Supporting structure for tracker, tracker and tracking type scanner

Abstract

The utility model provides a supporting structure for a tracker, the tracker and a tracking type scanner. The supporting structure comprises an inner framework, an outer framework and a supporting seat; the inner frame is used for mounting a camera; an accommodating space is formed in the outer framework and is used for accommodating the inner framework; the supporting seat is provided with a first mounting part and a second mounting part; the outer framework is fixedly connected with the first mounting part, and the inner framework is fixedly connected with the second mounting part; a gap exists between the outer framework and the inner framework, so that the outer framework and the inner framework are not in direct contact. According to the invention, the stability of the inner frame is improved, so that the measurement precision of the tracker is improved.

Description

Technical Field

[0001] This application relates to the field of tracking equipment technology, specifically to a support structure for a tracker, a tracker, and a tracking scanner. Background Technology

[0002] In the field of trackers, with the continuous advancement of technology, the requirements for the accuracy of tracking and positioning are becoming increasingly stringent.

[0003] Existing trackers typically include multiple cameras and other components, with the relative positions of the cameras fixed by a support structure.

[0004] It is evident that the stability of the supporting structure has a significant impact on the accuracy of the tracker. Utility Model Content

[0005] In view of this, this application provides a support structure for a tracker, a tracker, and a tracking scanner to improve the measurement accuracy of the tracker.

[0006] In a first aspect, this application provides a support structure for a tracker, the support structure including an inner frame, an outer frame, and a support base; the inner frame is used to mount a camera; the outer frame has a receiving space inside, the receiving space accommodating the inner frame; the support base has a first mounting portion and a second mounting portion; the outer frame is fixedly connected to the first mounting portion, and the inner frame is fixedly connected to the second mounting portion; wherein, there is a gap between the outer frame and the inner frame, so that the outer frame and the inner frame do not directly contact each other.

[0007] Optionally, the support structure further includes an inner frame seat and an outer frame seat. The inner frame is fixedly connected to the second mounting part through the inner frame seat, and the outer frame is fixedly connected to the first mounting part through the outer frame seat. There is a gap between the inner frame seat and the outer frame seat, so that the outer frame and the inner frame do not directly contact each other.

[0008] Optionally, the first mounting portion includes a first mounting boss, and the second mounting portion includes a second mounting boss; the first mounting boss and the second mounting boss extend in the same direction and have a boss extension direction, and the height of the first mounting boss along the boss extension direction is less than the height of the second mounting boss along the boss extension direction.

[0009] Optionally, a heat insulation component is also provided between the inner frame and the inner frame seat to separate the inner frame and the inner frame seat.

[0010] Optionally, the gap between the outer frame seat and the inner frame seat is greater than or equal to 0.8 mm.

[0011] Optionally, an isolation groove is provided between the first mounting boss and the second mounting boss to separate the first mounting boss and the second mounting boss.

[0012] Optionally, the inner frame seat has a mounting groove facing the functional part of the inner frame, the heat insulation element is disposed in the mounting groove, and the depth of the mounting groove is less than the thickness of the heat insulation element.

[0013] Optionally, the outer frame is provided with a first through portion through which the first mounting boss and the second mounting boss pass, and the outer frame seat is provided with a second through portion through which the second mounting boss passes, and the first through portion and the second through portion are respectively spaced apart from the second mounting boss.

[0014] Optionally, the inner frame seat is provided with a fixing boss, which passes through the second through portion and is fixedly disposed with the second mounting boss, and the second through portion and the first through portion are respectively spaced apart from the fixing boss.

[0015] Optionally, the second mounting boss is provided with a limiting member extending along the extension direction of the boss. The limiting member is provided along the edge of the second mounting boss and surrounds a receiving groove to limit the fixed boss within the receiving groove.

[0016] Optionally, the outer frame seat is provided with a fixing part and a limiting boss. The limiting boss is circumferentially disposed at both ends of the outer frame seat, and the height of the fixing part is less than the height of the limiting boss. The limiting boss is fixedly disposed with the inner wall of the outer frame, and the fixing part is fixedly disposed with the first mounting boss.

[0017] Optionally, both the inner frame seat and the outer frame seat have a semi-enclosed structure. The inner diameter of the inner frame seat is larger than the outer diameter of the inner frame, and the inner diameter of the outer frame is larger than the outer diameter of the outer frame seat. The inner frame seat is disposed covering the outer wall of the inner frame, and the outer frame is disposed covering the outer wall of the outer frame seat.

[0018] Secondly, this application provides a tracking device, which includes the aforementioned support structure, mounting plate, camera, and handle assembly; the mounting plate is disposed on the functional part of the support seat facing away from the outer frame; the camera is fixed to the end of the inner frame; and the handle assembly is disposed on the outer frame.

[0019] Thirdly, this application provides a tracking scanner, which includes the aforementioned tracker.

[0020] In this application, the outer frame is fixedly connected to the first mounting part, and the inner frame is fixedly connected to the second mounting part. A gap exists between the outer frame and the inner frame, preventing direct contact between them. This ensures the independence of the inner frame relative to the outer frame, preventing deformation and stress caused by changes in the external environment (such as equipment handling, handle stress, and temperature changes) from being transmitted to the inner frame. This improves the overall stability of the tracker, allowing cameras located at both ends of the inner frame to stably acquire images, thus ensuring the accuracy of the acquired images and achieving precise three-dimensional measurement of the object. Ultimately, this improves the measurement accuracy of the tracker. Attached Figure Description

[0021] Figure 1 The diagram shown is a schematic of the internal structure of a tracker in related technologies.

