Three-dimensional scanning device driven by single motor to move spirally

Abstract

The utility model provides a three-dimensional scanning device driven by a single motor to do spiral motion, and relates to the technical field of three-dimensional scanning, the three-dimensional scanning device comprises a lifting assembly, and the lifting assembly does lifting motion in the rotating process; the driving mechanism is used for driving the lifting assembly to rotate and lift; one end of the linkage assembly is arranged at the end of the lifting assembly, the other end of the linkage assembly is arranged on the rotating part of the fixed platform assembly, and the linkage assembly performs pitching motion while rotating along with the lifting assembly; the scanning device is arranged at the end, connected with the end of the lifting assembly, of the linkage assembly and synchronously moves along with the linkage assembly so as to achieve three-dimensional scanning. The driving mechanism drives the lifting assembly to do lifting motion in the rotating process, then the scanning device arranged at the end of the linkage assembly rotates and does pitching motion at the same time, and therefore three-dimensional material scanning is achieved through single-motor driving, and the scanning efficiency is also greatly improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of three-dimensional scanning, in particular, to a three-dimensional scanning device with single-motor driving spiral motion. BACKGROUND

[0002] The 3D radar scanning system has many advantages such as safety, efficiency and environmental protection, and has been widely promoted and applied in the scanning and monitoring process of materials in containers such as silos and storage tanks.

[0003] The existing scanning device can move in the horizontal direction and the pitch direction, but the horizontal direction and the pitch direction are non-synchronous motion. Among them, a certain angle range is set in the horizontal direction, and the horizontal rotation within the preset angle range is realized through the limiting part and the photoelectric switch and other components, and the preset angle range is divided into multiple sub-angles. The horizontal direction moves to a certain sub-angle and stops moving, and then the scanning device performs pitch motion in the pitch direction. After one motion cycle in the pitch direction, the horizontal direction rotates by one sub-angle value, and then the scanning device performs pitch motion in the pitch direction again. In this way, the scanning device moves back and forth to complete panoramic scanning of the material surface. Since the scanning device moves in the horizontal direction and the pitch direction non-synchronously, the scanning period of this scanning method is relatively long.

[0004] In addition, the horizontal direction and the pitch direction are mechanically moved through independent driving mechanisms. This kind of setting method has a complex structure, and the cable layout is also complex and dense. The error is also relatively high during scanning.

[0005] Therefore, the technical field needs a scanning system with simple structure and improved scanning efficiency. SUMMARY

[0006] The present disclosure provides a three-dimensional scanning device with single-motor driving spiral motion, which is used to solve the technical problems that the existing three-dimensional scanning method moves non-synchronously in the horizontal direction and the vertical direction, and the mechanical motion of the horizontal direction and the pitch direction is realized through independent driving mechanisms, resulting in a complex structure and a long scanning period.

[0007] In order to achieve the above-mentioned purpose, the present disclosure discloses a three-dimensional scanning device with single-motor driving spiral motion, comprising:

[0008] A lifting assembly is movably connected with a fixed platform assembly, the fixed platform assembly is sleeved outside the lifting assembly, the fixed platform assembly is a hollow structure, and the lifting assembly rotates and lifts in the interior of the fixed platform assembly;

[0009] A driving mechanism is used to drive the lifting assembly to rotate and lift;

[0010] A linkage assembly is arranged at one end of the lifting assembly and at the other end of the rotating part of the fixed platform assembly, and the linkage assembly is in a pitching motion at the end connected with the end of the lifting assembly while rotating with the lifting assembly;

[0011] A scanning device is arranged at the end of the linkage assembly connected with the end of the lifting assembly and moves synchronously with the linkage assembly to realize three-dimensional scanning.

[0012] According to at least one embodiment of the present disclosure, the single-motor-driven three-dimensional scanning device of the screw motion comprises a fixed platform assembly arranged outside the lifting assembly.

[0013] According to at least one embodiment of the present disclosure, the single-motor-driven three-dimensional scanning device of the screw motion comprises a fixed platform assembly comprising a mounting platform and a rotating part, the mounting platform is fixedly mounted on the container, the rotating part is arranged outside the mounting platform and rotates around the mounting platform, the mounting platform is a hollow structure, and the lifting assembly rotates and moves up and down in the hollow structure.

[0014] According to at least one embodiment of the present disclosure, the single-motor-driven three-dimensional scanning device of the screw motion comprises a bearing arranged between the rotating part and the mounting platform.

[0015] According to at least one embodiment of the present disclosure, the single-motor-driven three-dimensional scanning device of the screw motion comprises a screw rod as the lifting assembly, and a threaded structure is correspondingly arranged on the mounting platform.

