CN205466149U - Automatic three dimensional scanner ware people - Google Patents
Automatic three dimensional scanner ware people Download PDFInfo
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- CN205466149U CN205466149U CN201521139713.2U CN201521139713U CN205466149U CN 205466149 U CN205466149 U CN 205466149U CN 201521139713 U CN201521139713 U CN 201521139713U CN 205466149 U CN205466149 U CN 205466149U
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Abstract
The utility model relates to a three -dimensional scanning technique's field provides automatic three dimensional scanner ware people, including the base, the base is equipped with the first rotor and the second rotor, is equipped with lifting unit on the first rotor, the last tray that is equipped with of lifting unit, the last link assembly that is equipped with of the second rotor, the last scanner that is equipped with of link assembly. Above -mentioned automatic three dimensional scanner ware people passes through the first rotor and the second rotor's rotation, combines lifting unit and link assembly in the ascending altitude mixture control of vertical side, realizes carrying out complete three dimension scanning to article. The prior art that compares, it does not expend the manual work, and convenient operation uses extensively, and need not carry out robotic arm's the design and the research and development of lexical analyzer, and simple structure is with low costs.
Description
Technical field
This utility model belongs to the field of 3-D scanning technology, particularly relates to automatic 3-D scanning machine people.
Background technology
Along with the development of technology, 3-D scanning technology has been applied to various field, such as: in order to preferably protect
Protect and study historical relic, historical relic is carried out three dimensional data collection and three-dimensional reconstruction；In order to make artist and designer
Works can produce in batches or redesign, the three-dimensional reconstruction that the art work or design product are carried out；It addition, three
In the design of the threedimensional model that dimension scanning technique is also applied to dummy object demonstration and animated film.
Existing 3-D scanning technology has a two ways: a kind of is the mode of manual scanning, is i.e. taken by manual
Scanner carries out three dimensional data collection to article, and the three-dimensional data which obtains is imperfect, inaccurate, after
Continuous very inconvenient to the use of three-dimensional data, and labor intensive, workload are big, scanning cost is high, it is wide to be difficult to
General application.Another kind is the mode using robot platform to be scanned, and it uses mechanical arm and scanner,
And controlled the action of mechanical arm by the scanning imaging system that research and development function is complicated, so that article are entered by scanner
The automatic 3-D scanning of row.But it needs to use complicated mechanical arm, and scanning process is loaded down with trivial details, and workload is big,
Cost is high, and it needs the scanning imaging system that research and development function is complicated, the professional requirement height of scanning technique knowledge.
Utility model content
The purpose of this utility model is to provide automatic 3-D scanning machine people, it is intended to solve existing 3-D scanning
Labor intensive existing for mode, operation inconvenience, the problem that is difficult to promote, structure is complicated and cost is high.
For solving above-mentioned technical problem, this utility model provides automatic 3-D scanning machine people, including base,
It is interval with the first rotor and the second rotor that rotating shaft is vertically arranged on described base, described the first rotor sets
Having adjustable for height lifting assembly on vertical direction, described lifting assembly is provided with for taking advantage of the torr putting article
Dish, described second rotor is provided with the link assembly risen or fallen in vertical direction, on described link assembly
It is provided with the scanner for the article on described pallet are scanned.
Further, described base includes first half pedestal and the later half pedestal docked with described first half pedestal, institute
Stating the first rotor to be located on described first half pedestal, described second rotor is located on described later half pedestal.
Further, it is connected by retraction assemblies between described first half pedestal with described later half pedestal.
Further, described retraction assemblies includes the first ram pot and the first hydraulic stem；Described first hydraulic stem
One end is connected with described first half pedestal, and the other end is inserted in described first ram pot, described first ram pot
It is connected with described later half pedestal；Or, described first hydraulic stem one end is connected with described later half pedestal, another
End is inserted in described first ram pot, and described first ram pot is connected with described first half pedestal.
