance measuring units and axial distance measuring units. The circumferential distance measuring units are distributed on the circumference of the robotic arm end, and the axial distance measuring units are located on a line parallel to the robotic arm end. At least three circumferential distance measuring units are set, and at least one axial distance measuring unit is set.

[0064] Preferably, the spoke bracket includes a circular spoke bracket and an arc-shaped spoke bracket, the plane where the circular arc-shaped bracket is located is perpendicular to the straight line where the end of the robotic arm is located, one end of the four arc-shaped spoke brackets is connected to each other, and the other ends of the four arc-shaped spoke brackets are fixed to the circular spoke bracket, together forming a spherical frame;

[0065] In this embodiment, the frame adopts a spherical grid structure, and the spoke brackets include a circular frame and four curved frames. The distance measuring unit assembly includes four circumferential distance measuring units and one axial distance measuring unit. The four circumferential distance measuring units are respectively arranged in the gaps between two adjacent curved frames, and one axial distance measuring unit is located in the same gap as one of the circumferential distance measuring units. Two or more axial distance measuring units can also be installed as required.

[0066] In the present application, different structural forms of the mounting bracket and arrangement forms of the ranging unit are combined according to the specific frame structure of the three-dimensional scanning device.

[0067] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Any ordinary technician in this industry can smoothly implement the present invention as shown in the drawings and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with this profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the scope of protection of the technical solution of the present invention.

Claims

1. The ball-scanning anti-collision system, used in tracking 3D scanning equipment, consists of a robotic arm, a frame, a marking island, and a scanning body. The frame includes a central main frame and spoke brackets fixed to the sides of the main frame. The main frame is fixed to the end of the robotic arm, and the marking island and scanning body are mounted on the spoke brackets. Its characteristics are: The ball-sweeping anti-collision system also includes a mounting bracket and a ranging unit. One end of the mounting bracket is fixed on the robotic arm, and the other end of the mounting bracket extends to the inside of the frame. Multiple mounting points are provided in the gaps between adjacent spoke brackets, and the ranging unit is fixed on the mounting points. The spoke bracket, the marking island, and the scanning body are located outside the detection range of the ranging unit, and the distance between the ranging unit and the center of the frame is less than the distance between the marking island and the center of the frame. The signal feedback line of the ranging unit is connected to the PLC or the emergency stop input of the robotic arm.

2. The ball sweep anti-collision system according to claim 1, characterized in that: The mounting bracket includes a mounting portion fixed to the robotic arm, an extension portion with one end fixed to the mounting portion and the other end passing through the gap between the main bracket and the spoke and extending to the gap between adjacent spoke brackets, and a mounting base for carrying the ranging unit and fixed to the end of the extension portion located in the gap between adjacent spoke brackets.

3. The ball sweep anti-collision system according to claim 2, characterized in that: The mounting portion includes a clamping hoop provided on the robotic arm in a detachable fixed connection manner, and a mounting plate fixed on the clamping handle; The extension portion includes a first rod, a second rod, and a third rod. One end of the first rod is fixed to the mounting plate, and the other end of the first rod extends to a gap on the surface of the frame. One end of the second rod is located in another gap on the surface of the frame, and the other end of the second rod is indirectly fixed to the first rod or the second rod via the third rod. The mounting seat adopts an L-shaped structure or a flat plate structure. The flat plate mounting seat is fixed to the end of the first rod or the end of the second rod, and the L-shaped mounting seat is fixed to the rod body of the first rod or the rod body of the second rod.

4. The ball sweep anti-collision system according to claim 3, characterized in that: Two first rods and two second rods are used, and the third rod is connected between the first rod and the second rod.

5. The ball sweeping anti-collision system according to claim 3, characterized in that: One first rod and three second rods are used, and the third rod is connected between the first rod and the second rod, and between the second rod and the second rod.

6. The ball sweeping anti-collision system according to claim 4 or 5, characterized in that: It also includes a connecting block, and the first rod, the second rod, and the third rod are connected by the connecting block.

7. The ball sweeping anti-collision system according to claim 4 or 5, characterized in that: The first rod, the second rod, and the third rod are fixedly connected 8. The ball sweep anti-collision system according to claim 1, characterized in that: The ranging units are divided into circumferential ranging units and axial ranging units. The circumferential ranging units are distributed on the circumference surrounding the end of the robotic arm, and the axial ranging units are located on a straight line parallel to the end of the robotic arm. At least 3 circumferential ranging units are set, and at least 1 axial ranging unit is set.

9. The ball sweeping anti-collision system according to claim 1 or 2, characterized in that: The spoke bracket includes a circular spoke bracket and an arc-shaped spoke bracket. The plane where the circular arc-shaped bracket is located is perpendicular to the straight line where the end of the robotic arm is located. One end of the four arc-shaped spoke brackets is connected to each other, and the other end of the four arc-shaped spoke brackets is fixed to the circular spoke bracket, together forming a spherical frame. The distance measuring unit assembly includes four circumferential distance measuring units and one axial distance measuring unit. The four circumferential distance measuring units are respectively arranged in the gaps adjacent to each other in the arc-shaped spoke brackets, and one axial distance measuring unit is in the same gap as one of the circumferential distance measuring units.

10. The ball sweeping anti-collision system according to claim 1, characterized in that: The distance measuring unit adopts an ultrasonic distance measuring sensor, a laser distance measuring sensor, or an infrared distance measuring sensor.

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