[0022] Figure 2 The diagram shown is an exploded view of the structure of a tracker in related technologies.

[0023] Figure 3 The diagram shown is an exploded view of the structure of a tracker provided in some embodiments of this application.

[0024] Figure 4 The diagram shown is an exploded view of the structure of a tracker provided in some other embodiments of this application.

[0025] Figure 5 The diagram shown is an installation schematic of a partial structure of a tracker provided in an embodiment of this application.

[0026] Figure 6 The diagram shown is an enlarged schematic of a portion of the structure of a tracker provided in an embodiment of this application.

[0027] Figure 7 The diagram shown is an exploded view of a portion of the structure of a tracker provided in an embodiment of this application.

[0028] Figure 8 The diagram shown is a three-dimensional schematic of a support base in a tracker provided in an embodiment of this application; the structure of the support base facing the working part of the outer frame is highlighted.

[0029] Figure 9 The diagram shown is a three-dimensional schematic of a support base in a tracker provided in an embodiment of this application; the structure on the functional part of the support base facing away from the outer frame is particularly shown.

[0030] Figure 10 The image shown is a top view of a support base in a tracker provided in an embodiment of this application.

[0031] Figure 11 The diagram shown is a three-dimensional schematic of an exoskeleton seat in a tracker according to an embodiment of this application; the structure on the functional part of the exoskeleton seat facing away from the support seat is particularly shown.

[0032] Figure 12 The diagram shown is a three-dimensional schematic of an exoskeleton seat in a tracker according to an embodiment of this application; the structure on the functional part of the exoskeleton seat facing the support seat is particularly shown.

[0033] Figure 13 The diagram shown is a three-dimensional schematic of an inner skeleton seat in a tracker provided in an embodiment of this application; the structure on the functional part of the inner skeleton seat facing away from the support seat is particularly shown.

[0034] Figure 14 The diagram shown is a three-dimensional schematic of an inner skeleton seat in a tracker provided in an embodiment of this application; the structure of the inner skeleton seat facing the supporting seat is particularly shown. Detailed Implementation

[0035] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] like Figure 1 and Figure 2 As shown, in the related technology, the tracker includes a camera assembly 10, a handle assembly 20, and a frame fixing assembly. The inner frame 30, outer frame 40, and mounting plate 50 in the frame fixing assembly are all fixed to a frame base 60. Two camera assemblies 10 are respectively located at both ends of the inner frame 30. When using the tracker, it can be used with a tripod via the mounting plate 70 fixed to the mounting plate 50. However, because the inner frame 30, outer frame 40, and mounting plate 50 are all fixed to the frame base 60, when the outer frame 40 is deformed and stressed due to external environmental interference, the stress can easily be transmitted to the inner frame 30 through the frame base 60. This causes unexpected deformation of the inner frame 30, affecting the tracker's internal parameters, resulting in ineffective accuracy compensation, and ultimately impacting the equipment's accuracy and stability.

[0037] Embodiments of this application aim to provide a support structure for a tracker, a tracker, and a tracking scanner to improve the measurement accuracy of the tracker.

[0038] In some embodiments, reference Figure 3The support structure for the tracker includes an inner frame 1, an outer frame 3, and a support base 5. The inner frame 1 is used to mount the camera 8. The outer frame 3 has a receiving space inside, which houses the inner frame 1. The support base 5 has a first mounting part and a second mounting part. The outer frame 3 is fixedly connected to the first mounting part, and the inner frame 1 is fixedly connected to the second mounting part. There is a gap between the outer frame 3 and the inner frame 1, so that the outer frame 3 and the inner frame 1 do not directly contact each other.

[0039] In this embodiment, reference Figure 3 The inner frame 1 extends longitudinally and has a first mounting end and a second mounting end along its longitudinal direction. A camera 8 is respectively mounted at the first mounting end and the second mounting end. The inner frame 1 is made of a material with good stress strength to provide better stability, enabling the camera 8 mounted at the mounting end of the inner frame 1 to stably acquire images, thereby ensuring the accuracy of the images acquired by the camera 8 and realizing precise three-dimensional measurement of the object.

[0040] In one specific embodiment, the inner frame 1 can be a hollow cylindrical structure. Of course, in some embodiments, the inner frame 1 may not be limited to a hollow cylindrical structure, but may also be a solid strip structure.

[0041] In this embodiment, reference Figure 3 The outer frame 3 extends longitudinally, and the direction of extension of the outer frame 3 is the same as the direction of extension of the inner frame 1. The length of the outer frame 3 along the longitudinal extension direction is adapted to the length of the inner frame 1 along the longitudinal extension direction, so that the inner frame 1 is completely housed within the housing space of the outer frame 3. This allows the outer frame 3 to separate the inner frame 1 from the external environment, thereby forming a protective barrier for the inner frame 1 to avoid or reduce the influence of the external environment on the inner frame 1. This is beneficial to ensuring that the cameras 8 set at both ends of the inner frame 1 can stably acquire images.

[0042] The shape of the outer frame 3 is adapted to the shape of the inner frame 1 to facilitate the establishment of a gap between the inner frame 1 and the outer frame 3. In a specific embodiment, the outer frame 3 can be a hollow cylindrical structure or a hollow strip structure, and the inner diameter of the outer frame 3 is larger than the outer diameter of the inner frame, so that the inner frame 1 can be accommodated in the outer frame 3 and a gap exists between the inner frame 1 and the outer frame 3. Of course, in some embodiments, the outer frame 3 may not be limited to a hollow cylindrical structure or a hollow strip structure, but may also be a semi-enclosed structure, such as an annular semi-enclosed structure or a frame-shaped semi-enclosed structure, wherein the outer frame 3 has a receiving space formed in the functional part facing the inner frame 1, and the inner diameter of the outer frame 3 is larger than the outer diameter of the inner frame 1, so that the outer frame 3 is arranged to cover the inner frame 1 and a gap exists between the inner frame 1 and the outer frame 3.

