CN117537741A - Mechanical arm for moving laser scanning head - Google Patents
Mechanical arm for moving laser scanning head Download PDFInfo
- Publication number
- CN117537741A CN117537741A CN202410027388.8A CN202410027388A CN117537741A CN 117537741 A CN117537741 A CN 117537741A CN 202410027388 A CN202410027388 A CN 202410027388A CN 117537741 A CN117537741 A CN 117537741A
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- Prior art keywords
- seat
- laser scanning
- mounting
- scanning head
- cylinder
- Prior art date
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- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 15
- 238000004140 cleaning Methods 0.000 claims abstract description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 37
- 229920000742 Cotton Polymers 0.000 claims description 32
- 238000003860 storage Methods 0.000 claims description 23
- 239000007788 liquid Substances 0.000 claims description 22
- 238000009434 installation Methods 0.000 claims description 10
- 238000010521 absorption reaction Methods 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000004886 head movement Effects 0.000 claims 8
- 230000000694 effects Effects 0.000 description 5
- 230000001788 irregular Effects 0.000 description 4
- 230000007306 turnover Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 238000009736 wetting Methods 0.000 description 2
- 230000002745 absorbent Effects 0.000 description 1
- 239000002250 absorbent Substances 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Optical Scanning Systems (AREA)
Abstract
The utility model discloses a mechanical arm for moving a laser scanning head, which relates to the technical field of mechanical arms for moving the laser scanning head, and comprises a base, wherein a transmission groove is formed in the top surface of the base, a stabilizing cylinder is arranged in the transmission groove, a turntable is arranged at the top of the stabilizing cylinder, and a transmission assembly is arranged in the stabilizing cylinder; a swing arm is arranged on one side of the supporting seat, a swing seat is arranged on one side surface of the motor seat, an electric push cylinder is fixedly arranged in the mounting groove, a rotating shaft is arranged on the front end surface of the mounting shell, a laser scanning head is arranged in a notch at the front end of the mounting seat, a cleaning assembly is arranged in the mounting seat, and an adjusting assembly is arranged in the rotating shaft; according to the utility model, through the cooperation of the swing arm, the swing seat and the electric pushing cylinder, the laser scanning head can directly insert into the concave part of the measured object to perform contour scanning operation, and the device is suitable for scanning operation of combining long distance and short distance of objects with different sizes; the convenience of the self-adaptive deflection fine tuning operation of the laser scanning head when the object performs contour scanning is further improved.
Description
Technical Field
The utility model relates to the technical field of mechanical arms for moving a laser scanning head, in particular to a mechanical arm for moving the laser scanning head.
Background
The laser scanner is an important instrument commonly used in various industries, 3D is simply called three-dimension, is used for detecting and analyzing geometric construction and appearance data of objects or environments in the real world, the collected data are often used for three-dimension reconstruction calculation, digital models of the real objects are created in the virtual world, and the models have quite wide application and play important roles in the fields of reverse engineering, appearance design and analysis, flaw detection, landform measurement, medical information, biological information, criminal identification, digital cultural relics collection, film production, game creation materials and the like;
the handheld laser scanner is flexible, portable, efficient and easy to use in various laser scanners, however, the handheld laser scanner in the prior art is limited to the requirement of convenient handheld, has unsatisfactory scanning effect, is mainly characterized by larger scanning deviation, insufficient fluency and poor stability in handheld scanning;
in order to solve the problem, patent application number CN202220128043.8 discloses a comparatively laborsaving intelligent handheld laser 3D scanner, including the scanner body, scanner body bottom mounting is provided with the handle, the handle bottom rotates and is provided with the palm bracket, palm bracket one side rotates and is connected with the elbow bracket, elbow bracket one side is fixed to be provided with the elastic cord, elastic cord one side is connected and is provided with the magic and glues, elbow bracket one side rotates and is provided with the connecting pipe, the connecting pipe top slides and is provided with the support frame, support frame inner wall top is fixed to be provided with the guide arm, guide arm middle-end is fixed to be provided with traction spring, traction spring bottom and support frame fixed connection, support frame one side rotates and is provided with the shoulder first, elbow bracket one side is connected and is provided with solid fixed ring. The utility model effectively ensures the use stability, reduces the manpower consumption and improves the use effect;
however, the technical solutions disclosed in the above patent at least have the following problems: according to the technical scheme, the equipment is only arranged on the arm, the arm strength requirement on the arm is high, and the arm is painful after long-term use, so that discomfort is brought to staff; if the outline scanning is carried out on the large-volume irregular-shaped object, the laser scanning head of the handheld bracket is not easy to stretch into the concave part of the object to carry out the stretching-in scanning operation, so that the convenience of carrying out the outline scanning on the irregular object is influenced; meanwhile, when the handheld scanning equipment performs contour scanning, the handheld scanning equipment is inconvenient to perform continuous far-near switching scanning on scanned objects; meanwhile, the problem of insufficient flexibility can also occur when the scanner is moved by hand; therefore, a moving mechanical arm for a laser scanning head has been proposed which can solve the above-mentioned problems.
