Cooperative device for automated measurement of handheld laser scanner

Abstract

The utility model discloses a cooperation device for automatic measurement of a handheld laser scanner, a scanning mechanism is arranged on a first machine table and comprises a multi-axis mechanical arm and a handheld scanner arranged at the output end of the multi-axis mechanical arm, and an auxiliary mechanism is arranged on a second machine table and comprises a rotating table, a positioning frame, a connecting piece and a clamp. The rotating table is arranged on the second machine table, the positioning frame is arranged on the rotating table, and the pair of clamps are oppositely arranged on the positioning frame through connecting pieces and used for fixing products. According to the utility model, the multi-axis manipulator is matched with the handheld scanner to scan a plurality of areas in a space, the positioning frame and the clamp are used for positioning a product, the rotary table rotates to realize automatic turning of the product, all the actions are matched to complete automatic scanning of two surfaces of the product, and the scanning efficiency is higher.

Description

TECHNICAL FIELD

[0001] The utility model relates to scanning device technical field especially relates to a kind of cooperation device for the automatic measurement of handheld laser scanner. BACKGROUND

[0002] When the profile of product is modeled, it can be scanned by handheld laser scanner, and the handheld laser scanner is easy to operate, and its three-dimensional scanning function can accurately detect and analyze the shape and appearance data of product for three-dimensional reconstruction calculation, and then create a digital model of actual object.

[0003] To facilitate scanning of product, and ensure the accuracy of scanning, an automatic structure can be used to drive the handheld scanner to move accurately, and the product is fixed on the corresponding jig for positioning, such as the application number 202221480394.1 for three-dimensional scanning rotary clamp, which discloses that the shaft bearing slowly rotates between the shaft platform and the rotary platform, is locked and positioned by screw plug, and the angle is adjusted by adjusting knob on both sides of support frame, multi-axis rotation is carried out, clamping, point sticking and scanning effect can be realized, it is convenient to use and can obtain comprehensive three-dimensional data of scanning piece, but after clamping the product, it cannot automatically scan the two sides of the product arranged relatively, and still needs to clamp the product after changing the surface and then scan. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of cooperation device for the automatic measurement of handheld laser scanner, the cooperation of multi-axis manipulator and handheld scanner is realized to scan multiple areas in space, and the positioning of product is realized by positioning frame and clamp, and the automatic turning of product is realized by the rotation of rotary table, the above-mentioned each action is matched to complete the automatic scanning of two sides of product, with higher scanning efficiency.

[0005] To achieve the above-mentioned purpose, the utility model adopts the technical scheme that cooperation device for the automatic measurement of handheld laser scanner includes:

[0006] Scanning mechanism, it is set up on the first machine platform, and it includes multi-axis manipulator and handheld scanner set up on the output end of multi-axis manipulator,

[0007] Auxiliary mechanism, it is set up on the second machine platform, and it includes rotary table, positioning frame, connecting piece and clamp, the rotary table is set up on the second machine platform, the positioning frame is set up on the rotary table, and a pair of clamps are oppositely set up on the positioning frame for fixing product by connecting piece.

[0008] As further optimization, a pair of clamps are respectively set up on the upper part and bottom part in the positioning frame.

[0009] As a further optimization, the clamp comprises a U-shaped plate connected with the connecting piece, which has a positioning groove for positioning the product, and a first bolt, the U-shaped plate being provided with a threaded hole penetrating through the body thereof, and the first bolt penetrating through the threaded hole and extending into the positioning groove to abut against the product, so as to facilitate positioning and fixing of the product.

[0010] As a further optimization, the clamp further comprises a pressing plate located in the positioning groove and connected with the end of the first bolt.

[0011] As a further optimization, the pressing plate is made of rubber material, so as to avoid scratching the product.

[0012] As a further optimization, the upper and lower ends of the positioning frame are respectively provided with positioning holes, and the connecting piece comprises a pair of positioning portions, and the pair of positioning portions are respectively arranged in the pair of positioning holes.

[0013] As a further optimization, the positioning portion comprises a threaded rod, a first nut and a limiting block, the first nut is fixed on the positioning frame and communicates with the positioning hole, one end of the threaded rod is connected with the limiting block, the other end of the threaded rod penetrates through the positioning hole and is connected with the first nut, and the limiting block is located in the positioning frame and connected with the clamp.