[0043] In some embodiments, reference Figure 3The support base 5 is disposed on the outer wall of the outer frame 3, that is, the tracker is arranged in sequence from the inside to the outside, including the inner frame 1, the outer frame 3 and the support base 5. The support base 5 has a first mounting part fixedly connected to the outer frame 3 and a second mounting part fixedly connected to the inner frame 1 on the working part facing the outer frame 3. The outer wall of the outer frame 3 is fixed to the first mounting part by screws, and the second mounting part passes through the outer frame 3 and is fixed to the outer wall of the inner frame 1 by screws.

[0044] In some specific embodiments, the inner frame 1 and the outer frame 3 can be fixed using screws of different lengths. The second mounting part is fixed to the inner frame 1 using screws of a first length, and the first mounting part is fixed to the outer frame 3 using screws of a second length, wherein the first length is greater than the second length. When the screws are driven into the support base 5 to the same depth, a gap exists between the inner frame 1 and the outer frame 3 in the direction perpendicular to its longitudinal extension. The outer frame 3 is provided with a through-hole for the second mounting part to pass through, and the second mounting part is spaced apart from the through-hole, so that after the inner frame 1 and the second mounting part are fixed, a gap exists between the inner frame 1 and the outer frame 3 in the direction perpendicular to its longitudinal extension.

[0045] In some other specific embodiments, the outer frame 3 is provided with a through portion through which the support seat 5 passes, and the size of the through portion is adapted to the support seat 5 so that the side wall of the through portion of the outer frame 3 is fixedly connected to the first mounting portion provided on the side wall of the support seat 5. The second mounting portion provided on the working surface of the support seat 5 facing the inner frame 1 is fixedly provided with the inner frame 1. In the direction perpendicular to the longitudinal extension, the thickness of the support seat 5 is greater than the thickness of the outer frame 3. The lower side wall of the outer frame 3 and the support seat 5 in the direction away from the inner frame 1 is fixed so that there is a gap between the outer frame 3 and the inner frame 1, so that the outer frame 3 and the inner frame 1 do not directly contact each other.

[0046] In this embodiment, the outer frame 3 is fixedly connected to the first mounting part, and the inner frame 1 is fixedly connected to the second mounting part. There is a gap between the outer frame 3 and the inner frame 1, so that the outer frame 3 and the inner frame 1 do not directly contact each other. This avoids the outer frame 3 being set tightly against the inner frame 1, thereby ensuring the independence of the inner frame 1 relative to the outer frame 3. The deformation and stress caused by changes in the external environment (such as equipment handling, handle stress, changes in external temperature, etc.) of the outer frame 3 are prevented from being transmitted to the inner frame 1 due to the existence of the gap. This is beneficial to improving the stability of the inner frame 1, so that the cameras 8 set at both ends of the inner frame 1 can stably acquire images, thereby ensuring the accuracy of the images acquired by the cameras 8, realizing accurate three-dimensional measurement of the object, and ultimately improving the measurement accuracy of the tracker.

[0047] In some embodiments, reference Figures 4 to 14The support structure also includes an inner frame seat 2 and an outer frame seat 4. The inner frame 1 is fixedly connected to the second mounting part through the inner frame seat 2, and the outer frame 3 is fixedly connected to the first mounting part through the outer frame seat 4. There is a gap 100 between the inner frame seat 2 and the outer frame seat 4, so that the outer frame 3 and the inner frame 1 do not directly contact each other.

[0048] In this embodiment, by setting separate inner and outer frame seats and by setting a gap 100 between the inner frame seat 2 and the outer frame seat 4, the inner frame 1 and the outer frame 3 are separated and do not directly contact each other, thereby ensuring the independence of the inner frame 1 relative to the outer frame 3. This prevents the deformation and stress caused by changes in the external environment (such as equipment handling, handle stress, changes in external temperature, etc.) of the outer frame 3 from being transmitted to the inner frame 1 due to the existence of the gap 100. This is beneficial to improving the overall stability of the tracker and thus improving the measurement accuracy of the tracker.

[0049] In this embodiment, reference Figures 4 to 7 , Figure 13 and Figure 14 The inner frame seat 2 extends longitudinally, and the longitudinal direction of the inner frame seat 2 is the same as that of the inner frame 1. The inner frame seat 2 is disposed on the outer wall of the inner frame 1. In some specific embodiments, the inner frame seat 2 is fixed to the inner frame 1 by screws. Of course, in some embodiments, the fixing of the inner frame seat 2 to the inner frame 1 is not limited to screws; the inner frame seat 2 can also be fixed to the inner frame 1 by a snap-fit ​​mechanism.

[0050] In one specific embodiment, the inner skeleton seat 2 can be a semi-enclosed structure or a strip structure. In some embodiments, the inner skeleton seat 2 is an annular semi-enclosed structure or a frame-shaped semi-enclosed structure, wherein the inner skeleton seat 2 has a receiving space formed in the functional part facing the inner skeleton 1, and the inner diameter of the inner skeleton seat 2 is larger than the outer diameter of the inner skeleton 1, so that the inner skeleton seat 2 is disposed to cover the outer wall of the inner skeleton 1, which is beneficial to improving the installation stability of the inner skeleton seat 2 fixed to the inner skeleton 1, thereby improving the stability of the inner skeleton, which is beneficial to ensuring that the cameras 8 disposed at both ends of the inner skeleton 1 can stably acquire images.