Disclosure of Invention
The utility model aims to solve the defects in the prior art and provides a mechanical arm for moving a laser scanning head.
In order to achieve the above purpose, the present utility model adopts the following technical scheme: the mechanical arm for moving the laser scanning head comprises a base, wherein a circular transmission groove is formed in the middle of the top surface of the base, a stabilizing cylinder with the outer wall in fit contact with the inner wall of the transmission groove is vertically arranged in the transmission groove in a rotating mode, a turntable is horizontally arranged at the top of the stabilizing cylinder, and a transmission assembly for driving the turntable is arranged in the stabilizing cylinder; a supporting seat is arranged on one side of the top of the turntable, a backward inclined swing arm is rotatably arranged on the top of one side of the supporting seat, a first servo motor for swinging the swing arm is arranged on the outer side of the supporting seat, a motor seat is fixedly connected to the top end of the swing arm, a longitudinally arranged swing seat is rotatably arranged on one side of the motor seat, and a second servo motor for driving the swing seat is arranged in the motor seat; the front end face of the swinging seat is longitudinally provided with a mounting groove, an electric pushing cylinder is longitudinally and fixedly arranged in the mounting groove, the front end of the telescopic end of the electric pushing cylinder is fixedly connected with a connecting seat through a flange ring, the front end of the connecting seat is provided with a mounting shell, the front end face of the mounting shell longitudinally rotates to be provided with a rotating shaft, the front end of the rotating shaft is fixedly connected with the mounting seat through a flange plate, the notch of the front end of the mounting seat is internally provided with a laser scanning head capable of swinging up and down, the mounting seat is internally provided with a cleaning component for cleaning a lens of the laser scanning head, and the rotating shaft is internally provided with an adjusting component for the cleaning component to move back and forth.
Preferably, the mounting seat is of a U-shaped plate-shaped seat body structure; the miniature motor is arranged in the installation shell and used for rotating the rotating shaft, the rear end of the rotating shaft is in a necking shape, and the rear end of the rotating shaft movably penetrates into the installation shell and is fixedly connected with the driving shaft of the miniature motor in a coaxial manner.
Preferably, the rear end face of the installation shell is longitudinally fixedly connected with a connecting shaft, positioning convex strips are arranged on two sides of the connecting shaft in a protruding mode along the length direction, connecting grooves matched with the connecting shaft and the positioning convex strips are longitudinally formed in the front end face of the connecting seat, threaded holes penetrating through the connecting grooves are vertically formed in two sides of the bottom of the connecting seat, positioning screws are vertically arranged in the threaded holes, and positioning holes matched with the positioning screws are vertically formed in the rear ends of the bottom faces of the positioning convex strips; the front ends of the positioning convex strips extend out of the connecting grooves, and the front ends of the bottom surfaces of the positioning convex strips are vertically provided with supporting components.
Preferably, the transmission assembly comprises a gear motor vertically installed on the other side of the top of the rotary table, a fixed cylinder fixedly arranged on the inner bottom surface of the transmission groove and an inner gear ring vertically and fixedly installed on the inner wall of the fixed cylinder, wherein the bottom end of a driving shaft of the gear motor movably penetrates into the inner ring of the inner gear ring and is fixedly connected with a driving gear, and the driving gear is meshed with teeth on the inner wall of one side of the inner gear ring.
