CN113418465A - Three-dimensional scanning device and method based on laser triangulation method - Google Patents
Three-dimensional scanning device and method based on laser triangulation method Download PDFInfo
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- CN113418465A CN113418465A CN202110635089.9A CN202110635089A CN113418465A CN 113418465 A CN113418465 A CN 113418465A CN 202110635089 A CN202110635089 A CN 202110635089A CN 113418465 A CN113418465 A CN 113418465A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 239000000463 material Substances 0.000 claims abstract description 94
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 238000003756 stirring Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 239000011343 solid material Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002407 reforming Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The invention discloses a three-dimensional scanning device and a scanning method based on a laser triangulation method. According to the invention, a mold to be tested is placed on the inner side of a supporting frame, a material fixing part is operated, the mold to be tested is fixed on the inner side of the material fixing part, a camera and a laser are operated, a mechanical arm is operated simultaneously, the mechanical arm drives the camera and the laser to move in six axes, the upper side of the mold is scanned comprehensively, a material overturning motor is operated, the operation of the material overturning motor drives a transmission shaft to rotate, and then the supporting frame is driven to rotate, so that the lower side of the mold can be scanned by overturning the mold to be tested.
Description
Technical Field
The invention relates to the technical field of automobile mold remanufacturing, in particular to a three-dimensional scanning device and a scanning method based on a laser triangulation method.
Background
The automobile die is the most important technical equipment in automobile production, plays an important role in ensuring the processing and assembling precision of automobile parts, and has the characteristics of high yield and fast production rhythm, so that the die damage amount is large in the processing process, the surface of the die can be seriously corroded or cracked after working for a period of time, the manufacturing cost of the die is extremely high, and if the damaged stamping die is directly scrapped, the waste is extremely large.
The remanufacturing refers to a series of technical measures or a general term of engineering activities for repairing and reforming the waste equipment by taking the whole life cycle theory of the equipment as a guide, aiming at improving the performance of the waste equipment, taking high quality, high efficiency, energy conservation, material conservation and environmental protection as a criterion and taking advanced technology and industrial production as means, wherein in the remanufacturing engineering, the repair of defective parts is the most important research content, so that the remanufacturing of the automobile mould is carried out frequently to reduce the cost.
The method comprises the steps of acquiring a mold image, regarding the subsequent analysis of mold defects, based on a laser triangulation method, emitting laser with a certain geometric shape to a measured object, establishing a position relation between a camera and a laser according to a calibration result of laser characteristics, calculating to obtain a three-dimensional space coordinate of a laser characteristic point in an acquired image according to a two-dimensional pixel coordinate of the point, namely three-dimensional information of the measured object, and reconstructing a mold image according to the three-dimensional information so as to facilitate the subsequent detection of the defects on the mold.
However, in the existing three-dimensional scanning, the camera and the laser are generally driven to move through the three-dimensional moving platform, so that the scanning process of the mold is completed.
Disclosure of Invention
Technical problem to be solved
The invention can solve the problems that the scanning effect of the existing scanning device for the mould with the inner cavity is poor, the mould can not be turned over, and the scanning on the other side can be completed only by manual turning over.