Further, described lifting assembly includes the second ram pot and the second hydraulic stem, described second ram pot
Being located on described the first rotor, described second hydraulic stem one end is inserted in described second ram pot, the other end
Support described pallet.
Further, described second hydraulic stem is supported in the bottom centre of described pallet.
Further, described lifting assembly include motor, gear on the output shaft of being located at described motor and
The tooth bar being vertically arranged and engage with described gear, the upper end of described tooth bar is located at by described pallet.
Further, described link assembly includes the bull stick being located on described second rotor, described bar rotation
Connecting has first connecting rod, the free end of described first connecting rod to be rotatably connected to second connecting rod, described second connecting rod
Free end be rotationally connected with described scanner.
Further, described bull stick is connected by third trochanter with described first connecting rod, described first connecting rod with
Described second connecting rod is connected by fourth trochanter, and described second connecting rod is with described scanner by the 5th rotor even
Connect.
Further, the bottom of described first half pedestal and the bottom of described later half pedestal are respectively equipped with roller.
The beneficial effect of the automatic 3-D scanning machine people that this utility model provides:
Owing to above-mentioned automatic 3-D scanning machine people uses the first rotor, the second rotor, lifting assembly and connecting rod
Article, during scanning, are positioned on pallet by assembly, as such, it is possible to by regulation lifting assembly, adjust torr
Article height on vertical direction on dish, and by ordering about the first rotor around its axis of rotation so that pallet
On article rotate, so, scanner carries out 3-D scanning from circumference and the top of article, is beneficial to obtain
Whole three-dimensional data；Further, scanner is located on link assembly, and link assembly is located at the second rotor
On, as such, it is possible to by ordering about the second rotor around its axis of rotation so that link assembly and scanning thereon
Instrument rotates, meanwhile, rising or falling by link assembly, regulate scanner height on vertical direction
Degree, in order to article are scanned.In a word, above-mentioned automatic 3-D scanning machine people by the first rotor and
Bitrochanteric rotation, the altitude mixture control on vertical direction in conjunction with lifting assembly and link assembly, realize
Article are carried out complete 3-D scanning.For comparing the mode of more existing employing manual scanning, it does not consume
Take artificial, and by using the first rotor, the second rotor, lifting assembly and link assembly, realize thing
The automatic scanning of product, easy to operate, it is beneficial to extensively application；And compare more existing employing robot platform and carry out
For the mode of scanning, its design being made without mechanical arm and the research and development of scanning imaging system, its structure letter
Single, low cost, scanning is convenient.
Accompanying drawing explanation
Fig. 1 is the structural representation of the automatic 3-D scanning machine people that this utility model embodiment provides.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with accompanying drawing
And embodiment, this utility model is further elaborated.Should be appreciated that described herein specifically
Embodiment, only in order to explain this utility model, is not used to limit this utility model.
As it is shown in figure 1, the preferred embodiment provided for this utility model.
It should be noted that when parts are referred to as " being fixed on " or " being arranged at " another parts, and it can be straight
It is connected on another parts or may be simultaneously present parts placed in the middle.When parts are known as " being connected to "
Another parts, it can be directly to another parts or may be simultaneously present parts placed in the middle.
Also, it should be noted the orientation term such as left and right, upper and lower in the present embodiment, it it is only phase each other
To concept or with the normal operating condition of product as reference, and should not be regarded as restrictive.
As it is shown in figure 1, the automatic 3-D scanning machine people 10 that the present embodiment provides, it is applied to historical relic, skill
In art product, ornaments, industrial part, potted landscape, routine use product, food etc., the automatic three-dimensional of small article is swept
Retouch.
It includes base 11, and base 11 is interval with the first rotor 121 and second that rotating shaft is vertically arranged
Rotor 122, the first rotor 121 is provided with adjustable for height lifting assembly 13 on vertical direction, and liter is come down to a lower group
Part 13 is provided with for taking advantage of the pallet 14 putting article, the second rotor 122 be provided with in vertical direction rise or
The link assembly 15 declined, link assembly 15 is provided with for sweeping of being scanned the article on pallet 14
Retouch instrument 16.