Preferably, the supporting component comprises a supporting rod vertically fixedly connected to the front end of the bottom of the positioning convex strip, a buffer cylinder vertically arranged below the bottom end of the supporting rod and an anti-drop plate horizontally movably arranged in the upper part of the buffer cylinder, two ends of the buffer cylinder are arranged in a closed mode, a buffer spring is vertically arranged in the buffer cylinder below the anti-drop plate, and the bottom end of the supporting rod movably penetrates through the buffer cylinder and is fixedly connected with the anti-drop plate; the bottom of the buffer cylinder is provided with a noise reduction cushion block.
Preferably, the cleaning component comprises a storage groove formed in the inner wall of the rear end of the mounting seat, a movable seat movably embedded in the storage groove, a mounting round groove formed in the front end face of the movable seat and wiping cotton fixedly mounted in the mounting round groove, the front end face of the wiping cotton extends out of the mounting round groove, a plurality of liquid inlets are formed in the periphery of the inner wall of the mounting round groove, and hard sheet films in fit contact with the rear end of the wiping cotton are mounted in the liquid inlets.
Preferably, the adjusting component comprises a mounting cavity longitudinally arranged in the middle of the rotating shaft, an electric push rod longitudinally arranged in the mounting cavity and a middle guide opening arranged on the front end surface of the mounting cavity, and the rotating shaft is formed by rotationally connecting shaft bodies at two ends; the telescopic end of the electric push rod extends out of the guide hole and movably penetrates into the storage groove of the mounting seat to be fixedly connected with the middle part of the rear end face of the movable seat.
Preferably, an annular liquid storage cavity is formed in the outer ring of the shaft body at the front end of the rotating shaft, a plurality of water guide hoses are longitudinally arranged on Zhou Cejun on the inner wall of the front end of the annular liquid storage cavity, and the front ends of the water guide hoses penetrate into the storage groove and are fixedly communicated with the rear ends of liquid inlets on the movable seat; and a water absorption cotton sliver is plugged in the water guide hose.
Preferably, the front end of the water absorbing cotton sliver is abutted with the rear end face of the hard sheet film, and the rear end of the water absorbing cotton sliver extends out of the water guide hose and is lapped in the annular liquid storage cavity; the outer wall of the water absorption cotton sliver is in fit contact with the inner wall of the water guide hose.
Compared with the prior art, the utility model has the beneficial effects that: according to the utility model, through the cooperation of the swing arm, the swing seat and the electric pushing cylinder, the laser scanning head can directly insert into the concave part of the measured object to perform contour scanning operation, so that the device is convenient for scanning operation combined with distance and distance for objects with different sizes; the installation shell is matched with the rotating shaft and the installation seat, so that the convenience of self-adaptive deflection fine adjustment operation of the laser scanning head when the object performs contour scanning is further improved, meanwhile, the turnover function of the laser scanning head is matched, the scanning operation of the laser scanning head on each part of the scanned object can be further improved, and the convenience of contour scanning on irregular objects and the high efficiency of far and near scanning switching during contour scanning are greatly improved; and through the cooperation of clean subassembly and adjusting part, be convenient for carry out automatic clean operation to the back laser scanning head that the lens exists the pollution, improve the definition of scanning the object profile through the laser scanning head, effectively improve the work efficiency that carries out the omnidirectional scanning operation to the object profile and the integrality and the definition of scanned image.
Drawings
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and together with the description serve to explain the utility model and do not constitute a limitation on the utility model. In the drawings:
FIG. 1 is a schematic diagram of a left-view isometric three-dimensional structure of the present utility model;
FIG. 2 is a schematic view of a right-side isometric view of the present utility model;
FIG. 3 is a schematic view of the bottom perspective of the stabilizing cartridge of the present utility model;
FIG. 4 is a schematic perspective view of a front view of a partial structure of the present utility model;
FIG. 5 is a front view of the swing arm and motor mount and swing mount of the present utility model in a three-dimensional configuration;
FIG. 6 is a rear view of the swing arm and motor mount and swing mount of the present utility model in a three-dimensional configuration;
FIG. 7 is a schematic view of a side perspective structure of a swing arm and a swing seat according to the present utility model;
FIG. 8 is a schematic diagram showing the three-dimensional structure of the swing seat, the electric push cylinder and the connecting seat of the present utility model;
FIG. 9 is a schematic perspective view of the connecting seat, connecting shaft and mounting shell of the present utility model;
FIG. 10 is a cross-sectional view of a structure of a connecting seat and a mounting shell and a rotating shaft of the present utility model;
FIG. 11 is an enlarged view of the structure of the portion A in FIG. 10 according to the present utility model.