[0014] As a further optimization, a plurality of auxiliary holes are further arranged on the side wall of the positioning frame, and the connecting piece further comprises a plurality of auxiliary portions, the auxiliary portion comprises a second bolt and a second nut, the second nut is fixed on the side wall of the positioning frame and communicates with the auxiliary hole, and the second bolt is locked in the second nut and penetrates through the auxiliary hole, so that the rotation of the product can be avoided when the product is positioned.

[0015] As a further optimization, the upper and lower ends of the positioning frame are respectively provided with bearings, and the connecting piece comprises a driving portion and a rotating shaft, a pair of rotating shafts are respectively arranged in a pair of bearings and are connected with the clamp, and the driving portion is connected with one of the rotating shafts.

[0016] As a further optimization, the driving portion is a rotary motor, which drives the rotating shaft connected therewith to rotate.

[0017] Compared with the prior art, the utility model has the following beneficial effects:

[0018] 1. The multi-axis manipulator and the handheld scanner are matched to realize scanning of multiple areas in the space, and the positioning of the product is realized through the positioning frame and the clamp, and the automatic turning of the product is realized through the rotation of the rotating table, so that the automatic scanning of both sides of the product is completed through the cooperation of the above-mentioned actions, and the scanning efficiency is higher.

[0019] 2. The clamp is used for positioning and clamping the product through the first bolt and the U-shaped plate, so as to facilitate the disassembly and fixation of the product. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a structural diagram of the utility model.

[0021] Figure 2 It is a structural diagram of the clamp of the utility model.

[0022] Figure 3 It is a structural diagram of one embodiment of the auxiliary mechanism of the utility model.

[0023] Figure 4 It is a structural diagram of another embodiment of the auxiliary mechanism of the utility model. DETAILED DESCRIPTION

[0024] The following is a specific embodiment of the utility model and further describes the technical scheme of the utility model in combination with the drawings, but the utility model is not limited to these embodiments.

[0025] As shown in the drawings, Figures 1 to 2 The cooperative device for automatic measurement of handheld laser scanner comprises a scanning mechanism 20 and an auxiliary mechanism 30, the scanning mechanism 20 is arranged on a first machine table 11 and comprises a multi-axis manipulator 21 and a handheld scanner 22 arranged at the output end of the multi-axis manipulator 21, the auxiliary mechanism 30 is arranged on a second machine table 12 and comprises a rotating table 31, a positioning frame 32, a connecting piece 33 and a clamp 34, the rotating table 31 is arranged on the second machine table 12, the positioning frame 32 is arranged on the rotating table 31, and a pair of clamps 34 are oppositely arranged on the positioning frame 32 through the connecting piece 33 and used for fixing a product 40.

[0026] In the utility model, the positioning frame 32 has a hollow area 320, the connecting piece 33 is arranged on the positioning frame 32, and a pair of clamps 34 can be symmetrically inserted into the hollow area 320 after being connected with the connecting piece 33, respectively, the opposite sides (such as the upper end and the lower end) of the product 40 are fixed by the pair of clamps 34, respectively, so that the product is in a vertical state in the hollow area 320, one side of the product 40 is scanned by the handheld scanner 22 driven by the multi-axis manipulator 21 according to a set program, after the scanning of the side of the product 40 is completed, the positioning frame 32 is horizontally rotated by 180° by the rotating table 31, so that the other side of the product 40 is close to the side of the scanning mechanism 20, and the other side of the product 40 is scanned by the handheld scanner 22 driven by the multi-axis manipulator 21, so that the double sides of the product 40 are scanned.

[0027] The utility model discloses a cooperation of multi -shaft manipulator 21 and hand -held scanner 22 can realize the automatic scanning of many areas in space, and through the positioning frame 32 and clamp 34 to the product 40 positioning, and through the rotation of rotary table 31 realizes the automatic turning of product 40, above each action coordination completes the automatic scanning of both sides of product 40, has more efficient scanning efficiency.

[0028] Preferably, a pair of clamps 34 are arranged at the upper part and the bottom part in the positioning frame 32 respectively to clamp the upper end and the lower end of the product 40.

