Three-dimensional imaging equipment based on structured light projection
By introducing lateral and vertical displacement mechanisms into the structured light projection 3D imaging device, the structure and measurement accuracy of the device are optimized, the shortcomings of existing devices in terms of system integration and measurement accuracy are solved, and efficient 3D imaging is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-27
- Publication Date
- 2026-03-10
AI Technical Summary
Existing structured light projection 3D imaging equipment has shortcomings in system integration, measurement accuracy, and adaptability to complex environments, resulting in slow imaging speed, low measurement accuracy, and low collaborative efficiency between industrial cameras and projectors.
A three-dimensional imaging device based on structured light projection was designed, including a camera mechanism, a projection mechanism, a lateral displacement mechanism, a vertical displacement mechanism, a placement mechanism, a worktable, and a control mechanism. The lateral displacement mechanism enables the synchronous movement of the camera mechanism and the projection mechanism, and the adjustment of the vertical displacement mechanism and the placement mechanism optimizes the structure and measurement accuracy of the device.
It improves the collaborative working efficiency of industrial cameras and projectors, optimizes imaging speed and measurement accuracy, and realizes three-dimensional imaging of the object under test except for the bottom surface. The structure is simple and easy to promote and apply.
Smart Images
Figure CN223985699U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of three-dimensional imaging equipment, and in particular to a three-dimensional imaging device based on structured light projection. Background Technology
[0002] In today's industrial inspection, machinery manufacturing, 3D modeling and many other fields, the demand for high-precision, high-resolution 3D imaging is growing. Traditional 3D imaging methods, such as laser scanning and contact measurement, have limitations such as slow measurement speed, expensive equipment, and damage to the surface of the object being measured.
[0003] Structured light projection 3D imaging technology has gradually become a research and application hotspot due to its advantages such as non-contact operation, high precision, and high speed. However, existing structured light projection 3D imaging equipment still has many shortcomings in terms of system integration, measurement accuracy, stability, and adaptability to complex environments. For example, the collaborative working efficiency of industrial cameras and projectors in some devices is low, resulting in slow imaging speed and low measurement accuracy; some devices also have complex structures, which are not conducive to widespread application. Utility Model Content
[0004] The technical problem to be solved by this utility model is to provide a three-dimensional imaging device based on structured light projection to solve the above-mentioned problem.
[0005] The technical solution of this utility model to solve the above-mentioned technical problems is as follows: A three-dimensional imaging device based on structured light projection includes: a camera mechanism, a projection mechanism, a lateral displacement mechanism, a vertical displacement mechanism, a placement mechanism, a worktable, a support column, and a control mechanism; the placement mechanism and the support column are both disposed on the top of the worktable, the object to be measured is movably disposed on the placement mechanism, the vertical displacement mechanism is disposed on the top of the support column, the lateral displacement mechanism is slidably mounted on the vertical displacement mechanism, the camera mechanism and the projection mechanism are side by side and movably disposed on the lateral displacement mechanism, and the control mechanism is disposed inside the worktable and connected to the camera mechanism, the projection mechanism, the lateral displacement mechanism, the vertical displacement mechanism, and the placement mechanism.
[0006] The beneficial effects of this utility model are as follows: the camera mechanism and the projection mechanism are arranged side by side and movably mounted on the transverse displacement mechanism, which facilitates the synchronous rotation of the camera mechanism and the projection mechanism under the control of the control mechanism, avoiding the lag phenomenon when the industrial camera and the projector are working, thereby improving the collaborative working efficiency of the industrial camera and the projector, and optimizing the imaging speed and measurement accuracy; the object to be measured is movably mounted on the placement mechanism, which facilitates the translation and rotation of the object to be measured, thereby cooperating with the camera mechanism and the projection mechanism to achieve three-dimensional imaging of the object to be measured except for the bottom surface. The overall structure of this utility model is simple and easy to promote and apply.
[0007] Based on the above technical solution, the present invention can be further improved as follows.