Number in the figure: 1. a base; 2. a stabilizing cylinder; 3. a turntable; 4. a support base; 5. swing arms; 6. a motor base; 7. a swinging seat; 8. an electric pushing cylinder; 9. a connecting seat; 10. a first servo motor; 11. a connecting shaft; 12. a mounting shell; 13. a rotating shaft; 14. a mounting base; 15. a laser scanning head; 16. a speed reducing motor; 17. an inner gear ring; 18. a drive gear; 19. an electric push rod; 20. a movable seat; 21. wiping cotton; 22. a water guiding hose; 23. a support rod; 24. a buffer tube; 25. a buffer spring; 26. a micro motor; 27. a hard sheet film; 28. a water absorbing cotton sliver.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments.
Examples: referring to fig. 1 to 11, a mechanical arm for moving a laser scanning head comprises a base 1, wherein a circular transmission groove is formed in the middle of the top surface of the base 1, a stabilizing cylinder 2 with the outer wall in contact with the inner wall of the transmission groove is vertically and rotatably arranged in the transmission groove, a turntable 3 is horizontally arranged at the top of the stabilizing cylinder 2, and a transmission component for driving the turntable 3 is arranged in the stabilizing cylinder 2; a supporting seat 4 is arranged on one side of the top of the turntable 3, a swing arm 5 which is inclined backwards is rotatably arranged on the top of one side of the supporting seat 4, a first servo motor 10 for swinging the swing arm 5 is arranged on the outer side of the supporting seat 4, a motor seat 6 is fixedly connected to the top end of the swing arm 5, a longitudinally arranged swing seat 7 is rotatably arranged on one side of the motor seat 6, and a second servo motor for driving the swing seat 7 is arranged in the motor seat 6; the front end face of the swinging seat 7 is longitudinally provided with a mounting groove, an electric pushing cylinder 8 is longitudinally and fixedly arranged in the mounting groove, the front end of a telescopic end of the electric pushing cylinder 8 is fixedly connected with a connecting seat 9 through a flange ring, the front end of the connecting seat 9 is provided with a mounting shell 12, the front end face of the mounting shell 12 is longitudinally and rotatably provided with a rotating shaft 13, the front end of the rotating shaft 13 is fixedly connected with a mounting seat 14 through a flange plate, a laser scanning head 15 capable of swinging up and down is arranged in a notch at the front end of the mounting seat 14, the model of the laser scanning head 15 is KILS-H10, a cleaning component for cleaning lenses of the laser scanning head 15 is arranged in the mounting seat 14, and an adjusting component for moving the cleaning component forwards and backwards is arranged in the rotating shaft 13; through the cooperation of swing arm 5 and swing seat 7 and electricity push away jar 8, can make laser scanning head 15 carry out the profile scanning operation through the sunken department that stretches into the measured object of cut straightly, be convenient for be applicable to the scanning operation that the long-and-short distance that the object of different sizes carried out combines together.