[0051] In one specific embodiment, the length of the inner skeleton seat 2 along its longitudinal extension direction is adapted to the length of the inner skeleton 1 along its longitudinal extension direction, so that the inner skeleton 1 can be stably fixed to the inner skeleton seat 2. Of course, in some embodiments, the length of the skeleton seat 2 along its longitudinal extension direction is less than the length of the inner skeleton 1 along its longitudinal extension direction, which can save costs and reduce the overall weight of the tracker. Preferably, the length of the skeleton seat 2 along its longitudinal extension direction is such that the inner skeleton 1 can be stably fixed to the inner skeleton seat 2.

[0052] In this embodiment, reference Figures 4 to 7 , Figure 11 and Figure 12 The outer frame seat 4 extends longitudinally, and the longitudinal direction of the outer frame seat 4 is the same as that of the inner frame 1. The outer frame seat 4 is disposed on the inner wall of the outer frame 3. In some specific embodiments, the outer frame seat 4 is fixed to the outer frame 3 by screws. Of course, in some embodiments, the fixing of the outer frame seat 4 to the outer frame 3 is not limited to screws; the outer frame seat 4 can also be fixed to the outer frame 3 by a snap-fit ​​mechanism.

[0053] The shape of the outer frame seat 4 is adapted to the shape of the inner frame seat 2 to facilitate the establishment of a gap between the outer frame seat 4 and the inner frame seat 2. In one specific embodiment, the outer frame seat 4 can be a semi-enclosed structure or a strip structure. In some embodiments, the outer frame seat 4 is an annular semi-enclosed structure or a frame-shaped semi-enclosed structure, wherein the inner diameter of the outer frame 3 is larger than the outer diameter of the outer frame seat 4, and the outer frame 3 is disposed to cover the outer wall of the outer frame seat 4, which helps to improve the installation stability of the outer frame seat 4 fixed to the outer frame 3, thereby improving the overall stability of the tracker and the measurement accuracy of the tracker.

[0054] In one specific embodiment, the length of the outer frame base 4 along the longitudinal extension direction is adapted to the length of the outer frame 3 along the longitudinal extension direction, so that the outer frame base 4 can be stably fixed to the outer frame 3. Of course, in some embodiments, the length of the outer frame base 4 along the longitudinal extension direction is less than the length of the outer frame 3 along the longitudinal extension direction, which can save costs and reduce the overall weight of the tracker. Preferably, the length of the outer frame base 4 along the longitudinal extension direction is such that the outer frame 3 can be stably fixed to the outer frame base 4.

[0055] In some specific embodiments, reference is made to Figures 4 to 7 Both the inner frame seat 2 and the outer frame seat 4 are annular semi-enclosed structures. The outer frame seat 4 has a receiving space in the function part facing the inner frame seat 3. The receiving space receives the inner frame seat 2, and the inner diameter of the outer frame seat 4 is larger than the outer diameter of the inner frame seat 2, so that there is a gap 100 between the outer frame seat 4 and the inner frame seat 2, so as to separate the inner frame 1 and the outer frame 3 from direct contact.

[0056] In some embodiments, reference Figures 4 to 6 The gap 100 between the outer frame seat 4 and the inner frame seat 2 is greater than or equal to 0.8 mm. This gap 100 ensures that the inner frame 1 and the outer frame 3 are separated and do not come into direct contact. This ensures that even if the outer frame 3 is affected by changes in the external environment, the deformation and stress will not be transmitted to the inner frame 1, thus improving the stability of the inner frame 1 and improving the measurement accuracy of the tracker.

[0057] In some embodiments, reference Figures 4 to 10The first mounting part includes a first mounting boss 51, and the second mounting part includes a second mounting boss 52. The first mounting boss 51 and the second mounting boss 52 extend in the same direction and have a boss extension direction. The height of the first mounting boss 51 along the boss extension direction is less than the height of the second mounting boss 52 along the boss extension direction, which ensures that there is a gap 100 between the inner frame 1 and the outer frame 3. This separates the inner frame 1 and the outer frame 3 from direct contact, avoiding the deformation and stress of the outer frame 3 caused by external environmental changes (such as equipment handling, handle stress, external temperature changes, etc.) from being transmitted to the inner frame 1. This improves the stability of the inner frame 1, which in turn helps to improve the measurement accuracy of the tracker.

[0058] In some specific embodiments, reference is made to Figure 3 The first mounting boss 51 is fixedly installed with the outer frame 3, and the second mounting boss 52 passes through the outer frame 3 and is fixedly installed with the inner frame 1, so that the inner frame 1 and the outer frame 3 are fixedly installed on the support base 5.

[0059] In other specific embodiments, reference is made to... Figures 4 to 14 The first mounting boss 51 penetrates the outer frame 3 and is fixedly mounted on the outer frame seat 4. The second mounting boss 52 penetrates the outer frame 3 and at least a portion of the second mounting boss 52 penetrates the outer frame seat 4 to be fixedly mounted on the inner frame seat 2, so that the inner frame 1 and the outer frame 3 are fixedly mounted on the support seat 5.

