Movable automatic three-dimensional scanning device

Abstract

The utility model discloses a movable automatic three-dimensional scanning device, which is characterized in that the upper end of an AGV (Automatic Guided Vehicle) is provided with a main cabinet, an articulated arm is connected to the upper end of the main cabinet, the output end of the articulated arm is provided with a connecting piece, the connecting piece is provided with a mounting hole, and a handheld scanner is arranged in the mounting hole. According to the utility model, the AGV trolley and the articulated arm cooperatively act to drive the handheld scanner to scan a target object, so that the operation range is enlarged, the scanning efficiency is ensured, and automatic scanning is realized; and the handheld scanner can be conveniently mounted on the articulated arm through the connecting piece.

Description

TECHNICAL FIELD

[0001] The utility model relates to scanning device technical field especially relates to a movable automatic three -dimensional scanning device. BACKGROUND

[0002] Handheld three -dimensional scanner is widely used in scanning technology due to small volume, convenient to carry, good performance. When the operator handheld scanner carries out simple scanning, it has the characteristics such as flexible, convenient, but the whole scanning process needs the operator to act for a long time, and the scanning time is long, and when scanning multiple target objects in a larger space, the operator also needs to move constantly, resulting in time-consuming and laborious, low work efficiency.

[0003] In the prior art, such as the three-dimensional scanner with self-moving function of application No. 202420098417.5, it is disclosed that the moving assembly is provided with a three-dimensional scanner, and the three-dimensional scanner can realize automatic movement of height and position, thereby improving the three-dimensional scanner body scanning speed and precision and improving the work efficiency. However, in the above-mentioned device, the moving path of the three-dimensional scanner is relatively fixed, and can only move in the vertical direction and the horizontal direction, and cannot realize different angles of the three-dimensional scanner, and the moving distance is limited, which is not suitable for large-scale operation. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a movable automatic three -dimensional scanning device, which drives the handheld scanner to scan the target object through the cooperative action of AGV trolley and joint arm, improves the operation range, ensures the scanning efficiency, realizes automatic scanning, and the handheld scanner can be conveniently installed on the joint arm through the connecting piece.

[0005] To achieve the above-mentioned purpose, the utility model adopts the technical scheme of a movable automatic three -dimensional scanning device, which comprises:

[0006] AGV trolley, which is provided with a main cabinet at the upper end,

[0007] Joint arm, which is connected to the upper end of the main cabinet, and the output end of the joint arm is provided with a connecting piece, and the connecting piece is provided with a mounting hole,

[0008] Handheld scanner, which is arranged in the mounting hole.

[0009] As a further optimization, the supporting plate of the AGV trolley is provided with a positioning groove, the lower end of the main cabinet is provided with a positioning block, the main cabinet abuts on the supporting plate, and the positioning block is embedded in the positioning groove, which can ensure the stability of the main cabinet in the horizontal direction of the AGV trolley.

[0010] As a further optimization, the positioning groove and the positioning block are both two, and are respectively located at two sides of the support plate and the main cabinet.

[0011] As a further optimization, a plurality of auxiliary support columns are arranged on the AGV trolley, and the auxiliary support columns are located below the support plate.

[0012] As a further optimization, the auxiliary support columns are four, and the four auxiliary support columns are respectively located at corners of the support plate.

[0013] As a further optimization, the connecting piece comprises a fixing block and a cover block, the fixing block is arranged at an output end of the articulated arm, a first embedding groove is arranged on a side of the fixing block away from the articulated arm, the cover block is provided with a second embedding groove, and the cover block is locked on the fixing block so that the second embedding groove and the first embedding groove are communicated to form the mounting hole, convenient disassembly and assembly of the connecting piece can be realized, and the handheld scanner is conveniently installed.

[0014] As a further optimization, the cover block comprises a U-shaped plate and an outer edge plate, the second embedding groove is formed on the U-shaped plate, a pair of outer edge plates are arranged on opposite two side walls of an opening side of the U-shaped plate, the outer edge plate is provided with a through hole, the fixing block is provided with a locking hole, and the outer edge plate is fixed on the fixing block through a bolt penetrating through the through hole and extending into the locking hole.

[0015] As a further optimization, the cover block is an integral forming structure.

[0016] As a further optimization, anti-skid lines are arranged on inner walls of the mounting hole, and the stability of the handheld scanner in the connecting piece can be ensured.