[0008] Furthermore, the lateral displacement mechanism includes two first lead screw displacement assemblies and a sliding base plate, with the two first lead screw displacement assemblies correspondingly disposed at both ends of the sliding base plate.
[0009] The beneficial effect of adopting the above-mentioned further scheme is that the two first lead screw displacement components are conducive to driving the camera mechanism and the projection mechanism to move synchronously along the sliding base plate.
[0010] Furthermore, the first lead screw displacement assembly includes: a first displacement motor, a first mounting frame, a first lead screw, a first mounting block, a first slider, and a first slide rail; the first mounting frame is an inverted gantry-shaped plate structure, the first mounting frame is mounted on the sliding base plate, the first displacement motor is mounted on one side wall of the first mounting frame and its output shaft is connected to one end of the first lead screw, the other end of the first lead screw is rotatably mounted on the other side wall of the first mounting frame through a bearing, the first mounting block is threaded onto the first lead screw, the first slide rail is disposed on the base plate of the first mounting frame, the first slider is slidably mounted on the first slide rail, the first slider is fixedly connected to the first mounting block, and the control mechanism is connected to the first displacement motor.
[0011] The beneficial effect of adopting the above-mentioned further solution is that the first displacement motor can drive the first mounting block to slide along the first lead screw and the first slide rail, thereby driving the camera mechanism and the projection mechanism to move synchronously along the sliding base plate.
[0012] Furthermore, the camera mechanism includes: a first rotary motor, a first reducer, a first coupling, an industrial camera connecting plate, an industrial camera, and a first mounting plate; the first mounting plate is fixedly mounted on the first mounting block, the first reducer and the first coupling are respectively arranged on both sides of the first mounting plate, the first reducer and the first coupling are connected by a first connecting shaft, the first connecting shaft rotatably passes through the first mounting plate through a bearing, the side of the first reducer away from the first mounting plate is connected to the first rotary motor, the side of the first coupling away from the first mounting plate is connected to the industrial camera connecting plate through a second connecting shaft, the industrial camera is mounted on the side of the industrial camera connecting plate away from the first coupling, and the control mechanism is connected to the first rotary motor.
[0013] The beneficial effect of adopting the above-mentioned further solution is that the first rotary motor can drive the industrial camera connecting plate and the industrial camera mounted on the industrial camera connecting plate to rotate through the sequential transmission action of the first reducer, the first coupling, the first connecting shaft and the second connecting shaft, thereby taking pictures and collecting images of different parts of the object under test from different angles.
[0014] Furthermore, the projection mechanism includes: a second rotary motor, a second reducer, a second coupling, a projector connecting plate, a projector, and a second mounting plate; the second mounting plate is fixedly mounted on the first mounting block, the second reducer and the second coupling are respectively arranged on both sides of the second mounting plate, the second reducer and the second coupling are connected by a third connecting shaft, the third connecting shaft rotatably passes through the second mounting plate through a bearing, the side of the second reducer away from the second mounting plate is connected to the second rotary motor, the side of the second coupling away from the second mounting plate is fixedly connected to the projector connecting plate through a fourth connecting shaft, the projector is mounted on the side of the projector connecting plate away from the second coupling, and the control mechanism is connected to the second rotary motor.
[0015] The beneficial effect of adopting the above-mentioned further solution is that the second rotary motor can drive the projector connecting plate and the projector mounted on the projector connecting plate to rotate through the sequential transmission action of the second reducer, the second coupling, the third connecting shaft and the fourth connecting shaft, thereby projecting grating stripes onto the surface of different parts of the object to be measured at different angles.
[0016] Furthermore, the vertical displacement mechanism includes: a vertical motor, a vertical lead screw, and a vertical slider; the bottom end of the vertical lead screw is rotatably mounted on the top end of the support column via a bearing; the output shaft of the vertical motor is connected to the top end of the vertical lead screw via a coupling; the vertical slider is threaded onto the vertical lead screw; the sliding base plate is horizontally fixedly mounted on the vertical slider; and the control mechanism is connected to the vertical motor.