[0060] In some embodiments, reference Figures 4 to 12 The outer frame 3 is provided with a first through portion through which the first mounting boss 51 and the second mounting boss 52 pass. The outer frame seat 4 is provided with a second through portion 43 through which the second mounting boss 52 passes. The first through portion and the second through portion 43 are respectively spaced apart from the second mounting boss 52 to ensure that after the second mounting boss 52 is fixed to the inner frame 1 or the inner frame seat 2, there is a gap between the inner frame 1 and the outer frame 3. This separates the inner frame 1 and the outer frame 3 from direct contact, ensuring the independence of the inner frame 1 relative to the outer frame 3. The deformation and stress caused by the changes in the external environment of the outer frame 3 will be prevented from being transmitted to the inner frame 1 due to the existence of the gap 100, thereby improving the stability of the inner frame 1 and thus helping to improve the measurement accuracy of the tracker.

[0061] In some embodiments, reference Figures 4 to 14The inner frame base 2 is provided with a fixing boss 21, which passes through the second through portion 43 and is fixedly installed with the second mounting boss 52. The second through portion 43 and the first through portion are respectively spaced apart from the fixing boss 21. If the second mounting boss 52 is set too high, there is a risk of it being easily broken and damaged. Therefore, by providing a fixing boss 21 in the inner frame base 2, on the one hand, the support base 5 can be more easily connected and fixed to the inner frame base 2, and the connection between the two can be made more secure. On the other hand, it can also further ensure that there is a gap between the inner frame base 2 and the outer frame base 4, thereby ensuring that the inner frame 1 and the outer frame 3 are separated and do not directly contact each other, improving the stability of the inner frame 1, which is conducive to improving the measurement accuracy of the tracker.

[0062] In some specific embodiments, the second mounting boss 52 passes through the first through portion and the second through portion 43 in sequence and is fixedly disposed with the inner frame seat 2 facing the support seat 5, and the second mounting boss 52 is spaced apart from both the second through portion 43 and the first through portion.

[0063] In some other specific embodiments, the second mounting boss 52 passes through the first through portion and is fixedly disposed with the fixing boss 21 passing through the second through portion 43, that is, the second mounting boss 52 and the fixing boss 21 are fixed between the outer frame 3 and the outer frame seat, the second mounting boss 52 is spaced apart from the first through portion and the second through portion 43, and the fixing boss 21 is spaced apart from the first through portion and the second through portion 43.

[0064] In some other specific embodiments, reference is made to Figures 4 to 14 The second mounting boss 52 passes through the first through portion and a portion of the second mounting boss 52 passes through the second through portion 43. The fixing boss 21 passes through the second through portion 43 and is fixedly installed with the second mounting boss 52. The second mounting boss 52 is spaced apart from both the second through portion 43 and the first through portion. The fixing boss 21 is spaced apart from the second through portion 43.

[0065] In some embodiments, reference Figures 4 to 12 The outer frame base 4 is provided with a fixing part 41 and a limiting boss 42. The limiting boss 42 is circumferentially arranged on both ends of the outer frame base 4, and the height of the fixing part 41 is less than the height of the limiting boss 42. The limiting boss 42 is fixedly disposed with the inner wall of the outer frame 3, and the fixing part 41 is fixedly disposed with the first mounting boss 51. That is, the two ends of the outer frame base 4 are fixed with the inner wall of the outer frame 3 through the limiting boss 42, which makes the connection between the outer frame base 4 and the outer frame 3 more secure. Moreover, since the height of the limiting boss 42 is greater than the height of the fixing part 41, it is beneficial for the outer frame base 4 to limit and fix the outer frame 3, while avoiding affecting the fixed setting between the outer frame base 4 and the support base 5.

[0066] In some embodiments, the outer diameter of the portion of the outer frame seat 4 where the limiting boss 42 is located is adapted to the inner diameter of the outer frame 3, so that the outer frame 3 and the outer frame seat 4 are fixed firmly and stably.

[0067] In some specific embodiments, reference is made to Figures 4 to 14 The second through part 43 is provided and is located in the middle of the outer frame seat 4. The fixing part 41 is provided in two and is respectively located on both sides of the second through part 43. That is, the fixing part 41 is located between the limiting boss 42 and the second through part 43. This not only simplifies the structure and ensures the stability of the fixation between the outer frame 3 and the outer frame seat 4, but also helps to prevent the second mounting boss 52 and the fixing boss 21 from contacting the second through part 43, thereby ensuring the gap setting between the inner frame seat 2 and the outer frame seat 4.

[0068] In some specific embodiments, reference is made to Figures 4 to 14 Projecting along the extension direction of the boss, the projected area of ​​the second through portion 43 on the first functional part of the support base 5 is larger than the projected area of ​​the fixed boss 21 on the first functional part of the support base 5, and the projected area of ​​the second through portion 43 on the first functional part of the support base 5 is larger than the projected area of ​​the second mounting boss 52 on the first functional part of the support base 5. This helps to prevent the second mounting boss 52 and the fixed boss 21 from contacting the second through portion 43, thereby ensuring that there is a gap between the inner frame 1 and the outer frame 3, improving the stability of the inner frame 1, and thus helping to improve the measurement accuracy of the tracker.

[0069] In the embodiments of this application, the first functional part of the support base 5 is the functional part of the support base 5 facing the outer frame 3.

[0070] In some embodiments, reference Figures 4 to 10 An isolation groove 53 is provided between the first mounting boss 51 and the second mounting boss 52 to separate the first mounting boss 51 and the second mounting boss 52. The isolation groove 53 is milled through between the first mounting boss 51 and the second mounting boss 52 to ensure that there is a gap between the outer frame 3 and the inner frame 1 after assembly, so that the inner frame 1 and the outer frame 3 are separated and do not directly contact each other. This ensures the independence of the inner frame 1 relative to the outer frame 3, improves the stability of the inner frame 1, and thus helps to improve the measurement accuracy of the tracker.