As it is shown in figure 1, owing to above-mentioned automatic 3-D scanning machine people 10 uses the first rotor 121, second turn
Article, during scanning, are positioned on pallet 14 by son 122, lifting assembly 13 and link assembly 15, so,
Article height on vertical direction on pallet 14 can be adjusted by regulation lifting assembly 13, and passes through
Order about the first rotor 121 around its axis of rotation so that the article on pallet 14 rotate, so, scanner
16 carry out 3-D scanning from circumference and the top of article, are beneficial to obtain complete three-dimensional data；Further,
Scanner 16 is located on link assembly 15, and link assembly 15 is located on the second rotor 122, so, and can
With by ordering about the second rotor 122 around its axis of rotation so that link assembly 15 and scanner thereon 16
Rotate, meanwhile, by rising or falling of link assembly 15, regulate scanner 16 on vertical direction
Height, in order to article are scanned.In a word, above-mentioned automatic 3-D scanning machine people 10 is by first
Rotor 121 and the rotation of the second rotor 122, in conjunction with lifting assembly 13 and link assembly 15 in vertical direction
On altitude mixture control, realize article are carried out complete 3-D scanning.Compare more existing employing manual scanning
Mode for, its not labor intensive, and by using the first rotor the 121, second rotor 122, lifting
Assembly 13 and link assembly 15, realize the automatic scanning to article, easy to operate, is beneficial to extensively application；
And for comparing the mode that more existing employing robot platform is scanned, it is made without mechanical arm
Design and the research and development of scanning imaging system, its simple in construction, low cost, scanning is convenient.
It should be noted that above-mentioned automatic 3-D scanning machine people 10 also includes the first rotor 121, second
The control system that rotor 122, lifting assembly 13, link assembly 15 and scanner 16 are controlled.
In order to be easy to scanner 16 further, article are carried out complete scanning, as it is shown in figure 1, base
11 include first half pedestal 111 and the later half pedestal 112 docked with first half pedestal 111, and the first rotor 121 sets
On first half pedestal 111, the second rotor 122 is located on later half pedestal 112.So, before can be by adjusting
Half pedestal 111 and the relative distance of later half pedestal 112, regulate article and the relative distance of scanner 16,
So that article are scanned by scanner 16.
It is, of course, also possible to be, the first rotor 121 is located on later half pedestal 112, and the second rotor 122 is located at
On first half pedestal 111.
As it is shown in figure 1, the distance between article and scanner 16 is adjusted in order to more convenient, front
It is connected by retraction assemblies 17 between half pedestal 111 with later half pedestal 112.So, retraction assemblies 17 can
By contractive action, make first half pedestal 111 closer or far from later half pedestal 112.
About the preferred implementation of retraction assemblies 17 concrete structure, as it is shown in figure 1, retraction assemblies 17 is wrapped
Include the first ram pot 171 and the first hydraulic stem 172；First hydraulic stem 172 one end is with first half pedestal 111 even
Connecing, the other end is inserted in the first ram pot 171, and the first ram pot 171 is connected with later half pedestal 112；
Or, first hydraulic stem 172 one end is connected with later half pedestal 112, and the other end is inserted in the first ram pot 171
In, the first ram pot 171 is connected with first half pedestal 111.So, by the first hydraulic stem 172 in first
Slip in ram pot 171 so that first half pedestal 111 and later half pedestal 112 are near docking or away from tearing open
Open, i.e. achieve the relative distance adjusting scanner 16 with article.
As it is shown in figure 1, for the ease of adjusting pallet 14 and article height in vertical direction, lifting on it
Assembly 13 includes the second ram pot 131 and the second hydraulic stem 132, and the second ram pot 131 is located at the first rotor
On 121, second hydraulic stem 132 one end is inserted in the second ram pot 131, and the other end supports pallet 14.