(II) technical scheme
In order to achieve the purpose, the invention adopts the following technical scheme:
in one aspect, the invention provides a three-dimensional scanning device based on a laser triangulation method, which comprises a supporting seat, a material turning component, a mechanical arm and a scanning component, wherein the material turning component and the mechanical arm are respectively mounted at the upper part of the supporting seat, and the scanning component is mounted at the output end of the mechanical arm, wherein:
the material turning assembly comprises two supporting columns, a material turning motor, supporting frames and a material fixing piece, the supporting columns are mounted on the upper portions of the supporting seats, the material turning motor is mounted on the side portions of the supporting columns, transmission shafts are mounted on two sides of each supporting frame, the two transmission shafts are respectively rotatably mounted on the side portions of the two supporting columns, the material turning motor is connected with one transmission shaft, and the material fixing piece is mounted on the side portion of each supporting frame;
the mechanical arm comprises a supporting block, a first driving motor, a first joint, a second driving motor, a second joint, a third driving motor, a third joint, a fourth driving motor, a fourth joint, a fifth driving motor, a fifth joint and a sixth driving motor, wherein the supporting block is installed at the side part of the supporting seat adjacent to the supporting column, the first driving motor is installed at the upper part of the supporting block, the first joint is connected with the output end of the first driving motor, the second driving motor is installed at the side part of the first joint, the second joint is connected with the output end of the second driving motor, the third driving motor is installed at the side part of the second joint, the third joint is connected with the output end of the third driving motor, the fourth driving motor is installed at the side part of the third joint, and the fourth joint is connected with the output end of the fourth driving motor, the fifth driving motor is installed on the side of the fourth joint, the fifth joint is connected to the output end of the fifth driving motor, and the sixth driving motor is installed on the side of the fifth joint;
the scanning assembly comprises a connecting piece, a camera and a laser, the connecting piece is installed on an output shaft of the sixth driving motor, and the camera and the laser are installed on the side portion of the connecting piece respectively.
As a preferable technical scheme of the invention, the side walls of the two supporting columns and the upper wall of the supporting seat are connected with inclined struts, and bearings matched with the two transmission shafts are respectively installed on the side parts of the two supporting columns.
As a preferable technical scheme of the invention, the cross section of the supporting frame is arranged in a rectangular ring shape, and the center of the supporting frame is coaxially arranged with the centers of the two transmission shafts.
As a preferable technical scheme of the present invention, the material fixing member includes a plurality of material fixing members, each material fixing member includes an electric push rod, a connecting block, and a flexible pad, the electric push rod is mounted on a side portion of the supporting frame, the connecting block is mounted on an output end of the electric push rod, an outer convex portion is disposed on a side portion of the connecting block, and the flexible pad is glued to a side portion of the outer convex portion.
As a preferable technical scheme of the invention, the cross section of the external convex part is arranged in a semicircular shape, and the external convex part and the connecting block are of an integral structure.
As a preferred technical scheme of the present invention, the material fixing member includes a material fixing motor, a threaded rod, two material fixing plates and a plurality of material fixing blocks, the two material fixing plates are slidably mounted on the inner side of the support frame, the plurality of material fixing blocks are respectively mounted on the opposite sides of the two material fixing plates, the material fixing motor is mounted on the side portion of the support frame, the threaded rod is threadedly mounted on the output end of the material fixing motor, two threaded sections are arranged on the periphery of the threaded rod, the two threaded sections are respectively threadedly connected with the two material fixing plates, and the thread directions of the two threaded sections are opposite.
As a preferable technical scheme of the invention, the cross section of the solid material block is arranged in a semicircular shape.
As a preferred technical solution of the present invention, the connecting member includes a connecting plate and three clamping plates, the connecting plate is mounted at an output end of the sixth driving motor, the three clamping plates are respectively mounted at side portions of the connecting plate, two placing cavities are formed between the three clamping plates, and the laser and the camera are respectively mounted in the two placing cavities.
As a preferable technical solution of the present invention, the camera end of the camera and the laser emitting end of the laser are located on the same plane.
In a second aspect, the present invention further provides a three-dimensional scanning method based on a laser triangulation method, which specifically includes the following steps:
s1, fixing the die to be tested: placing the die to be tested on the inner side of the supporting frame, operating the material fixing piece, and fixing the die to be tested on the inner side of the material fixing piece;
s2, scanning of the upper side of the mold: the camera and the laser are operated, the mechanical arm is operated simultaneously, and the mechanical arm drives the camera and the laser to move in six axes to comprehensively scan the upper side of the die;
s3, scanning of the underside of the mold: after the scanning of the upper side of the mold is finished, the material turning motor is operated, the transmission shaft is driven to rotate by the operation of the material turning motor, and then the supporting frame is driven to rotate, so that the mold to be detected is turned over, and the lower side of the mold can be scanned.