[0071] In some embodiments, the isolation groove 53 may be a through hole structure that completely penetrates the support base 5. Of course, in some embodiments, the isolation groove 53 may not be limited to a through hole structure, but may also be a groove structure that does not penetrate the support base 5. The groove structure is formed by the support base 5 facing the working surface of the outer frame 3 and inward in a direction away from the outer frame 3.

[0072] In some embodiments, the width of the isolation groove 53 is greater than or equal to 0.8 mm, that is, the distance between the first mounting boss 51 and the second mounting boss 52 is greater than or equal to 0.8 mm, to ensure that the inner frame 1 and the outer frame 3 are separated and do not come into direct contact.

[0073] In some embodiments, reference Figures 4 to 10 Two first mounting protrusions 51 are provided and are respectively located on both sides of the second mounting protrusion 52. Projected along the extension direction of the protrusions, the projected area of ​​the structure between the two first mounting protrusions 51 and the structure between them on the first functional part of the support base 5 is the first area. One first through-hole is provided, and the projected area of ​​the first through-hole on the first functional part of the support base 5 is greater than the first area. The projected area of ​​the first through-hole on the first functional part of the support base 5 is greater than the projected area of ​​the fixed protrusion 21 on the first functional part of the support base 5. This arrangement not only simplifies the structure and ensures a firm and stable connection between the outer frame 3 and the outer frame base 4, but also helps to prevent the second mounting protrusions 52 and the fixed protrusion 21 from contacting the second through-hole 43. This ensures a gap between the inner frame base 2 and the outer frame base 4, thus ensuring a gap between the outer frame 3 and the inner frame 1, improving the stability of the inner frame 1, and consequently improving the measurement accuracy of the tracker.

[0074] In some specific embodiments, reference is made to Figures 4 to 10 The structure between the two first mounting bosses 51 includes an isolation groove 53 and a second mounting boss 52.

[0075] In some embodiments, reference Figures 4 to 10 The second mounting boss 52 is provided with a limiting member 54 extending along the extension direction of the boss. The limiting member 54 is provided along the edge of the second mounting boss 52 and surrounds it to form a receiving groove, so as to limit the fixed boss 21 within the receiving groove. The limiting member 54 can effectively restrict the fixed boss 21 within the receiving groove and prevent the fixed boss 21 from deviating from the receiving groove and causing it to contact the outer frame 3 and the outer frame seat 4. This ensures that there is a gap between the outer frame 3 and the inner frame 1, improves the stability of the inner frame 1, and thus helps to improve the measurement accuracy of the tracker.

[0076] In some specific embodiments, reference is made to Figures 4 to 10 A plurality of limiting members 54 are provided, and the plurality of limiting members 54 are spaced apart on the edge of the second mounting boss 52, and the plurality of limiting members 54 surround the edge of the second mounting boss 52 to form a receiving groove.

[0077] In some other embodiments, the limiting member 54 continuously surrounds the edge of the second mounting boss 52 to form a receiving groove.

[0078] In some embodiments, reference Figures 4 to 7 , Figure 11 and Figure 12 The outer frame base 4 is also provided with annular bosses 44, which are circumferentially arranged at both ends of the outer frame base 4, and two annular bosses 44 are arranged between two limiting bosses 42. The fixing part 41 is arranged on the annular bosses 44. The height of the annular bosses 44 is less than the height of the limiting bosses 42. The annular bosses 44 can strengthen the fixing part 41 and ensure the stability of the outer frame 3 and the outer frame base 4. By the height of the annular bosses 44 being less than the height of the limiting bosses 42, the limiting area of ​​the outer frame base 4 on the outer frame 3 and the high-precision machining area can be reduced.

[0079] In some embodiments, reference Figure 4 and Figure 7 A heat insulation component 6 is also provided between the inner frame 1 and the inner frame seat 2 to separate the inner frame 1 and the inner frame seat 2, so that the heat of the inner frame 1 can be separated from the heat of the outside world, reducing the impact of the heat changes of the external environment and other components of the tracker on the binocular image acquisition system, which can improve the thermal stability of the image acquisition system, i.e., the camera, thereby ensuring the accuracy and stability of the tracker.

[0080] In some embodiments, reference Figure 4 , Figure 7 and Figure 13 The inner frame base 2 has a mounting groove 22 facing the inner frame 1. The heat insulation component 6 is set in the mounting groove 22, and the depth of the mounting groove 22 is less than the thickness of the heat insulation component 6. This ensures that the inner frame 1 and the inner frame base 2 are separated from direct contact by the heat insulation component 6, thereby separating the heat of the inner frame 1 from the external heat. This reduces the impact of the external environment and the heat changes of other components of the tracker on the binocular image acquisition system, improves the thermal stability of the image acquisition system, and effectively ensures the accuracy and stability of the scanner equipment.

[0081] In the embodiments of this application, the depth of the mounting groove 22 is the depth to which the mounting groove 22 is recessed in a direction perpendicular to the inner wall of the inner frame seat 2. The thickness of the heat insulation member 6 is the distance between the two symmetrical action surfaces of the heat insulation member 6 in a direction perpendicular to the inner wall of the inner frame seat 2 when the heat insulation member 6 is installed in the mounting groove 22.

[0082] In some embodiments, the heat insulation element 6 is made of a material with poor heat transfer, such as plastic.

[0083] In some embodiments, the inner diameter of the heat insulation member 6 is adapted to the outer diameter of the inner frame 1, so that the inner wall of the heat insulation member 6 is tightly attached to the outer wall of the inner frame 1.