[0017] The beneficial effect of adopting the above-mentioned further solution is that the vertical motor can drive the vertical slider and the industrial camera and projector mounted on the vertical slider to move up and down synchronously along the vertical slider by driving the vertical lead screw, thereby adjusting the distance between the industrial camera and projector and the object to be measured.
[0018] Furthermore, the storage mechanism includes: an outer shell, a storage plate, a first connecting frame, a one-dimensional servo gimbal, a second connecting frame, and a second lead screw displacement assembly; the outer shell is an open-top shell structure, and the outer shell is disposed at the top of the workbench; the first connecting frame, the one-dimensional servo gimbal, the second connecting frame, and the second lead screw displacement assembly are all disposed inside the outer shell; the storage plate is disposed at the top of the outer shell; the second connecting frame is slidably mounted on the second lead screw displacement assembly; the one-dimensional servo gimbal is mounted at the top of the second connecting frame; the top and bottom ends of the first connecting frame are connected one-to-one to the storage plate and the one-dimensional servo gimbal; and the control mechanism is connected to the one-dimensional servo gimbal.
[0019] The beneficial effects of adopting the above-mentioned further solution are: the second lead screw displacement component is conducive to driving the horizontal displacement of the placement plate and the object to be measured placed on the placement plate, and the one-dimensional servo gimbal is conducive to driving the circumferential rotation of the placement plate and the object to be measured placed on the placement plate, thereby enabling the industrial camera and projector to perform structured light projection and three-dimensional image acquisition on the surface of different parts of the object to be measured.
[0020] Furthermore, the second lead screw displacement assembly includes: a second displacement motor, a second mounting bracket, a second lead screw, a second mounting block, a second slider, and a second slide rail; the second mounting bracket is an inverted gantry-shaped plate structure, the second mounting bracket is installed at the bottom end inside the housing, the second displacement motor is installed on one side wall of the second mounting bracket, and its output shaft is connected to one end of the second lead screw, the other end of the second lead screw is rotatably installed on the other side wall of the second mounting bracket via a bearing, the second mounting block is threaded onto the second lead screw, the second slide rail is set on the bottom plate of the second mounting bracket, the second slider is slidably installed on the second slide rail, the second slider is fixedly connected to the second mounting block, the second connecting bracket is installed on the second mounting block, and the control mechanism is connected to the second displacement motor.
[0021] The beneficial effect of adopting the above-mentioned further solution is that the second displacement motor is conducive to driving the second mounting block to move along the second lead screw and the second slide rail, thereby driving the object to be measured on the placement plate to move horizontally under the transmission action of the first connecting frame, the one-dimensional servo gimbal and the second connecting frame.
[0022] Furthermore, the bottom of the workbench is provided with multiple leveling feet, and the side wall of the workbench is provided with a cable passage.
[0023] The advantages of adopting the above-mentioned further solutions are: multiple leveling feet are beneficial for adjusting the worktable to a horizontal state according to different terrains, thereby improving the applicability of this equipment; and the cable passage provides a cable channel for the control mechanism to control the operation of various components. Attached Figure Description
[0024] Figure 1 A schematic diagram of the overall structure provided for an embodiment of this utility model;
[0025] Figure 2 A rear view of the overall structure provided for an embodiment of this utility model;
[0026] Figure 3 A schematic diagram of the camera mechanism, projection mechanism, and lateral displacement mechanism provided for embodiments of this utility model;
[0027] Figure 4 A schematic diagram of the lateral displacement mechanism provided in this embodiment of the utility model;
[0028] Figure 5 A connection diagram of the first rotary motor, the first reducer, and the first coupling provided for an embodiment of this utility model;
[0029] Figure 6 A longitudinal sectional view of the storage mechanism provided in an embodiment of this utility model.