[0016] According to at least one embodiment of the present disclosure, the single-motor-driven three-dimensional scanning device of the screw motion further comprises a mounting support plate arranged outside the mounting platform and above the rotating part.

[0017] According to at least one embodiment of the present disclosure, the single-motor-driven three-dimensional scanning device of the screw motion comprises a mounting support plate with a size greater than that of the rotating part.

[0018] According to at least one embodiment of the present disclosure, the single-motor-driven three-dimensional scanning device of the screw motion comprises a mounting support plate designed integrally with the mounting platform.

[0019] According to at least one embodiment of the present disclosure, the single-motor-driven three-dimensional scanning device of spiral motion comprises a linkage assembly, one end of the linkage assembly is arranged at the end of the lifting assembly, and the other end of the linkage assembly is arranged on the rotating part of the fixed platform assembly, the linkage assembly is connected with the lifting assembly end-to-end, and the linkage assembly rotates with the lifting assembly while the linkage assembly end-to-end connected with the lifting assembly end-to-end performs pitching motion.

[0020] According to at least one embodiment of the present disclosure, the single-motor-driven three-dimensional scanning device of spiral motion comprises a driving mechanism.

[0021] According to at least one embodiment of the present disclosure, the single-motor-driven three-dimensional scanning device of spiral motion comprises a scanning device, and the scanning device comprises at least one of a 3D microwave radar, a 3D laser radar, a 2D microwave radar, a 2D laser radar, a single-point microwave radar, and a single-point laser radar.

[0022] The present disclosure provides a single-motor-driven three-dimensional scanning device of spiral motion, comprising a lifting assembly, the lifting assembly is movably connected with a fixed platform assembly, and the lifting assembly performs lifting motion while rotating relative to the fixed platform assembly; a driving mechanism is arranged on the lifting assembly, and the driving mechanism is used to drive the lifting assembly to rotate and lift; a linkage assembly is arranged at one end of the lifting assembly, and the other end of the linkage assembly is arranged on the rotating part of the fixed platform assembly, the linkage assembly performs pitching motion while rotating with the lifting assembly; and a scanning device is arranged on the linkage assembly and the lifting assembly end-to-end connected end, the scanning device performs pitching motion while rotating with the linkage assembly, so as to realize three-dimensional scanning. The driving mechanism drives the lifting assembly to perform lifting motion while rotating, and then the linkage assembly connected with the lifting assembly performs lifting motion while rotating, and then the scanning device arranged at the end of the linkage assembly performs pitching motion while rotating with the linkage assembly, so as to realize three-dimensional scanning by single motor driving, and the scanning efficiency is greatly improved, and the customer demand can be better met. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification, and are used to explain the present disclosure together with the specific embodiments below, but do not constitute a limitation to the present disclosure. In the drawings:

[0024] Figure 1 is a structure diagram of a single-motor-driven three-dimensional scanning device of spiral motion provided by the present disclosure Figure 1 ;

[0025] Figure 2 is a structural schematic of a three-dimensional scanning device driven by a single motor in spiral motion provided by the present disclosure Figure 2 ;

[0026] Figure 3 is a structural schematic of a three-dimensional scanning device driven by a single motor in spiral motion provided by the present disclosure Figure 3 ;

[0027] Figure 4 is a structural schematic of a three-dimensional scanning device driven by a single motor in spiral motion provided by the present disclosure Figure 4 .

[0028] Summary of signs:

[0029] 1, lifting assembly 2, driving mechanism 3, linkage assembly

[0030] 31, first movable rod 32, second movable rod 4, scanning device

[0031] 5, rotating part 6, mounting support plate 7, mounting platform DETAILED DESCRIPTION

[0032] The specific embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0033] As shown in Figures 1-4 , the present disclosure discloses a three-dimensional scanning device driven by a single motor in spiral motion, comprising a lifting assembly 1, a fixed platform assembly, a driving mechanism 2, a linkage assembly 3 and a scanning device 4, the lifting assembly 1 is movably connected with the fixed platform assembly, the fixed platform assembly is sleeved on the outside of the lifting assembly 1, the fixed platform assembly is a hollow structure, the lifting assembly 1 realizes rotation and lifting motion in the inside of the fixed platform assembly; the driving mechanism 2 is used to drive the lifting assembly 1 to rotate and lift; one end of the linkage assembly 3 is arranged at the end of the lifting assembly 1, the other end of the linkage assembly 3 is arranged on the rotating part 5 of the fixed platform assembly, the linkage assembly 3 rotates synchronously with the lifting assembly 1, and the end of the linkage assembly 3 connected with the end of the lifting assembly 1 performs pitching motion; the scanning device 4 is arranged on the linkage assembly 3 and the end of the lifting assembly 1, and moves synchronously with the linkage assembly 3, so as to realize three-dimensional scanning.