(III) advantageous effects
1. According to the three-dimensional scanning device based on the laser triangulation method, the material overturning component comprises two supporting columns, the material overturning motor, the supporting frame and the material fixing piece, the fixing of the to-be-detected mold can be effectively realized through the material fixing piece, the supporting frame is driven to rotate through the operation of the material overturning motor, the material fixing piece can be driven to rotate, the overturning of the to-be-detected mold is realized, and the subsequent scanning is facilitated;
2. the invention provides a three-dimensional scanning device based on a laser triangulation method.A mechanical arm of the three-dimensional scanning device comprises a supporting block, a first driving motor, a first joint, a second driving motor, a second joint, a third driving motor, a third joint, a fourth driving motor, a fourth joint, a fifth driving motor, a fifth joint and a sixth driving motor, so that the scanning component can move in the six-axis direction, the scanning component can be conveniently stretched into an inner cavity of a mold, a wider scanning range can be obtained, and the three-dimensional scanning device can adapt to the practicability of various molds;
3. according to the three-dimensional scanning device based on the laser triangulation method, the scanning assembly comprises the connecting piece, the camera and the laser, images are collected through the camera, linear laser is emitted through the laser, and therefore the images can be conveniently scanned and collected.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic front view of embodiment 1 of the present invention;
FIG. 2 is a schematic sectional front view of a part of the structure of the stirring assembly in embodiment 1 of the invention;
FIG. 3 is a schematic front sectional view of a single fastener component structure according to example 1 of the present invention;
FIG. 4 is a schematic top view of a structure of a fixing member according to embodiment 1 of the present invention;
FIG. 5 is a partial schematic structural view of a robot arm and a scanning assembly according to embodiment 1 of the present invention;
FIG. 6 is a view showing the axis of the structure of the connector portion in embodiment 1 of the present invention;
fig. 7 is a schematic top sectional view of a fixing member part structure according to embodiment 2 of the present invention.
In the figure: 100. a supporting seat; 200. a material overturning assembly; 210. a support pillar; 211. bracing; 212. a bearing; 220. a material turning motor; 230. a support frame; 240. fixing the material; 241. an electric push rod; 242. connecting blocks; 243. a flexible pad; 244. an outer convex portion; 245. a solid material motor; 246. a threaded rod; 247. a material fixing plate; 248. a solid material block; 249. a threaded segment; 250. a drive shaft; 300. a mechanical arm; 310. a support block; 320. a first drive motor; 330. a first joint; 340. a second drive motor; 350. a second joint; 360. a third drive motor; 370. a third joint; 380. a fourth drive motor; 390. a fourth joint; 311. a fifth drive motor; 312. a fifth joint; 313. a sixth drive motor; 400. a scanning assembly; 410. a connecting member; 411. a connecting plate; 412. a splint; 413. a placement chamber; 420. a camera; 430. a laser.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it is to be understood that the terms "longitudinal", "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
As shown in fig. 1 to 6, a three-dimensional scanning device based on laser triangulation includes a support base 100, a material reversing assembly 200, a robot 300 and a scanning assembly 400, wherein the material reversing assembly 200 and the robot 300 are respectively mounted on the upper portion of the support base 100, and the scanning assembly 400 is mounted on the output end of the robot 300.