[0030] The attached diagram lists the components represented by each number as follows:
[0031] 1. Camera mechanism; 2. Projection mechanism; 3. Lateral displacement mechanism; 4. Vertical displacement mechanism; 5. Storage mechanism; 6. Worktable; 7. Support column; 11. First rotary motor; 12. First reducer; 13. First coupling; 14. Industrial camera connection plate; 15. Industrial camera; 16. First mounting plate; 21. Second rotary motor; 22. Second reducer; 23. Second coupling; 24. Projector connection plate; 25. Projector; 26. Second mounting plate; 31. First lead screw displacement assembly; 32. Sliding base plate; 41. Vertical motor; 42. Vertical... 43. Lead screw; 54. Vertical slider; 55. Outer shell; 56. Shelf plate; 57. First connecting frame; 58. One-dimensional servo gimbal; 59. Second connecting frame; 50. Second lead screw displacement assembly; 61. Cable guide; 62. Leveling foot; 311. First displacement motor; 312. First mounting frame; 313. First lead screw; 314. First mounting block; 315. First slider; 316. First slide rail; 561. Second displacement motor; 562. Second mounting frame; 563. Second lead screw; 564. Second mounting block; 565. Second slider; 566. Second slide rail. Detailed Implementation
[0032] The principles and features of this utility model are described below. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.
[0033] like Figure 1 and Figure 2 As shown, a three-dimensional imaging device based on structured light projection includes: a camera mechanism 1, a projection mechanism 2, a lateral displacement mechanism 3, a vertical displacement mechanism 4, a placement mechanism 5, a worktable 6, a support column 7, and a control mechanism; the placement mechanism 5 and the support column 7 are both located at the top of the worktable 6, and the object to be measured is movably placed on the placement mechanism 5. The vertical displacement mechanism 4 is located at the top of the support column 7, and the lateral displacement mechanism 3 is slidably mounted on the vertical displacement mechanism 4. The camera mechanism 1 and the projection mechanism 2 are arranged side by side and movably placed on the lateral displacement mechanism 3. The control mechanism is located inside the worktable 6 and is connected to the camera mechanism 1, the projection mechanism 2, the lateral displacement mechanism 3, the vertical displacement mechanism 4, and the placement mechanism 5.
[0034] It should be noted that in the technical solution of this utility model, the control mechanism is a computer with structured light projection three-dimensional imaging software installed, and the connection and control between the control mechanism and the camera mechanism 1, the projection mechanism 2, the horizontal displacement mechanism 3, the vertical displacement mechanism 4 and the placement mechanism 5 are all existing technologies.
[0035] The beneficial effects of this utility model are as follows: the camera mechanism and the projection mechanism are arranged side by side and movably mounted on the transverse displacement mechanism, which facilitates the synchronous rotation of the camera mechanism and the projection mechanism under the control of the control mechanism, avoiding the lag phenomenon when the industrial camera and the projector are working, thereby improving the collaborative working efficiency of the industrial camera and the projector, and optimizing the imaging speed and measurement accuracy; the object to be measured is movably mounted on the placement mechanism, which facilitates the translation and rotation of the object to be measured, thereby cooperating with the camera mechanism and the projection mechanism to achieve three-dimensional imaging of the object to be measured except for the bottom surface. The overall structure of this utility model is simple and easy to promote and apply.
[0036] Preferred, such as Figure 4 As shown, the lateral displacement mechanism 3 includes two first lead screw displacement assemblies 31 and a sliding base plate 32, with the two first lead screw displacement assemblies 31 corresponding to each other at both ends of the sliding base plate 32.
[0037] The advantages of adopting the above preferred scheme are that the two first lead screw displacement components are conducive to driving the camera mechanism and the projection mechanism to move synchronously along the sliding base plate.
[0038] Preferred, such as Figure 4As shown, the first lead screw displacement assembly 31 includes: a first displacement motor 311, a first mounting bracket 312, a first lead screw 313, a first mounting block 314, a first slider 315, and a first slide rail 316; the first mounting bracket 312 is an inverted gantry-shaped plate structure, the first mounting bracket 312 is mounted on the sliding base plate 32, the first displacement motor 311 is mounted on one side wall of the first mounting bracket 312, and its output shaft is connected to one end of the first lead screw 313, the other end of the first lead screw 313 is rotatably mounted on the other side wall of the first mounting bracket 312 through a bearing, the first mounting block 314 is threaded onto the first lead screw 313, the first slide rail 316 is disposed on the base plate of the first mounting bracket 312, the first slider 315 is slidably mounted on the first slide rail 316, the first slider 315 is fixedly connected to the first mounting block 314, and the control mechanism is connected to the first displacement motor 311.