[0029] Specifically, the clamp 34 includes a U-shaped plate 341 and a first bolt 342, the U-shaped plate 341 is connected with the connecting piece 33, has a positioning groove 3411 for positioning the product 40, the U-shaped plate 341 is provided with a threaded hole 3412 penetrating the body, the threaded hole 3412 is communicated with the positioning groove 3411, the first bolt 342 penetrates the threaded hole 3412 and extends into the positioning groove 3411 to abut against the product to fix the product 40, the positioning groove 3411 of the U-shaped plate 341 has a larger width, which can be applied to products 40 of different thicknesses, and the end of the first bolt 342 and the side wall of the positioning groove 3411 abut against the opposite sides of the product 40 respectively to clamp the product 40. It should be noted that the product 40 does not need to abut against the bottom wall (the side wall without the threaded hole 3412) in the positioning groove 3411, that is, the lower end of the product does not need to be supported.

[0030] Further, the clamp 34 further includes a pressing plate 3421, the pressing plate 3421 is located in the positioning groove 3411 and connected with the end of the first bolt 342, preferably the pressing plate 3421 is made of rubber material, the pressing plate 3421 has a larger area and a relatively soft material, which can avoid damaging the product 40. It should be noted that the connection between the pressing plate 3421 and the first bolt 342 can be provided with a connecting column integrally formed with the pressing plate 3421, the connecting column is provided with an external thread, the end of the first bolt 342 has a socket, the socket is provided with an internal thread, the connecting column is screwed on the first bolt 342 through the cooperation of the external thread and the internal thread, so that the pressing plate 3421 is installed on the first bolt 342, which facilitates the installation of the pressing plate 3421 after the first bolt 342 penetrates the threaded hole.

[0031] For the specific structure of the connecting piece 33, such as Figure 3As shown, in an embodiment of the utility model, the upper and lower ends of positioning frame 32 are respectively provided with positioning holes (not shown), connecting piece 33 includes a pair of positioning parts, the pair of positioning parts are respectively arranged in the pair of positioning holes to be installed on positioning frame 32, specifically, the positioning part includes threaded rod 3311, first nut 3312 and limiting block 3313, first nut 3312 is fixed on positioning frame 32 and is communicated with positioning hole, one end of threaded rod 3311 is connected with limiting block 3313, the other end passes through positioning hole and is screwed with first nut 3312, limiting block 3313 is located in positioning frame 32 and is fixedly connected with clamp 34. In the embodiment, the spacing between the pair of clamps 34 is adjusted according to the height of product 40, and the specific adjustment mode is that threaded rod 3311 is rotated to rotate in first nut 3312, so that threaded rod 3311 moves up and down in the positioning hole to drive limiting block 3313 and clamp 34 to rise or fall, when the positions between the pair of clamps 34 are relatively fixed (meet the height of product 40), product 40 can be inserted into positioning groove 3411 from the side of positioning groove 3411 and fixed by first bolt 342, so that the product is located in the hollow area 320, which can be applied to products of different heights. Of course, in order to avoid the product 40 not being easily inserted into the positioning groove 3411 due to the block of the side of the positioning frame 32 when the clamp 34 is completely positioned, the positioning groove 3411 on the clamp 34 and the hollow area 320 can be arranged at a certain angle when the threaded rod 3311 is rotated, which facilitates the insertion of the product 40 into the positioning groove 3411, and then the pair of clamps 34 are rotated to completely insert the product 40 into the hollow area 320 in the state that the pair of clamps 34 can rotate in the same direction, which needs to consider the setting and matching of the external threads of the pair of threaded rods 3311 respectively located at the upper part and the lower part, and the internal threads of the pair of first nuts 3312, so that they can rotate in the same direction.

[0032] Further, the side wall of the positioning frame 32 is further provided with a plurality of auxiliary holes (not shown), the connecting piece further includes a plurality of auxiliary parts 35, the auxiliary part 35 includes second bolt 351 and second nut 352, the second nut 352 is fixed on the side wall of the positioning frame 32 and is communicated with the auxiliary hole, the second bolt 351 is locked in the second nut 352 and passes through the auxiliary hole for positioning the side of the product 40, which can more stably fix the product 40 in the central area 320 of the positioning frame 32 and avoid the rotation of the product 40.