In the present utility model, the mounting base 14 has a U-shaped plate-like base structure; the installation shell 12 is internally provided with a micro motor 26 for rotating the rotating shaft 13, the rear end of the rotating shaft 13 is in a necking shape, and the rear end of the rotating shaft 13 movably penetrates into the installation shell 12 to be coaxially and fixedly connected with a driving shaft of the micro motor 26; the transmission assembly comprises a gear motor 16 vertically arranged on the other side of the top of the turntable 3, a fixed cylinder fixedly arranged on the inner bottom surface of the transmission groove and an inner gear ring 17 vertically fixedly arranged on the inner wall of the fixed cylinder, the bottom end of a driving shaft of the gear motor 16 movably penetrates into the inner ring of the inner gear ring 17 and is fixedly connected with a driving gear 18, and the driving gear 18 is meshed with teeth on the inner wall of one side of the inner gear ring 17; through the cooperation of installation shell 12 with pivot 13 and mount pad 14, be convenient for further improve the laser scanning head 15 and carry out the convenience of self-adaptation deflection fine setting operation when the object carries out the profile scanning, the upset function that cooperation laser scanning head 15 self possesses simultaneously can further improve the scanning operation that laser scanning head 15 carries out each position to the scanned object, has greatly improved the convenience that carries out the profile scanning to the irregular object and the high efficiency that carries out the far and near scanning switching when carrying out the profile scanning.
In the utility model, a connecting shaft 11 is longitudinally fixedly connected with the rear end face of a mounting shell 12, positioning convex strips are respectively protruded on two sides of the connecting shaft 11 along the length direction, connecting grooves matched with the connecting shaft 11 and the positioning convex strips are longitudinally formed in the front end face of a connecting seat 9, threaded holes penetrating through the connecting grooves are respectively vertically formed in two sides of the bottom of the connecting seat 9, positioning screw rods are vertically arranged in the threaded holes, and positioning holes matched with the positioning screw rods are respectively vertically formed in the rear ends of the bottom faces of the positioning convex strips; the front end of each positioning convex strip extends out of the connecting groove, and the front end of the bottom surface of each positioning convex strip is vertically provided with a supporting component; the support assembly comprises a support rod 23 vertically fixedly connected to the front end of the bottom of the positioning convex strip, a buffer cylinder 24 vertically arranged below the bottom end of the support rod 23, and an anti-drop plate horizontally movably arranged in the upper part of the buffer cylinder 24, wherein the two ends of the buffer cylinder 24 are closed, a buffer spring 25 is vertically arranged in the buffer cylinder 24 below the anti-drop plate, and the bottom end of the support rod 23 movably penetrates into the buffer cylinder 24 and is fixedly connected with the anti-drop plate; the bottom of the buffer cylinder 24 is provided with a noise reduction cushion block; through the setting of matter layer subassembly, be convenient for when this device shut down, can be through setting up the connecting seat 9 support at the top of supporting seat 4 between the support to through the cooperation of buffer tube 24 and buffer spring 25, be convenient for improve the crashproof effect of connecting seat 9 when setting up in the below, avoid taking place rigid striking with the top of supporting seat 4, improve the protection effect to spare part.
In the utility model, the cleaning component comprises a storage groove formed in the inner wall of the rear end of a mounting seat 14, a movable seat 20 movably embedded in the storage groove, a mounting circular groove formed in the front end surface of the movable seat 20 and wiping cotton 21 fixedly mounted in the mounting circular groove, wherein the front end surface of the wiping cotton 21 extends out of the mounting circular groove, a plurality of liquid inlets are formed in the periphery of the inner wall of the mounting circular groove, and hard sheet films 27 in fit contact with the rear end of the wiping cotton 21 are mounted in the liquid inlets; the adjusting component comprises a mounting cavity longitudinally arranged in the middle of the rotating shaft 13, an electric push rod 19 longitudinally arranged in the mounting cavity, and a middle guide opening arranged on the front end surface of the mounting cavity, and the rotating shaft 13 is formed by rotationally connecting shaft bodies at two ends; the telescopic end of the electric push rod 19 extends out of the guide hole and movably penetrates into the storage groove of the mounting seat 14 to be fixedly connected with the middle part of the rear end surface of the movable seat 20; and through the cooperation of clean subassembly and adjusting part, be convenient for carry out automatic clean operation to the back laser scanning head 15 that the lens exists the pollution, improve the definition of scanning the object profile through laser scanning head 15, effectively improve the work efficiency that carries out the omnidirectional scanning operation to the object profile and the integrality and the definition of scanned image.