[0039] The advantages of adopting the above preferred solution are: the first displacement motor is beneficial to drive the first mounting block to slide along the first lead screw and the first slide rail, thereby driving the camera mechanism and the projection mechanism to move synchronously along the sliding base plate.
[0040] Preferred, such as Figure 3 and Figure 5 As shown, the camera mechanism 1 includes: a first rotary motor 11, a first reducer 12, a first coupling 13, an industrial camera connecting plate 14, an industrial camera 15, and a first mounting plate 16; the first mounting plate 16 is fixedly mounted on the first mounting block 314, the first reducer 12 and the first coupling 13 are respectively arranged on both sides of the first mounting plate 16, the first reducer 12 and the first coupling 13 are connected by a first connecting shaft, the first connecting shaft rotatably passes through the first mounting plate 16 through a bearing, the side of the first reducer 12 away from the first mounting plate 16 is connected to the first rotary motor 11, the side of the first coupling 13 away from the first mounting plate 16 is connected to the industrial camera connecting plate 14 through a second connecting shaft, the industrial camera 15 is mounted on the side of the industrial camera connecting plate 14 away from the first coupling 13, and the control mechanism is connected to the first rotary motor 11.
[0041] The advantages of adopting the above preferred solution are: the first rotary motor can drive the industrial camera connecting plate and the industrial camera mounted on the industrial camera connecting plate to rotate through the sequential transmission action of the first reducer, the first coupling, the first connecting shaft and the second connecting shaft, so as to take pictures and collect images of different parts of the object under test from different angles.
[0042] Preferred, such as Figure 4 and Figure 5 As shown, the projection mechanism 2 includes: a second rotary motor 21, a second reducer 22, a second coupling 23, a projector connection plate 24, a projector 25, and a second mounting plate 26. The second mounting plate 26 is fixedly mounted on the first mounting block 314. The second reducer 22 and the second coupling 23 are respectively arranged on both sides of the second mounting plate 26. The second reducer 22 and the second coupling 23 are connected by a third connecting shaft. The third connecting shaft rotatably passes through the second mounting plate 26 through a bearing. The side of the second reducer 22 away from the second mounting plate 26 is connected to the second rotary motor 21. The side of the second coupling 23 away from the second mounting plate 26 is fixedly connected to the projector connection plate 24 through a fourth connecting shaft. The projector 25 is mounted on the side of the projector connection plate 24 away from the second coupling 23. The control mechanism is connected to the second rotary motor 21.
[0043] The advantages of adopting the above preferred solution are: the second rotary motor can drive the projector connecting plate and the projector mounted on the projector connecting plate to rotate through the sequential transmission action of the second reducer, the second coupling, the third connecting shaft and the fourth connecting shaft, so as to project grating stripes onto the surface of different parts of the object to be measured at different angles.
[0044] Preferred, such as Figure 1 and Figure 2 As shown, the vertical displacement mechanism 4 includes: a vertical motor 41, a vertical lead screw 42, and a vertical slider 43; the bottom end of the vertical lead screw 42 is rotatably mounted on the top end of the support column 7 via a bearing; the output shaft of the vertical motor 41 is connected to the top end of the vertical lead screw 42 via a coupling; the vertical slider 43 is threaded onto the vertical lead screw 42; the sliding base plate 32 is horizontally fixedly mounted on the vertical slider 43; and the control mechanism is connected to the vertical motor 41.
[0045] It should be noted that, in order to maintain the stability of the vertical motor 41 during operation, the vertical motor 41 can be fixed on a fixed bracket, which is installed on the top of the workbench 6. The fixed bracket is not shown in the figure for the purpose of clearly showing the various components.