The material overturning assembly 200 comprises two supporting columns 210, an overturning motor 220, a supporting frame 230 and a material fixing piece 240, wherein the supporting columns 210 are installed on the upper portion of the supporting seat 100 through bolts, in particular, when the material overturning assembly is arranged, in order to enable the supporting columns 210 to support more stably, the side walls of the two supporting columns 210 and the upper wall of the supporting seat 100 are connected with inclined struts 211, the overturning motor 220 is installed on the side portions of the supporting columns 210 through a motor base, transmission shafts 250 are respectively installed on two sides of the supporting frame 230 through bolts, in particular, when the material overturning assembly is arranged, in order to ensure the stability during subsequent rotation, the section of the supporting frame 230 is arranged in a rectangular ring shape, the center of the supporting frame 230 and the centers of the two transmission shafts 250 are coaxially arranged, the two transmission shafts 250 are respectively and rotatably installed on the side portions of the two supporting columns 210, in particular, in order to facilitate the installation of the transmission shafts 250, the bearings 212 matched with the two transmission shafts 250 are respectively installed on the side portions of the two supporting columns 210, the material turning motor 220 is connected to a transmission shaft 250, and the material fixing member 240 is installed at a side portion of the support frame 230.
In this embodiment, the material fixing part 240 is provided with a plurality of, the material fixing part 240 includes electric putter 241, connecting block 242 and flexible pad 243, electric putter 241 installs in the lateral part of carriage 230, connecting block 242 installs in electric putter 241's output, the lateral part of connecting block 242 is provided with outer convex 244, flexible pad 243 splices in the lateral part of outer convex 244, flexible pad 243 sets up to rubber pad or silica gel pad, when specifically setting up, in order to reduce the area of contact with the mould that awaits measuring, and reach good fixed effect, the section semicircular in shape of outer convex 244 sets up, outer convex 244 and connecting block 242 structure as an organic whole, when specifically using, the operation through electric putter 241 drives connecting block 242 and removes, and then fixes the mould that awaits measuring between connecting block 242.
The robot arm 300 includes a supporting block 310, a first driving motor 320, a first joint 330, a second driving motor 340, a second joint 350, a third driving motor 360, a third joint 370, a fourth driving motor 380, a fourth joint 390, a fifth driving motor 311, a fifth joint 312 and a sixth driving motor 313, the supporting block 310 is installed at a side portion of the supporting base 100 adjacent to the supporting column 210, the first driving motor 320 is installed at an upper portion of the supporting block 310, the first joint 330 is connected to an output end of the first driving motor 320, the second driving motor 340 is installed at a side portion of the first joint 330, the second joint 350 is connected to an output end of the second driving motor 340, the third driving motor 360 is installed at a side portion of the second joint 350, the third joint 370 is connected to an output end of the third driving motor 360, the fourth driving motor 380 is installed at a side portion of the third joint 370, the fourth joint is connected to an output end of the fourth driving motor 380, the fifth driving motor 311 is installed at a side portion of the fourth joint 390, the fifth joint 312 is connected to an output end of the fifth driving motor 311, and the sixth driving motor 313 is installed at a side portion of the fifth joint 312.
The scanning assembly 400 comprises a connecting member 410, a camera 420 and a laser 430, wherein the connecting member 410 is mounted on an output shaft of the sixth driving motor 313, the camera 420 and the laser 430 are respectively mounted on the side portions of the connecting member 410, and in particular, when the scanning assembly is arranged, in order to ensure the scanning quality, the camera 420 and the laser 430 are positioned on the same plane.
In this embodiment, the connection member 410 includes a connection plate 411 and three clamping plates 412, the connection plate 411 is mounted at the output end of the sixth driving motor 313 through bolts, the three clamping plates 412 are respectively mounted at the side portions of the connection plate 411, two placing cavities 413 are formed between the three clamping plates 412, and the laser 430 and the camera 420 are respectively mounted at the two placing cavities 413.
In addition, the invention also provides a three-dimensional scanning method based on the laser triangulation method, which comprises the following steps:
s1, fixing the die to be tested: placing the mold to be tested on the inner side of the supporting frame 230, operating the material fixing member 240, and fixing the mold to be tested on the inner side of the material fixing member 240;
s2, scanning of the upper side of the mold: the camera 420 and the laser 430 are operated, the mechanical arm 300 is operated at the same time, and the mechanical arm 300 drives the camera 420 and the laser 430 to move in six axes to comprehensively scan the upper side of the mold;
s3, scanning of the underside of the mold: after the scanning of the upper side of the mold is finished, the material turning motor 220 is operated, the transmission shaft 250 is driven to rotate by the operation of the material turning motor 220, and then the supporting frame 230 is driven to rotate, so that the mold to be detected is turned over, and the lower side of the mold can be scanned.