[0017] As a further optimization, the movable automatic three-dimensional scanning device further comprises a charging station for charging the AGV trolley.

[0018] Compared with the prior art, the movable automatic three-dimensional scanning device has the following beneficial effects:

[0019] 1.AGV trolley and articulated arm cooperate to drive the handheld scanner to scan a target object, the operation range is improved, the scanning efficiency is ensured, and automatic scanning is realized.

[0020] 2.The handheld scanner can be conveniently installed on the articulated arm through the connecting piece, and the handheld scanner can be more conveniently disassembled and assembled by arranging the connecting piece as a disassembly structure. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 The structure diagram of the utility model.

[0022] Figure 2The utility model discloses an AGV trolley structure diagram.

[0023] Figure 3 The utility model discloses a connecting piece structure diagram.

[0024] Figure 4 The utility model discloses another embodiment of connecting piece structure diagram. Specific embodiment

[0025] The following is the specific embodiment of the utility model and is combined with the drawings, and the technical scheme of the utility model is further described, but the utility model is not limited to these embodiments.

[0026] As Figures 1 to 3 The utility model discloses a movable automatic three -dimensional scanning device, including AGV trolley 10, joint arm 30 and hand -held scanner 50, the upper end of AGV trolley 10 is equipped with mainframe cabinet 20, joint arm 30 is fixedly connected to the upper end of mainframe cabinet 20, and the output of joint arm 30 is equipped with connecting piece 40, and the installation hole 400 is equipped on connecting piece 40, and hand -held scanner 50 is arranged in installation hole 400.

[0027] In the utility model, utilize the convenient flexible movement of AGV trolley 10 and the characteristics with the bearing function, set up mainframe cabinet 20 on AGV trolley 10, and fix joint arm 30 on mainframe cabinet 20, and the control module of joint arm 30 can be integrated in mainframe cabinet 20, and hand -held scanner 50 is set up in the installation hole 400 on connecting piece 40, therefore can realize the movement of AGV trolley 10 drive joint arm 30 and hand -held scanner 50 in horizontal direction, and realize the movement (including multidirectional movement and multi -angle rotation) of joint arm 30 drive hand -held scanner 50 in three -dimensional space, and hand -held scanner 50 has the function of moving in a large range and accurately scanning target (such as electronic tag) on the basis of accurate movement function, therefore can realize automatic scanning, and the scanning action is more convenient, fast and accurate.

[0028] The inner wall of installation hole 400 is equipped with antiskid line 401, and antiskid line 401 can guarantee the stability of hand -held scanner 50 installed in connecting piece 40, of course, can set up elastic pad (not shown) on the inner wall of installation hole 400 instead of antiskid line for increasing the contact area, friction of hand -held scanner 50 handle, etc., also can guarantee the installation stability, and also can avoid the scratch or damage of installation hole 400 inner wall to hand -held scanner through elastic pad.

[0029] The utility model discloses a handheld scanner 50 is driven to carry out the scanning of target object through the cooperative action of AGV dolly 10 and joint arm 30, improves the operation range, and guarantees the efficiency of scanning, realizes the automation scanning, and moreover, handheld scanner 50 can be conveniently installed on joint arm 30 through connecting piece 40.

[0030] In order to realize the convenient installation of mainframe cabinet 20 and AGV dolly 10, the positioning groove 110 can be arranged on the supporting plate 11 of AGV dolly 10, the positioning block (not shown) matched with the positioning groove 110 is arranged at the lower end of mainframe cabinet 20, the mainframe cabinet 20 is abutted on the supporting plate 11, and the positioning block is embedded in the positioning groove 110 to position the mainframe cabinet 20, preferably, the positioning block is a hard rubber block that can be extruded to deform, the positioning block is inserted in the positioning groove 110 with interference, so that the stability of the connection of the mainframe cabinet 20 on the supporting plate 11 is ensured, since the AGV dolly 10 itself has the shock absorption function for the load, therefore, the main purpose of the cooperation of the positioning block and the positioning groove 110 is to position the mainframe cabinet 20 on the supporting plate 11 in the horizontal direction, and the stability of the mainframe cabinet 20 in the vertical direction of the AGV dolly 10 can be realized due to the shock absorption and buffering function of the AGV dolly itself.