[0046] The advantages of adopting the above preferred solution are: the vertical motor is beneficial to drive the vertical slider and the industrial camera and projector mounted on the vertical slider to move up and down synchronously along the vertical slider by driving the vertical lead screw, thereby adjusting the distance between the industrial camera and projector and the object to be measured.
[0047] Preferred, such as Figure 2 and Figure 6 As shown, the storage mechanism 5 includes: an outer shell 51, a storage plate 52, a first connecting frame 53, a one-dimensional servo gimbal 54, a second connecting frame 55, and a second lead screw displacement assembly 56; the outer shell 51 is an open-top shell structure, and the outer shell 51 is disposed at the top of the workbench 6. The first connecting frame 53, the one-dimensional servo gimbal 54, the second connecting frame 55, and the second lead screw displacement assembly 56 are all disposed inside the outer shell 51. The storage plate 52 is disposed at the top of the outer shell 51. The second connecting frame 55 is slidably mounted on the second lead screw displacement assembly 56. The one-dimensional servo gimbal 54 is mounted on the top of the second connecting frame 55. The top and bottom ends of the first connecting frame 53 are connected one-to-one to the storage plate 52 and the one-dimensional servo gimbal 54. The control mechanism is connected to the one-dimensional servo gimbal 54.
[0048] The advantages of adopting the above preferred solution are: the second lead screw displacement component is conducive to driving the horizontal displacement of the placement plate and the object to be measured placed on the placement plate, and the one-dimensional servo gimbal is conducive to driving the circumferential rotation of the placement plate and the object to be measured placed on the placement plate, thereby enabling the industrial camera and projector to perform structured light projection and three-dimensional image acquisition on the surface of different parts of the object to be measured.
[0049] Preferred, such as Figure 6 As shown, the second lead screw displacement assembly 56 includes: a second displacement motor 561, a second mounting bracket 562, a second lead screw 563, a second mounting block 564, a second slider 565, and a second slide rail 566; the second mounting bracket 562 is an inverted gantry-shaped plate structure, and is installed at the bottom end inside the outer casing 51; the second displacement motor 561 is installed on one side wall of the second mounting bracket 562, and its output shaft is connected to one end of the second lead screw 563; the other end of the second lead screw 563 is rotatably installed on the other side wall of the second mounting bracket 562 via a bearing; the second mounting block 564 is threaded onto the second lead screw 563; the second slide rail 566 is disposed on the bottom plate of the second mounting bracket 562; the second slider 565 is slidably installed on the second slide rail 566; the second slider 565 is fixedly connected to the second mounting block 564; the second connecting bracket 55 is installed on the second mounting block 564; and the control mechanism is connected to the second displacement motor 561.
[0050] The beneficial effect of adopting the above preferred solution is that the second displacement motor is conducive to driving the second mounting block to move along the second lead screw and the second slide rail, thereby driving the object to be measured on the placement plate to move horizontally under the transmission action of the first connecting frame, the one-dimensional servo gimbal and the second connecting frame.
[0051] Preferred, such as Figure 1 and Figure 2 As shown, the bottom of the workbench 6 is provided with multiple leveling feet 62, and the side wall of the workbench 6 is provided with a wire passage 61.
[0052] The advantages of adopting the above-mentioned preferred scheme are: multiple leveling feet are beneficial for adjusting the worktable to a horizontal state according to different terrains, thereby improving the applicability of this equipment; and the cable passage provides a cable channel for the control mechanism to control the operation of various components.