Example 2
Referring to fig. 7, different from embodiment 1, the material fixing member 240 includes a material fixing motor 245, a threaded rod 246, two material fixing plates 247 and a plurality of material fixing blocks 248, the two material fixing plates 247 are slidably mounted on an inner side of the support frame 230, the plurality of material fixing blocks 248 are respectively mounted on opposite sides of the two material fixing plates 247, the material fixing motor 245 is mounted on a side portion of the support frame 230, the threaded rod 246 is threadedly mounted on an output end of the material fixing motor 245, two threaded segments 249 are disposed on an outer periphery of the threaded rod 246, the two threaded segments 249 are respectively threadedly connected to the two material fixing plates 247, thread directions of the two threaded segments 249 are opposite, when the material fixing member 248 is specifically set, a cross section of the material fixing block 248 is semicircular, the material fixing block 248 is set as a rubber material fixing block or a silica gel material fixing block, so as to increase flexibility of contact with a mold to be tested, and at the same time, an area between the material fixing member and the mold to be tested can be reduced as much as possible, when the material fixing member is specifically used, the threaded rod 246 is driven to rotate by operation of the material fixing motor 245, under the action of the thread segments with opposite thread directions, the solid material plates 247 are close to each other, and the mold to be tested is fixed between the solid material blocks 248.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a three-dimensional scanning device based on laser triangulation method, includes supporting seat (100), stirring subassembly (200), arm (300) and scanning subassembly (400), its characterized in that: the stirring assembly (200) and the mechanical arm (300) are respectively arranged at the upper part of the supporting seat (100), the scanning assembly (400) is arranged at the output end of the mechanical arm (300), wherein:
the material turning assembly (200) comprises two supporting columns (210), a material turning motor (220), a supporting frame (230) and a material fixing piece (240), wherein the supporting columns (210) are installed at the upper parts of the supporting seats (100), the material turning motor (220) is installed on the side parts of the supporting columns (210), transmission shafts (250) are installed on two sides of the supporting frame (230), the two transmission shafts (250) are respectively and rotatably installed on the side parts of the two supporting columns (210), the material turning motor (220) is connected with one transmission shaft (250), and the material fixing piece (240) is installed on the side parts of the supporting frame (230);
the mechanical arm (300) comprises a supporting block (310), a first driving motor (320), a first joint (330), a second driving motor (340), a second joint (350), a third driving motor (360), a third joint (370), a fourth driving motor (380), a fourth joint (390), a fifth driving motor (311), a fifth joint (312) and a sixth driving motor (313), wherein the supporting block (310) is installed at the side part of the supporting seat (100) adjacent to the supporting column (210), the first driving motor (320) is installed at the upper part of the supporting block (310), the first joint (330) is connected to the output end of the first driving motor (320), the second driving motor (340) is installed at the side part of the first joint (330), and the second joint (350) is connected to the output end of the second driving motor (340), the third driving motor (360) is installed at the side of the second joint (350), the third joint (370) is connected to the output end of the third driving motor (360), the fourth driving motor (380) is installed at the side of the third joint (370), the fourth joint (390) is connected to the output end of the fourth driving motor (380), the fifth driving motor (311) is installed at the side of the fourth joint (390), the fifth joint (312) is connected to the output end of the fifth driving motor (311), and the sixth driving motor (313) is installed at the side of the fifth joint (312);
the scanning assembly (400) comprises a connecting piece (410), a camera (420) and a laser (430), wherein the connecting piece (410) is installed on an output shaft of the sixth driving motor (313), and the camera (420) and the laser (430) are respectively installed on the side parts of the connecting piece (410).