[0031] Preferably, the positioning groove 110 and the positioning block are both two and are located at the two sides of the supporting plate 11 and the mainframe cabinet 20 respectively, so that the deviation of the mainframe cabinet 20 in the horizontal plane compared with the AGV dolly 10 can be avoided.

[0032] In addition, a plurality of auxiliary supporting columns 111 can be arranged on the AGV dolly 10, the auxiliary supporting columns 111 are located below the supporting plate 11, and are used for ensuring the supporting stability when the heavy object (joint arm 30) is carried on the supporting plate 11, and ensuring the stability of the joint arm 30 during the scanning process when the handheld scanner 50 is moved to the set angle, preferably, the auxiliary supporting columns 111 are four, and the four auxiliary supporting columns 111 are located at the corners of the supporting plate 11.

[0033] As Figure 4As shown, in another embodiment of the present application, in order to quickly install the handheld scanner 50 in the connecting piece 40 (mounting hole 400), the connecting piece 40 is provided with a fixed block 41 and a cover block 42, the fixed block 41 is fixedly arranged on the output end of the articulated arm 30, and a first embedding groove 410 is arranged on the side away from the articulated arm 30, the cover block 42 is provided with a second embedding groove 420, and the cover block 42 is locked on the fixed block 41 so that the second embedding groove 420 and the first embedding groove 410 are communicated to form the mounting hole 400, since the handle of the handheld scanner 50 is located in the middle part and is relatively thin at both ends, it is inconvenient to be mounted on the connecting piece 40 by embedding one end, therefore, the fixed block 41 and the cover block 42 can be respectively embedded in part of the handle of the handheld scanner 50 through the respective grooves in a detachable manner, and the handheld scanner 50 can be fixed after being locked, thereby facilitating the installation and disassembly of the handheld scanner 50.

[0034] Further, the cover block 42 includes an integrally formed U-shaped plate 421 and an outer edge plate 422, the second embedding groove 420 is formed on the U-shaped plate 421, a pair of outer edge plates 422 are arranged on the opposite two side walls of the opening side of the U-shaped plate 421, the outer edge plate 422 is provided with a through hole, the fixed block 41 is provided with a locking hole, the outer edge plate 422 is fixed on the fixed block 41 through the bolt 43 penetrating through the through hole and extending into the locking hole, and the outer edge plate 422 is arranged to facilitate the installation of the bolt 43.

[0035] The movable automatic three-dimensional scanning device further includes a charging station 60 for charging the AGV trolley 10, when the AGV trolley 10 has low power, the AGV trolley 10 can be charged after being docked with the charging station 60, and the parameters of the AGV trolley 10 can be set through the first touch screen 12. In addition, a second touch screen 2a can be arranged on the main cabinet 20 to facilitate the adjustment of the parameters of the articulated arm 30 and the like, and a matrix type through hole 2b is arranged on the shell of the main cabinet 20 to facilitate the heat dissipation of the main cabinet 20.

[0036] The specific embodiments described herein are merely illustrative of the present application. Those skilled in the art of the present application can make various modifications or supplements to the described specific embodiments or use similar ways to replace them, without deviating from the spirit of the present application or exceeding the scope defined by the appended claims.

Claims

1. A mobile automatic three-dimensional scanning device, characterized by, The utility model relates to an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley.

2. The mobile automatic three-dimensional scanning apparatus according to claim 1, wherein, The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley.

3. The mobile automatic three-dimensional scanning apparatus according to claim 2, wherein, The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley.

4. The mobile automatic three-dimensional scanning apparatus according to claim 2, wherein, The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley.

5. The mobile automatic three-dimensional scanning apparatus according to claim 4, wherein, The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley.

6. The mobile automatic three-dimensional scanning apparatus according to claim 1, wherein, The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley.

7. The mobile automatic three-dimensional scanning apparatus according to claim 6, wherein The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley.

8. The mobile automatic three-dimensional scanning apparatus according to claim 7, wherein, The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley.

9. The mobile automatic three-dimensional scanning apparatus according to claim 1 or 6, wherein, The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley.

10. The mobile automatic three-dimensional scanning apparatus according to claim 1, wherein, The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and belongs to the field of AGV trolley. The utility model discloses an AGV trolley with a handheld scanner, and

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