[0034] Among them, Figures 1-3 is a front view of a three-dimensional scanning device driven by a single motor in spiral motion provided by the present disclosure at different times; Figure 4A three-dimensional scanning device driven by a single motor for spiral movement according to the present disclosure is shown in a perspective view at a certain moment.

[0035] The present disclosure drives the lifting assembly 1 through the driving mechanism 2 to simultaneously perform lifting movement during rotation, and further causes the scanning device 4 arranged at the end of the lifting assembly 1 to simultaneously perform pitching movement during synchronous rotation with the linkage assembly 3, thereby achieving three-dimensional scanning of materials by single motor driving, greatly improving scanning efficiency, and better meeting customer needs.

[0036] According to a further embodiment of the present disclosure, the scanning device 4 at least includes one of a 3D microwave radar, a 3D laser radar, a 2D microwave radar, a 2D laser radar, a single-point microwave radar, and a single-point laser radar.

[0037] The scanning device 4 can be movably arranged at the end of the linkage assembly 3, for example, the scanning device 4 is hingedly connected to the end of the linkage assembly 3. Alternatively, the scanning device 4 can be fixedly arranged at the end of the linkage assembly 3, and the linkage assembly 3 is movably connected to the end of the lifting assembly 1. Specifically, the linkage assembly 3 is hingedly connected to the end of the lifting assembly 1, and the scanning device 4 is fixedly arranged on the hinge portion of the linkage assembly 3. The linkage assembly 3 simultaneously performs lifting movement while rotating with the lifting assembly 1, at which time the scanning device 4 can perform pitching movement while synchronously rotating with the linkage assembly 3.

[0038] With the fixedly installed fixed platform assembly as the object, one end of the linkage assembly 3 is a relatively movable end or a movable end, and the other end of the linkage assembly 3 (the end connected to the rotating portion 5 on the fixed platform assembly) is a relatively fixed end. The relatively fixed end is not subjected to lifting displacement but only to rotation, that is, one end of the linkage assembly 3 is a relatively movable end, and the other end is a relatively fixed end (itself rotatable, but not subjected to lifting displacement in the vertical direction), thereby causing the scanning device 4 to simultaneously perform pitching rotation or pitching swing while horizontally rotating, and further achieving three-dimensional scanning of the surface of the material in the container. Since the horizontal direction and the pitching direction are synchronous movements, the scanning material surface period is greatly shortened, and the scanning efficiency is greatly improved.

[0039] The fixed platform assembly in the present disclosure can be installed on the top or sidewall of a container storing materials to be scanned, and is generally installed on the top of the container. The lifting assembly 1 can rotate and lift relative to the fixed platform assembly by horizontally fixing the fixed platform assembly on the top of the container. Specifically, the fixed platform assembly is arranged outside the lifting assembly 1, and the lifting assembly 1 rotates and lifts inside the fixed platform assembly.

[0040] Specifically, the fixed platform assembly comprises a mounting platform 7 fixedly mounted at the opening position of the container top and a rotating part 5 sleeved outside the mounting platform 7 and rotating around the mounting platform 7. The mounting platform 7 is a hollow structure, and the lifting assembly 1 rotates and moves up and down inside the hollow structure.

[0041] It should be noted that the mounting platform 7 is fixedly mounted on the container and is a non-moving part. The inside of the mounting platform 7 is a hollow structure, and the lifting assembly 1 can rotate and move up and down inside the hollow structure, i.e., the lifting assembly 1 rotates and moves up and down relative to the mounting platform 7. In order to facilitate the movement of the linkage assembly 3 and guide the movement of the linkage assembly 3, the rotating part 5 is sleeved outside the mounting platform 7. The rotating part 5 can rotate around the mounting platform 7, so that the linkage assembly 3 connected to the lifting assembly 1 rotates at the same time as the lifting assembly 1 rotates.

[0042] In order to enable the linkage assembly 3 to rotate around the fixedly mounted mounting platform 7 outside, a bearing part can be arranged between the rotating part 5 and the mounting platform 7.