In the utility model, an annular liquid storage cavity is arranged in the outer ring of the shaft body at the front end of the rotating shaft 13, and a water injection valve pipe extending out of the rotating shaft 13 is vertically arranged at the bottom of the annular liquid storage cavity, so that cleaning liquid can be conveniently injected into the annular liquid storage cavity through the water injection valve pipe; a plurality of water guide hoses 22 are longitudinally arranged on Zhou Cejun on the inner wall of the front end of the annular liquid storage cavity, and the front ends of the water guide hoses 22 penetrate into the storage groove and are fixedly communicated with the rear end of the liquid inlet on the movable seat 20; and the water guide hose 22 is internally plugged with a water absorbing cotton sliver 28; the front end of the water absorption cotton sliver 28 is abutted with the rear end face of the hard sheet film 27, so that water is conveniently absorbed from the annular liquid storage cavity through the water absorption cotton sliver 28, and the water is guided to the hard sheet film 27, so that the hard sheet film 27 is wetted, the hard sheet film 27 only plays a role in wetting and water guiding, the water cannot flow out of the hard sheet film 27 under the action of dead weight, but the wetted hard sheet film 27 plays a role in wetting the wiping cotton 21, and the wet hard sheet film 27 extends out of the water guide hose 22 through the rear end of the water absorption cotton sliver 28 and falls into the annular liquid storage cavity; the outer wall of the absorbent pledget 28 is in abutting contact with the inner wall of the water hose 22; the water guide effect on the wiping cotton 21 is improved, the wiping cotton 21 is kept in a wet state all the time, the condition that water is saturated in the wiping cotton 21 is avoided, and the condition that the wiping cotton 21 is dripped is effectively prevented.
Working principle: in this embodiment, the present utility model further provides a method for using a mechanical arm for moving a laser scanning head, including the following steps:
firstly, an electric push cylinder 8, a first servo motor 10, a second servo motor, a laser scanning head 15, a speed reducing motor 16, an electric push rod 19 and a micro motor 26 are respectively and electrically connected with external control equipment through leads, and then the device is arranged on one side of a belt conveyor for placing an object to be scanned through a base 1;
secondly, after an object to be scanned moves to the scanning range of the device along with the belt conveyor, a first servo motor 10 is started to drive a swing arm 5 to swing in a front-rear end deflecting manner, and then a second servo motor in a motor seat 6 is started to drive a swing seat 7 to swing up and down in a front end manner while the swing arm 5 swings and adjusts, and the swing seat 7 swings up and down and adjusts, meanwhile, an electric push cylinder 8 can be started to extend or retract according to selection, so that the distance between a connecting seat 9 and the swing seat 7 is adjusted, and the laser scanning head 15 can be moved to the object to be scanned preliminarily; the extension of the electric pushing cylinder 8 can enable the laser scanning head 15 to directly insert into the concave position of the measured object to perform contour scanning operation, so that the electric pushing cylinder is convenient for scanning operation combined with distance and distance for objects with different sizes;
step three, when the tilting angle deflection adjustment is carried out on the swinging seat 7 and the swinging arm 5, the speed reducing motor 16 is started to drive the driving gear 18 to rotate, so that the driving gear 18 can conveniently carry out circular motion on the inner ring wall of the fixed inner gear ring 17, and further the transmission assembly can drive the stabilizing cylinder 2 and the turntable 3 to carry out horizontal rotation adjustment on the base 1, so that the laser scanning head 15 in the mounting seat 14 in front of the mounting shell 12 can conveniently move towards an object, and the surrounding type omnibearing scanning operation is conveniently carried out on the peripheral side of the object;
step four, when the laser scanning head 15 performs all-round scanning operation on the outline of the object, the micro motor 26 can be started to drive the rotating shaft 13 to rotate, and the mounting seat 14 and the laser scanning head 15 mounted on the mounting seat are driven to rotate through the rotation of the rotating shaft 13, so that the convenience of the self-adaptive deflection fine tuning operation of the laser scanning head 15 when the outline of the object is scanned is further improved, meanwhile, the turnover function of the laser scanning head 15 is matched, the scanning operation of each part of the scanned object by the laser scanning head 15 can be further improved, and the convenience of outline scanning on irregular objects and the high efficiency of far-near scanning switching during outline scanning are greatly improved;
step five, if the lens on the laser scanning head 15 is polluted, turning over the lens towards the inner wall of the rear end of the mounting seat 14 by starting the laser scanning head 15 to turn over the lens; at this time, the movable seat 20 with the wiping cotton 21 can be pushed to move forward towards the lens of the laser scanning head 15 by starting the electric push rod 19 to extend, so that the wiping cotton 21 at the front end of the movable seat 20 is contacted with the lens on the laser scanning head 15, and then the lens is convenient to repeatedly wipe the wiping cotton 21 by repeatedly swinging the laser scanning head 15, so that the lens is automatically cleaned, and after the laser scanning head 15 is cleaned, the electric push rod 19 is started to drive the movable seat 20 and the wiping cotton 21 to move and reset.