[0053] The working process of this utility model is described below:
[0054] like Figures 1 to 6 As shown, the object to be tested is first placed on the placement plate 52. Then, the vertical motor 41 is started, causing the vertical slider 43 and the horizontal displacement mechanism 3, projection mechanism 2, and camera mechanism 1 mounted on the vertical slider 43 to move up and down synchronously to a suitable height from the object to be tested. Next, the industrial camera 15 and projector 25 are controlled by the control mechanism to project grating stripes onto the surface of the object to be tested and to take pictures of the surface of the object to be tested. After the pictures are taken, the data is transmitted back to the control mechanism for storage. Finally, the rotation angle of the industrial camera 15 and projector 25 is continuously adjusted by the first rotary motor 11 and the second rotary motor 21, the horizontal displacement of the industrial camera 15 and projector 25 is continuously adjusted by the first displacement motor 311, the horizontal displacement of the object to be tested is continuously adjusted by the second displacement motor 561, and the rotation angle of the object to be tested is continuously adjusted by the one-dimensional servo gimbal 54. Finally, the projector 25 can project grating stripes onto the surface of the object to be tested at different positions, and the industrial camera 15 can take pictures of the surface of the object to be tested at different positions. The control mechanism then uses built-in software to convert the acquired pictures into a three-dimensional graphic of the object to be tested and outputs it to the display.
[0055] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.
[0056] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0057] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0058] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0059] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0060] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.
Claims
1. A structured light projection based three-dimensional imaging device, characterized in that, Include: Photographic mechanism (1), projection mechanism (2), transverse displacement mechanism (3), vertical displacement mechanism (4), storage mechanism (5), workbench (6), support column (7) and control mechanism; The storage mechanism (5) and the support column (7) are arranged at the top of the workbench (6), the object to be measured is movably arranged on the storage mechanism (5), the vertical displacement mechanism (4) is arranged at the top of the support column (7), the transverse displacement mechanism (3) is slidingly installed on the vertical displacement mechanism (4), the photographic mechanism (1) and the projection mechanism (2) are side by side and movably arranged on the transverse displacement mechanism (3), the control mechanism is arranged in the workbench (6), and connected with the photographic mechanism (1), the projection mechanism (2), the transverse displacement mechanism (3), the vertical displacement mechanism (4) and the storage mechanism (5).
2. The structured light projection based three-dimensional imaging device according to claim 1, wherein, The transverse displacement mechanism (3) comprises two first screw displacement assemblies (31) and a sliding bottom plate (32), and the two first screw displacement assemblies (31) are arranged at both ends of the sliding bottom plate (32) one by one.
3. The structured light projection based three-dimensional imaging device according to claim 2, wherein, The first screw displacement assembly (31) comprises a first displacement motor (311), a first mounting frame (312), a first screw rod (313), a first mounting block (314), a first sliding block (315) and a first sliding rail (316); the first mounting frame (312) is an inverted gantry-shaped plate structure, the first mounting frame (312) is mounted on the sliding bottom plate (32), the first displacement motor (311) is mounted on one side wall of the first mounting frame (312), and the output shaft is connected with one end of the first screw rod (313), the other end of the first screw rod (313) is rotatably mounted on the other side wall of the first mounting frame (312) through a bearing, the first mounting block (314) is threadedly sleeved on the first screw rod (313), the first sliding rail (316) is arranged on the bottom plate of the first mounting frame (312), the first sliding block (315) is slidingly installed on the first sliding rail (316), the first sliding block (315) is fixedly connected with the first mounting block (314), and the control mechanism is connected with the first displacement motor (311).
4. The structured light projection based three-dimensional imaging device according to claim 3, wherein, The photographing mechanism (1) comprises a first rotary motor (11), a first speed reducer (12), a first coupling (13), an industrial camera connecting plate (14), an industrial camera (15) and a first mounting plate (16); the first mounting plate (16) is fixedly installed on the first mounting block (314), the first speed reducer (12) and the first coupling (13) are correspondingly arranged on the two sides of the first mounting plate (16), the first speed reducer (12) and the first coupling (13) are connected through a first connecting shaft, the first connecting shaft passes through the first mounting plate (16) through a bearing and is rotatable, the side of the first speed reducer (12) away from the first mounting plate (16) is connected with the first rotary motor (11), the side of the first coupling (13) away from the first mounting plate (16) is connected with the industrial camera connecting plate (14) through a second connecting shaft, the industrial camera (15) is installed on the side of the industrial camera connecting plate (14) away from the first coupling (13), and the control mechanism is connected with the first rotary motor (11).