[0084] In some embodiments, one or more heat insulation components 6 and mounting grooves 22 are provided. In some specific embodiments, both heat insulation component 6 and mounting groove 22 are provided, and the heat insulation component 6 and mounting groove 22 extend longitudinally, with the extension direction being the same as the longitudinal extension direction of the inner frame 1. The lengths of the heat insulation component 6 and mounting groove 22 along the longitudinal extension direction are adapted to the lengths of the inner frame 1 or the inner frame seat 2 along the longitudinal extension direction, so that the inner frame 1 is separated from the inner frame seat 2 by the heat insulation component 6 along the longitudinal extension direction. This can greatly reduce the impact of external environment and heat changes of other components of the tracker on the binocular image acquisition system.

[0085] In some other specific embodiments, there are several heat insulation components 6 and mounting grooves 22, and the lengths of the heat insulation components 6 and mounting grooves 22 along the longitudinal extension direction are all less than the lengths of the inner frame 1 or the inner frame seat 2 along the longitudinal extension direction. This results in a gap between the inner frame 1 and the inner frame seat 2 where the heat insulation components 6 are not provided. That is, the inner frame 1 and the inner frame seat 2 are separated from each other by two heat insulation components 6 and this gap, and do not directly contact each other. This helps to reduce the impact of external environment and heat changes of other components of the tracker on the binocular image acquisition system.

[0086] In some embodiments, the heat insulation element 6 and the mounting groove 22 are shaped to match. In some embodiments, both the heat insulation element 6 and the mounting groove 22 are annular strip structures. Of course, in some embodiments, the heat insulation element 6 and the mounting groove 22 may not be limited to annular strip structures, but may also be annular semi-enclosed structures.

[0087] In some specific embodiments, reference is made to Figure 4 , Figure 7 and Figure 13 The inner wall of the inner frame base 2 has two annular strip-shaped mounting grooves 22. Two heat insulation components 6 are provided, also in annular strip-shaped structures, and are respectively disposed within the two mounting grooves 22. Because the depth of the mounting grooves 22 is less than the thickness of the heat insulation components 6, a gap exists between the inner frame 1 and the inner frame base 2 where the heat insulation components 6 are not located. That is, the inner frame 1 and the inner frame base 2 are separated from each other by the two heat insulation components 6 and this gap, preventing direct contact. This helps to reduce the impact of external environmental factors and heat changes in other components of the tracker on the binocular image acquisition system.

[0088] In other specific embodiments, the mounting groove 22, the heat insulation component 6, the inner frame 1, and the inner frame seat are all in annular semi-enclosed structure. The length of the mounting groove 22 along the longitudinal direction is less than or equal to the length of the inner frame seat 2 along the longitudinal direction. The circumference of the mounting groove 22 along the circumference is less than or equal to the circumference of the inner frame seat 2 along the circumference. The length and circumference of the heat insulation component 6 are adapted to the length and circumference of the mounting groove 22 so as to facilitate installation in the mounting groove 22. This allows the inner frame 1 and the inner frame seat 2 to be mainly separated by the heat insulation component 6, which can greatly reduce the impact of external environment and heat changes of other components of the tracker on the binocular image acquisition system.

[0089] In some embodiments, the heat insulation element 6 is fixed to the mounting groove 22 by means of adhesive or screws.

[0090] In some specific embodiments, reference is made to Figures 4 to 7 , Figure 11 and Figure 12 The limiting boss 42 is provided with a first threaded through hole 421, and the outer frame seat 4 is fixed to the outer frame 3 by screws passing through the first threaded through hole 421 and the threaded hole on the outer frame 3.

[0091] In some specific embodiments, reference is made to Figures 4 to 12 The fixing part 41 is provided with a second threaded through hole 411, and the first mounting boss 51 is provided with a third threaded through hole 511. The outer frame seat 4 is fixed to the support seat 5 by screws passing through the second threaded through hole 411 and the third threaded through hole 511.

[0092] In some embodiments, reference Figures 4 to 10 , Figure 13 and Figure 14 The fixed boss 21 is provided with a fourth threaded through hole 211, and the second mounting boss 52 is provided with a fifth threaded through hole 521. The inner frame seat 2 is fixed to the support seat 5 by screws passing through the four threaded through holes 211 and the fifth threaded through hole 521.

[0093] In some embodiments, reference Figures 4 to 7 , Figure 13 and Figure 14 The inner frame seat 2 is provided with two mounting and fixing parts 23, which are respectively located on both sides of the fixing boss 21. The mounting and fixing parts 23 are provided with a sixth threaded through hole 231. The inner frame seat 2 is fixed to the inner frame 1 by screws passing through the sixth threaded through hole 231 and the threaded hole on the inner frame 1.

[0094] In some embodiments, reference Figures 3 to 6The tracker includes the aforementioned support structure, mounting plate 7, camera 8, and handle assembly 9. Mounting plate 7 is disposed on the supporting base 5 facing away from the outer frame 3; camera 8 is fixed to the end of the inner frame 1; and handle assembly 9 is fixedly disposed on the outer frame 3. The tracker implemented in this application, by setting a gap 100 between the outer frame 3 and the inner frame 1 of the support structure, ensures that the outer frame 3 and inner frame 1 do not directly contact each other, thereby guaranteeing the independence of the inner frame 1 relative to the outer frame 3. This prevents deformation and stress caused by changes in the external environment (such as equipment handling, handle stress, and changes in external temperature) from being transmitted to the inner frame 1 due to the existence of the gap 100, improving the stability of the inner frame 1 and thus enhancing the measurement accuracy of the tracker.