[0043] As shown in Figure 4 The fixed platform assembly can further comprise a mounting support plate 6 arranged outside the mounting platform 7 and above the rotating part 5. When the fixed platform assembly is mounted on the container, the mounting support plate 6 can be fixedly mounted on the container. The mounting support plate 6 and the rotating part 5 are arranged outside the mounting platform 7, and preferably are arranged in an upper-lower staggered manner, with the mounting support plate 6 arranged above the rotating part 5. By adopting the upper-lower staggered arrangement, the linkage assembly 3 can be conveniently connected to the rotating part 5, and the mounting platform 7 can be conveniently fixed to the container by the mounting support plate 6. Preferably, the rotating part 5 can be a rotating shaft, which is a cylindrical rotating shaft as shown in the figure and is sleeved outside the mounting platform 7.

[0044] In order to increase the stability and safety of the fixed platform assembly, the mounting support plate 6 and the mounting platform 7 are preferably designed in an integrated manner. In order to facilitate the installation of the fixed platform assembly, the size of the mounting support plate 6 can be designed to be greater than or appropriately greater than the size of the rotating part 5.

[0045] In further embodiments of the present disclosure, the lifting assembly 1 can be designed as a screw rod. Correspondingly, a threaded structure is arranged on the side of the mounting platform 7 (inside the hollow structure) in contact with the lifting assembly 1, so that the lifting assembly 1 can move up and down while rotating under the action of the driving mechanism 2.

[0046] The driving mechanism 2 is a driving motor, which can be a screw motor or a lead screw motor, or other driving structure that can drive the screw to rotate, and is not limited here.

[0047] In further embodiments of the present disclosure, as shown in Figures 1-4 The linkage assembly 3 includes a first movable rod 31 and a second movable rod 32, one end of the first movable rod 31 is hingedly connected to the rotating part 5, the other end of the first movable rod 31 is hingedly connected to one end of the second movable rod 32, the other end of the second movable rod 32 is hingedly connected to the end of the lifting assembly 1, and the scanning device 4 is fixedly arranged on the second movable rod 32 at the end connected to the end of the lifting assembly 1. At this time, since the other end of the second movable rod 32 is hingedly connected to the end of the lifting assembly 1, the scanning device 4 fixedly arranged on the second movable rod 32 will pitch or pitch swing during horizontal rotation and lifting movement.

[0048] The scanning device 4 of the present disclosure is arranged on the linkage assembly 3 near the end of the lifting assembly 1 (screw), and the linkage assembly 3 is designed as a segmented movable connection assembly, which includes the first movable rod 31 and the second movable rod 32. One end of the first movable rod 31 is movably arranged on the rotating part 5, one end of the second movable rod 32 is movably arranged at the end of the lifting assembly 1 (screw), and the other end of the first movable rod 31 is movably connected to the other end of the second movable rod 32. Specifically, the movable connection can be hinged connection, which can realize lifting movement while rotating. Therefore, the scanning device 4 fixedly arranged on the second movable rod 32 at the end of the lifting assembly 1 (screw) is movably arranged at the end of the second movable rod 32, specifically, the second movable rod 32 is hingedly connected to the end of the lifting assembly 1 (screw) through a hinge part, and the scanning device 4 is fixedly arranged on the hinge part, and then rotates the scanning device 4 through the rotation of the hinge part. The lifting assembly 1 (screw) can be rotated under the drive of the driving mechanism 2, and since it is designed as a screw, it will lift relative to the fixed platform assembly while rotating, thereby driving the linkage assembly 3 to rotate (overall rotation) and lift (end lifting), and the scanning device 4 arranged at the end of the linkage assembly 3 will also move synchronously; in addition, the scanning device 4 will also rotate horizontally during the horizontal rotation of the lifting assembly 1, and due to the hinged connection, the scanning device 4 will pitch or pitch swing during rotation, thereby realizing three-dimensional scanning of the surface of the material in the container to obtain the characteristic information of the material.

[0049] As shown in Figures 1-4As shown, the first movable rod 31 in the linkage assembly 3 is connected with the second movable rod 32 and other components in a hinged connection manner, which can be achieved by a hinge part. The hinge part can be a U-shaped groove combined with a rotating shaft. The rotating shaft is fixed on one component, and the U-shaped groove is rotatable around the rotating shaft and is fixed on another component, so that one component can rotate relative to another component around the rotating shaft. For example, the rotating shaft on the hinge part at the end of the second movable rod 32 is fixed on the end of the lifting assembly 1, and the U-shaped groove of the hinge part is fixedly connected with the end of the second movable rod 32, so that the end of the lifting assembly 1 is movably connected with the second movable rod 32. Similarly, the hinged connection between the first movable rod 31 and the rotating part 5 is also achieved by a hinge part. The hinged connection between the first movable rod 31 and the second movable rod 32 is also achieved by a hinge part. Of course, the movable connection between the components can also be achieved by other ways, not limited to the hinged connection, such as two components arranged staggered and connected by a rotating shaft. Therefore, the connection between the lifting assembly 1 and the linkage assembly 3 and the connection between the linkage assembly 3 and the rotating part 5 are movably connected, and the specific connection is not limited.