2. The three-dimensional scanning device based on the laser triangulation method as claimed in claim 1, wherein: the side walls of the two supporting columns (210) and the upper wall of the supporting seat (100) are connected with inclined struts (211), and bearings (212) matched with the two transmission shafts (250) are respectively installed on the side portions of the two supporting columns (210).
3. The three-dimensional scanning device based on the laser triangulation method as claimed in claim 1, wherein: the cross section of the support frame (230) is in a rectangular ring shape, and the center of the support frame (230) and the centers of the two transmission shafts (250) are coaxially arranged.
4. The three-dimensional scanning device based on the laser triangulation method as claimed in claim 1, wherein: the material fixing part (240) is provided with a plurality of, the material fixing part (240) comprises an electric push rod (241), a connecting block (242) and a flexible pad (243), the electric push rod (241) is installed on the side portion of the supporting frame (230), the connecting block (242) is installed on the output end of the electric push rod (241), the side portion of the connecting block (242) is provided with an outer convex portion (244), and the flexible pad (243) is glued to the side portion of the outer convex portion (244).
5. The three-dimensional scanning device based on the laser triangulation method as claimed in claim 4, wherein: the cross section of the outer convex part (244) is semicircular, and the outer convex part (244) and the connecting block (242) are of an integrated structure.
6. The three-dimensional scanning device based on the laser triangulation method as claimed in claim 1, wherein: the material fixing piece (240) comprises a material fixing motor (245), a threaded rod (246), two material fixing plates (247) and a plurality of material fixing blocks (248), the two material fixing plates (247) are slidably mounted on the inner side of the supporting frame (230), the plurality of material fixing blocks (248) are respectively mounted on one side, opposite to the two material fixing plates (247), the material fixing motor (245) is mounted on the side portion of the supporting frame (230), the threaded rod (246) is mounted at the output end of the material fixing motor (245) in a threaded mode, two threaded sections (249) are arranged on the periphery of the threaded rod (246), the two threaded sections (249) are respectively in threaded connection with the two material fixing plates (247), and the thread directions of the two threaded sections (249) are opposite.
7. The three-dimensional scanning device based on the laser triangulation method as claimed in claim 6, wherein: the section of the solid block (248) is semicircular.
8. The three-dimensional scanning device based on the laser triangulation method as claimed in claim 1, wherein: the connecting piece (410) comprises a connecting plate (411) and three clamping plates (412), the connecting plate (411) is installed at the output end of the sixth driving motor (313), the three clamping plates (412) are installed at the side portions of the connecting plate (411) respectively, two placing cavities (413) are formed between the three clamping plates (412), and the laser (430) and the camera (420) are installed at the two placing cavities (413) respectively.
9. The three-dimensional scanning device based on the laser triangulation method as claimed in claim 1, wherein: the camera end of the camera (420) and the laser emitting end of the laser (430) are in the same plane.
10. A three-dimensional scanning method based on a laser triangulation method is characterized in that: the method specifically comprises the following steps:
s1, fixing the die to be tested: placing the die to be tested on the inner side of the supporting frame, operating the material fixing piece, and fixing the die to be tested on the inner side of the material fixing piece;
s2, scanning of the upper side of the mold: the camera and the laser are operated, the mechanical arm is operated simultaneously, and the mechanical arm drives the camera and the laser to move in six axes to comprehensively scan the upper side of the die;
s3, scanning of the underside of the mold: after the scanning of the upper side of the mold is finished, the material turning motor is operated, the transmission shaft is driven to rotate by the operation of the material turning motor, and then the supporting frame is driven to rotate, so that the mold to be detected is turned over, and the lower side of the mold can be scanned.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114029970A (en) * | 2021-10-13 | 2022-02-11 | 河钢工业技术服务有限公司 | Steel coil end face detection robot and path planning method thereof |
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