The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should make equivalent substitutions or modifications according to the technical scheme of the present utility model and the inventive concept thereof, and should be covered by the scope of the present utility model.
Claims (9)
1. The mechanical arm for moving the laser scanning head comprises a base (1), and is characterized in that: a circular transmission groove is formed in the middle of the top surface of the base (1), a stabilizing cylinder (2) with the outer wall in fit contact with the inner wall of the transmission groove is vertically arranged in the transmission groove in a rotating mode, a rotary table (3) is horizontally arranged at the top of the stabilizing cylinder (2), and a transmission assembly used for driving the rotary table (3) is arranged in the stabilizing cylinder (2); a supporting seat (4) is arranged on one side of the top of the turntable (3), a backward inclined swing arm (5) is rotatably arranged on one side of the top of the supporting seat (4), a first servo motor (10) for swinging the swing arm (5) is arranged on the outer side of the supporting seat (4), a motor seat (6) is fixedly connected to the top end of the swing arm (5), a longitudinally arranged swing seat (7) is rotatably arranged on one side of the motor seat (6), and a second servo motor for driving the swing seat (7) is arranged in the motor seat (6);
the front end face of the swinging seat (7) is longitudinally provided with a mounting groove, an electric pushing cylinder (8) is longitudinally and fixedly arranged in the mounting groove, the front end of the telescopic end of the electric pushing cylinder (8) is fixedly connected with a connecting seat (9) through a flange ring, the front end of the connecting seat (9) is provided with a mounting shell (12), the front end face of the mounting shell (12) is longitudinally rotated and provided with a rotating shaft (13), the front end of the rotating shaft (13) is fixedly connected with a mounting seat (14) through a flange plate, a laser scanning head (15) capable of swinging up and down is arranged in a notch at the front end of the mounting seat (14), a cleaning assembly for cleaning a lens of the laser scanning head (15) is arranged in the mounting seat (14), and an adjusting assembly for moving back and forth is arranged in the rotating shaft (13).
2. A robotic arm for laser scanning head movement as defined in claim 1, wherein: the mounting seat (14) is of a U-shaped plate-shaped seat body structure; the miniature motor (26) used for rotating the rotating shaft (13) is arranged in the installation shell (12), the rear end of the rotating shaft (13) is in a necking shape, and the rear end of the rotating shaft (13) movably penetrates into the installation shell (12) to be fixedly connected with the driving shaft of the miniature motor (26) in a coaxial mode.
3. A robotic arm for laser scanning head movement as defined in claim 1, wherein: the connecting device is characterized in that a connecting shaft (11) is longitudinally fixedly connected to the rear end face of the mounting shell (12), positioning convex strips are arranged on two sides of the connecting shaft (11) in a protruding mode along the length direction, connecting grooves matched with the connecting shaft (11) and the positioning convex strips are longitudinally formed in the front end face of the connecting seat (9), threaded holes penetrating through the connecting grooves are vertically formed in two sides of the bottom of the connecting seat (9), positioning screws are vertically arranged in the threaded holes, and positioning holes matched with the positioning screws are vertically formed in the rear ends of the bottom faces of the positioning convex strips; the front ends of the positioning convex strips extend out of the connecting grooves, and the front ends of the bottom surfaces of the positioning convex strips are vertically provided with supporting components.