[0033] As Figure 4As shown, in another embodiment of this utility model, bearings 3322 are respectively provided at the upper and lower ends of the positioning frame 32. The connecting part includes a drive unit 3323 and a rotating shaft 3321. A pair of rotating shafts 3321 are respectively disposed in a pair of bearings 3322 and are each connected to a clamp 34. The drive unit 3323 can be a rotary motor, which is disposed on the rotary table 31 and connected to the rotating shaft 3321 located below. Unlike the above embodiment, this embodiment can not only scan the two relatively wide sidewalls of the product 40, but also, when the other two relatively narrow sidewalls also have a certain thickness and need to be scanned, the drive unit 3323 can drive the rotating shaft 3321 to rotate the clamp 34 and the product 40 by a certain angle (such as 90°), so that the narrow sidewalls are misaligned with the sidewalls of the positioning frame 32 for scanning. At the same time, the upper and lower walls of the product 40 can also be scanned, thereby completing a precise scan of the entire product. However, it should be noted that, since the distance between the pair of clamps 34 cannot be adjusted, this embodiment can only be applied to products with a certain height.

[0034] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A cooperative device for handheld laser scanner automated measurement, characterized in that, The utility model relates to a kind of scanning mechanism and auxiliary mechanism, including: Scanning mechanism, which is arranged on the first machine table, includes multi-axis manipulator, and hand-held scanner arranged at the output end of the multi-axis manipulator, Auxiliary mechanism, which is arranged on the second machine table, includes rotating table, positioning frame, connecting piece and clamp, the rotating table is arranged on the second machine table, the positioning frame is arranged on the rotating table, and a pair of clamps are oppositely arranged on the positioning frame by the connecting piece for fixing products.

2. The cooperative device for handheld laser scanner automated measurement of claim 1, wherein, A pair of clamps are arranged in the upper part and the bottom part of the positioning frame respectively.

3. A co-operating device for automated measurement of a handheld laser scanner according to claim 1 or 2, characterized in that, The clamp includes a U-shaped plate and a first bolt, the U-shaped plate is connected with the connecting piece, has a positioning groove for positioning products, the U-shaped plate is provided with a threaded hole penetrating the body, the first bolt penetrates the threaded hole and extends into the positioning groove and abuts with the product.

4. The cooperative device for handheld laser scanner automated measurement of claim 3, wherein, The clamp further includes a pressing plate, and the pressing plate is located in the positioning groove and connected with the end of the first bolt.

5. The cooperative device for handheld laser scanner automated measurement of claim 4, wherein, The pressing plate is made of rubber.

6. The cooperative device for handheld laser scanner automated measurement of claim 1, wherein, The upper and lower ends of the positioning frame are respectively provided with positioning holes, and the connecting piece includes a pair of positioning parts, and a pair of positioning parts are arranged in a pair of positioning holes respectively.

7. The cooperative device for handheld laser scanner automated measurement of claim 6, wherein, The positioning part includes a threaded rod, a first nut and a limiting block, the first nut is fixed on the positioning frame and communicates with the positioning hole, one end of the threaded rod is connected with the limiting block, the other end penetrates the positioning hole and is connected with the first nut, and the limiting block is located in the positioning frame and connected with the clamp.

8. A co-operating device for automated measurement of a handheld laser scanner according to claim 6 or 7, characterized in that, A plurality of auxiliary holes are further provided on the side wall of the positioning frame, and the connecting piece further includes a plurality of auxiliary parts, the auxiliary part includes a second bolt and a second nut, the second nut is fixed on the side wall of the positioning frame and communicates with the auxiliary hole, and the second bolt is locked in the second nut and penetrates the auxiliary hole.

9. The cooperative device for handheld laser scanner automated measurement of claim 1, wherein, The upper and lower ends of the positioning frame are respectively provided with bearings, the connecting piece includes a driving part and a rotating shaft, a pair of rotating shafts are arranged in a pair of bearings respectively, and are connected with the clamp, and the driving part is connected with one of the rotating shafts.

10. The cooperative device for handheld laser scanner automated measurement of claim 9, wherein, The driving part is a rotary motor.

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