5. The structured light projection based three-dimensional imaging device according to claim 3, wherein, The projection mechanism (2) comprises a second rotary motor (21), a second speed reducer (22), a second coupling (23), a projector connecting plate (24), a projector (25) and a second mounting plate (26); the second mounting plate (26) is fixedly installed on the first mounting block (314), the second speed reducer (22) and the second coupling (23) are correspondingly arranged on the two sides of the second mounting plate (26), the second speed reducer (22) and the second coupling (23) are connected through a third connecting shaft, the third connecting shaft passes through the second mounting plate (26) through a bearing and is rotatable, the side of the second speed reducer (22) away from the second mounting plate (26) is connected with the second rotary motor (21), the side of the second coupling (23) away from the second mounting plate (26) is fixedly connected with the projector connecting plate (24) through a fourth connecting shaft, the projector (25) is installed on the side of the projector connecting plate (24) away from the second coupling (23), and the control mechanism is connected with the second rotary motor (21).
6. The structured light projection based three-dimensional imaging device according to claim 2, wherein, The vertical displacement mechanism (4) comprises a vertical motor (41), a vertical lead screw (42) and a vertical sliding block (43); the bottom end of the vertical lead screw (42) is rotatably installed on the top end of the support column (7) through a bearing, the output shaft of the vertical motor (41) is connected with the top end of the vertical lead screw (42) through a coupling, the vertical sliding block (43) is threadedly sleeved on the vertical lead screw (42), the sliding bottom plate (32) is horizontally fixedly installed on the vertical sliding block (43), and the control mechanism is connected with the vertical motor (41).
7. The structured light projection based three-dimensional imaging device according to claim 1, wherein, The storage mechanism (5) comprises an outer shell (51), a storage plate (52), a first connecting frame (53), a one-dimensional steering engine holder (54), a second connecting frame (55) and a second screw rod displacement assembly (56); the outer shell (51) is a shell structure with an open top end, the outer shell (51) is arranged at the top end of the workbench (6), the first connecting frame (53), the one-dimensional steering engine holder (54), the second connecting frame (55) and the second screw rod displacement assembly (56) are all arranged inside the outer shell (51), the storage plate (52) is arranged at the top end of the outer shell (51), the second connecting frame (55) is slidingly installed on the second screw rod displacement assembly (56), the one-dimensional steering engine holder (54) is installed at the top end of the second connecting frame (55), the top end and the bottom end of the first connecting frame (53) are connected with the storage plate (52) and the one-dimensional steering engine holder (54) one by one, and the control mechanism is connected with the one-dimensional steering engine holder (54).
8. The structured light projection based three-dimensional imaging device according to claim 7, characterized in that, The second screw rod displacement assembly (56) comprises a second displacement motor (561), a second mounting frame (562), a second screw rod (563), a second mounting block (564), a second sliding block (565) and a second sliding rail (566); the second mounting frame (562) is an inverted gantry-shaped plate structure, the second mounting frame (562) is installed at the bottom end inside the outer shell (51), the second displacement motor (561) is installed on one side wall of the second mounting frame (562), and the output shaft is connected with one end of the second screw rod (563), the other end of the second screw rod (563) is rotatably installed on the other side wall of the second mounting frame (562) through a bearing, the second mounting block (564) is threadedly sleeved on the second screw rod (563), the second sliding rail (566) is arranged on the bottom plate of the second mounting frame (562), the second sliding block (565) is slidingly installed on the second sliding rail (566), the second sliding block (565) is fixedly connected with the second mounting block (564), the second connecting frame (55) is installed on the second mounting block (564), and the control mechanism is connected with the second displacement motor (561).
9. The structured light projection based three-dimensional imaging device according to claim 1, wherein, The bottom end of the workbench (6) is provided with a plurality of leveling feet (62), and the sidewall of the workbench (6) is provided with a wire passing port (61).