4. A robotic arm for laser scanning head movement as defined in claim 1, wherein: the transmission assembly comprises a gear motor (16) vertically arranged on the other side of the top of the rotary table (3), a fixed cylinder fixedly arranged on the inner bottom surface of the transmission groove and an inner gear ring (17) vertically fixedly arranged on the inner wall of the fixed cylinder, the bottom end of a driving shaft of the gear motor (16) movably penetrates into the inner ring of the inner gear ring (17) and is fixedly connected with a driving gear (18), and the driving gear (18) is meshed with teeth on the inner wall of one side of the inner gear ring (17).
5. A robotic arm for laser scanning head movement as claimed in claim 3, wherein: the supporting component comprises a supporting rod (23) vertically fixedly connected to the front end of the bottom of the positioning convex strip, a buffer cylinder (24) vertically arranged below the bottom end of the supporting rod (23) and an anti-drop plate horizontally movably arranged in the upper part of the buffer cylinder (24), two ends of the buffer cylinder (24) are arranged in a closed mode, a buffer spring (25) is vertically arranged in the buffer cylinder (24) below the anti-drop plate, and the bottom end of the supporting rod (23) movably penetrates into the buffer cylinder (24) to be fixedly connected with the anti-drop plate; the bottom of the buffer cylinder (24) is provided with a noise reduction cushion block.
6. A robotic arm for laser scanning head movement as defined in claim 1, wherein: the cleaning assembly comprises a storage groove formed in the inner wall of the rear end of the mounting seat (14), a movable seat (20) movably embedded in the storage groove, a mounting round groove formed in the front end face of the movable seat (20) and wiping cotton (21) fixedly mounted in the mounting round groove, the front end face of the wiping cotton (21) stretches out of the mounting round groove, a plurality of liquid inlets are formed in the periphery of the inner wall of the mounting round groove, and hard sheet films (27) in contact with the rear end of the wiping cotton (21) are mounted in the liquid inlets.
7. A robotic arm for laser scanning head movement as defined in claim 6, wherein: the adjusting component comprises a mounting cavity longitudinally arranged in the middle of the rotating shaft (13), an electric push rod (19) longitudinally arranged in the mounting cavity and a middle guide opening arranged on the front end face of the mounting cavity, and the rotating shaft (13) is formed by rotationally connecting shaft bodies at two ends; the telescopic end of the electric push rod (19) extends out of the guide hole and movably penetrates into the accommodating groove of the mounting seat (14) to be fixedly connected with the middle part of the rear end face of the movable seat (20).
8. A robotic arm for laser scanning head movement as defined in claim 7, wherein: an annular liquid storage cavity is formed in the outer ring of the front end shaft body of the rotating shaft (13), a plurality of water guide hoses (22) are longitudinally arranged on Zhou Cejun of the inner wall of the front end of the annular liquid storage cavity, and the front ends of the water guide hoses (22) penetrate through the storage groove and are fixedly communicated with the rear ends of liquid inlets on the movable seat (20); and a water absorption cotton sliver (28) is plugged in the water guide hose (22).
9. A robotic arm for laser scanning head movement as defined in claim 8, wherein: the front end of the water absorbing cotton sliver (28) is abutted with the rear end face of the hard sheet film (27), and the rear end of the water absorbing cotton sliver (28) extends out of the water guide hose (22) and falls into the annular liquid storage cavity; the outer wall of the water absorbing cotton sliver (28) is in fit contact with the inner wall of the water guide hose (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202410027388.8A CN117537741B (en) | 2024-01-09 | 2024-01-09 | Mechanical arm for moving laser scanning head |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410027388.8A CN117537741B (en) | 2024-01-09 | 2024-01-09 | Mechanical arm for moving laser scanning head |
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| CN117537741A true CN117537741A (en) | 2024-02-09 |
| CN117537741B CN117537741B (en) | 2024-03-22 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118123863A (en) * | 2024-05-06 | 2024-06-04 | 派姆特科技(苏州)有限公司 | Articulated arm measuring device based on laser scanning |
| CN118123863B (en) * | 2024-05-06 | 2024-07-02 | 派姆特科技(苏州)有限公司 | Articulated arm measuring device based on laser scanning |
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|---|---|
| CN117537741B (en) | 2024-03-22 |
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