[0095] In some embodiments, reference Figure 3 and Figure 4 The camera 8 is provided in two parts and is fixed to the two ends of the inner frame 1 respectively to form a binocular image acquisition system of the scanner.

[0096] In some embodiments, reference Figure 3 and Figure 4 The mounting plate 7, facing away from the support base 5, has a mounting structure that is movably connected to the tripod, allowing the tripod to be adjusted in angle to ensure the overall stability of the tracker. The tripod can be detachably mounted on the mounting plate 7, such as by snap-fit ​​or screw connection, enabling quick installation of the tripod and convenient storage and transportation of the tracker after disassembly.

[0097] In some embodiments, reference Figure 3 and Figure 4 The handle assembly 9 is equipped with a handle that is easy to grip, so that the operator can move and operate the tracker.

[0098] In some embodiments, the tracking scanner includes the aforementioned tracker and scanner. The tracking scanner implemented in this application, by having a gap 100 between the outer frame 3 and the inner frame 1 of the tracker, ensures that the outer frame 3 and the inner frame 1 do not directly contact each other, thereby guaranteeing the independence of the inner frame 1 relative to the outer frame 3. This prevents deformation and stress caused by changes in the external environment (such as equipment handling, handle stress, and changes in external temperature) from being transmitted to the inner frame 1 due to the existence of the gap 100, thus improving the stability of the inner frame 1 and consequently enhancing the measurement accuracy of the tracker.

[0099] In some embodiments, the tracking scanner also includes a scanner for specifically scanning detailed portions of the surface being measured to cooperate with a tracker that identifies the object being measured to determine the location of positioning points for three-dimensional measurement of the object.

[0100] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A support structure for a tracking instrument, characterized by, Comprise: Inner skeleton for installing camera; Outer skeleton, internally formed with accommodation space, the accommodation space accommodates the inner skeleton; Support seat with first mounting part and second mounting part; the outer skeleton is fixedly connected with the first mounting part, and the inner skeleton is fixedly connected with the second mounting part; wherein, the gap exists between the outer skeleton and the inner skeleton, so that the outer skeleton and the inner skeleton are not in direct contact.

2. The support structure of claim 1, wherein, Also including inner skeleton seat and outer skeleton seat, the inner skeleton is fixedly connected with the second mounting part through the inner skeleton seat, and the outer skeleton is fixedly connected with the first mounting part through the outer skeleton seat; Wherein, the gap exists between the inner skeleton seat and the outer skeleton seat, so that the outer skeleton and the inner skeleton are not in direct contact.

3. The support structure of claim 2, wherein, The first mounting part includes first mounting boss, and the second mounting part includes second mounting boss; the first mounting boss and the second mounting boss extend in the same direction and have boss extension direction, the height of the first mounting boss along the boss extension direction is less than the height of the second mounting boss along the boss extension direction.

4. The support structure of claim 2, wherein, The inner skeleton and the inner skeleton seat are further provided with heat insulation piece, so that the inner skeleton and the inner skeleton seat are separately arranged.

5. The support structure of claim 2, wherein, The gap between the outer skeleton seat and the inner skeleton seat is greater than or equal to 0.8mm.

6. The support structure of claim 3, wherein, The first mounting boss and the second mounting boss are provided with isolation groove, so that the first mounting boss and the second mounting boss are separately arranged.

7. The support structure of claim 4, wherein, The inner skeleton seat is provided with mounting groove towards the acting part of the inner skeleton, the heat insulation piece is arranged in the mounting groove, and the depth of the mounting groove is less than the thickness of the heat insulation piece.

8. The support structure of claim 3, wherein, The outer skeleton is provided with first through part for the first mounting boss and the second mounting boss to penetrate, the outer skeleton seat is provided with second through part for the second mounting boss to penetrate, and the first through part and the second through part are respectively arranged with the second mounting boss.

9. The support structure of claim 8, wherein, The inner skeleton seat is provided with fixed boss, the fixed boss penetrates the second through part and is fixedly arranged with the second mounting boss, and the second through part and the first through part are respectively arranged with the fixed boss.

10. The support structure of claim 9, wherein, The second mounting boss is provided with limiting piece extending along the boss extension direction, the limiting piece is arranged along the edge of the second mounting boss and is circumferentially arranged to form containing groove, so as to limit the fixed boss in the containing groove.

11. The support structure of claim 3, wherein, The outer skeleton seat is provided with fixed part and limiting boss, the limiting boss is circumferentially arranged at the edge of both ends of the outer skeleton seat, and the height of the fixed part is less than the height of the limiting boss, the limiting boss is fixedly arranged with the inner wall of the outer skeleton, and the fixed part is fixedly arranged with the first mounting boss.

12. The support structure of claim 2, wherein, The inner skeleton seat and the outer skeleton seat are both in half covering structure, the inner diameter of the inner skeleton seat is greater than the outer diameter of the inner skeleton, the inner diameter of the outer skeleton is greater than the outer diameter of the outer skeleton seat, the inner skeleton seat is arranged on the outer wall of the inner skeleton, and the outer skeleton is arranged on the outer wall of the outer skeleton seat.

13. A tracker characterized by, Comprise: Support structure as claimed in any of claims 1-12; A mounting plate is arranged on the support seat in a direction away from the action part of the exoskeleton. A camera is fixed on the end of the endoskeleton. A handle assembly is arranged on the exoskeleton.

14. A tracking scanner characterized by, The tracking device comprises the tracking device as claimed in claim 13.

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