[0050] For example, the fixed platform assembly is installed on the top of the container. The mounting support plate 6 is horizontally fixed at the opening position of the container. The driving mechanism 2 drives the lifting assembly 1 (screw rod) to rotate horizontally. Due to the threaded structure on the mounting platform 7, the lifting assembly 1 (screw rod) moves up and down while rotating horizontally. At this time, the linkage assembly 3 connected at the end of the lifting assembly 1 (screw rod) moves up and down (only the end moves up and down) and rotates horizontally (the whole rotates horizontally) synchronously. The linkage assembly 3 is connected at one end to the rotating part 5 on the fixed platform assembly and at the other end to the end of the lifting assembly 1 (screw rod). The linkage assembly 3 is designed in sections, so that the scanning device 4 arranged at the end of the linkage assembly 3 moves up and down while rotating horizontally, thereby achieving three-dimensional scanning of the surface of the material in the container to obtain the material characteristic information.

[0051] The preferred embodiments of the present disclosure are described in detail above in combination with the drawings, but the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

[0052] In addition, it should be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0053] Furthermore, the various embodiments of the present disclosure can be arbitrarily combined with each other unless they contradict each other, and it should be understood that the same should be construed as being included in the disclosure of the present disclosure.

Claims

1. A three-dimensional scanning apparatus driven by a single motor in a spiral motion, characterized by, The utility model relates to a kind of three-dimensional scanning device, including: Lifting assembly, the lifting assembly is movably connected with fixed platform assembly, the fixed platform assembly is set outside the lifting assembly, the fixed platform assembly is hollow structure, rotation and lifting motion are realized in the inside of the fixed platform assembly to the lifting assembly; Driving mechanism, the driving mechanism is used to drive the lifting assembly to rotate and lift; Linkage assembly, one end of the linkage assembly is arranged at the end of the lifting assembly, the other end of the linkage assembly is arranged on the rotating part of the fixed platform assembly, the linkage assembly is connected with the end of the lifting assembly while rotating with the lifting assembly, and the end of the linkage assembly is pitch motion; Scanning device, the scanning device is arranged on the end of the linkage assembly connected with the end of the lifting assembly and moves synchronously with the linkage assembly to realize three-dimensional scanning.

2. The single motor driven spiral motion three-dimensional scanning device of claim 1, wherein, The fixed platform assembly includes mounting platform and rotating part, the mounting platform is fixedly installed on the container, the rotating part is set outside the mounting platform and rotates around the mounting platform, the mounting platform is hollow structure, and the lifting assembly rotates and lifts in the hollow structure.

3. The single motor driven spiral motion three-dimensional scanning device of claim 2, wherein, A bearing is arranged between the rotating part and the mounting platform.

4. The single motor driven spiral motion three-dimensional scanning apparatus according to claim 3, wherein, The lifting assembly is screw rod, and threaded structure is correspondingly provided on the mounting platform.

5. The single motor driven spiral motion three-dimensional scanning apparatus according to claim 2, wherein, The fixed platform assembly further includes mounting support plate, the mounting support plate is arranged outside the mounting platform, and the mounting support plate is arranged above the rotating part.

6. The single motor driven spiral motion three-dimensional scanning device of claim 5, wherein, The size of the mounting support plate is greater than the size of the rotating part.

7. The single motor driven spiral motion three-dimensional scanning device of claim 5, wherein, The mounting support plate and the mounting platform are designed integrally.

8. The single motor driven spiral motion three-dimensional scanning device of claim 1, wherein, The linkage assembly includes first movable rod and second movable rod, one end of the first movable rod is hingedly connected with the rotating part, the other end of the first movable rod is hingedly connected with one end of the second movable rod, the other end of the second movable rod is hingedly connected with the end of the lifting assembly, and the scanning device is arranged on the end of the second movable rod connected with the end of the lifting assembly.

9. The single motor driven spiral motion three-dimensional scanning apparatus of claim 1, wherein, The driving mechanism is driving motor.

10. The single-motor driven spiral motion three-dimensional scanning apparatus according to any one of claims 1 to 9, characterized in that, The scanning device includes at least one of 3D microwave radar, 3D laser radar, 2D microwave radar, 2D laser radar, single-point microwave radar and single-point laser radar.

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