So, by the up and down motion in the second ram pot 131 of second hydraulic stem 132, it is achieved pallet 14 upper
Rise or decline, so that the adjustment of article position relative with scanner 16.
Certainly, lifting assembly 13 can also be elevating lever.
Refinement ground, as it is shown in figure 1, in order to more be fixedly supported pallet 14 and make turning of pallet 14
Dynamic more regularization, the second hydraulic stem 132 is supported in the bottom centre of pallet 14.So, the first rotor
121 when its axis of rotation, and pallet 14 rotates coaxially with the first rotor 121.If article are positioned over pallet
Time in 14 in the heart, article are also by rotation around the shaft, and beneficially scanner 16 carries out rule scanning to article.
About another preferred implementation of lifting assembly 13 concrete structure, lifting assembly 13 includes motor (figure
In do not show), the gear (not shown) be located on the output shaft of motor and be vertically arranged and nibble with gear
The tooth bar (not shown) closed, the upper end of tooth bar is located at by pallet 14.So, by motor-driven gear,
Again by the engaged transmission of wheel and rack, order about pallet 14 and rise or fall.
The link assembly 15 raising and lowering in vertical direction for convenience, as it is shown in figure 1, link assembly
15 include the bull stick 153 being located on the second rotor 122, and bull stick 153 is rotatably connected to first connecting rod 151,
The free end of first connecting rod 151 is rotatably connected to second connecting rod 152, the free end of second connecting rod 152 with sweep
Retouch instrument 16 to be rotationally connected.So, the power transmission line of link assembly 15 is: the second rotor 122, turn
Bar 153, first connecting rod 151, second connecting rod 152 and scanner 16.Specifically, drive the second rotor 122,
Make the second rotor 122 rotate around its vertical axis, axis vertical arrange bull stick 153 also around its axis of rotation,
First connecting rod 151 can rotate rise or fall around its junction point with bull stick 153 in vertical direction, the
Two connecting rods 152 also can rotate rise around its junction point with first connecting rod 151 free end in vertical direction
Or decline.Therefore, by the second rotor 122, bull stick 153, first connecting rod 151 and second connecting rod 152
Rotation, regulate the scan position of scanner 16, in order to from each angle, article are carried out automatic three-dimensional and sweep
Retouch, make the three-dimensional data of acquisition understand completely.
As it is shown in figure 1, for turning first connecting rod 151, second connecting rod 152 and scanner 16 of being more convenient for
Moving and be controlled, bull stick 153 is connected by third trochanter 123 with first connecting rod 151, first connecting rod 151
Being connected by fourth trochanter 124 with second connecting rod 152, second connecting rod 152 and scanner 16 are by the 5th turn
Son 125 connects.So, can be by third trochanter 123, fourth trochanter 124 and the 5th rotor 125
Rotation is controlled, thus realizes being adjusted the scan position of scanner 16.
It is, of course, also possible to be, bull stick 153 is hinged with first connecting rod 151, and first connecting rod 151 and second connects
Bar 152 is hinged, and second connecting rod 152 is connected by the 5th rotor 125 with scanner 16.
As it is shown in figure 1, for the ease of first half pedestal 111 and the movement of later half pedestal 112, first half pedestal 111
Bottom and the bottom of later half pedestal 112 be respectively equipped with roller 18.
These are only preferred embodiment of the present utility model, not in order to limit this utility model, all
Any amendment, equivalent and the improvement etc. made within spirit of the present utility model and principle, all should comprise
Within protection domain of the present utility model.
Claims (10)
1. automatic 3-D scanning machine people, it is characterized in that, including base, the first rotor and the second rotor that rotating shaft is vertically arranged it is interval with on described base, described the first rotor is provided with adjustable for height lifting assembly on vertical direction, described lifting assembly is provided with for taking advantage of the pallet putting article, and described second rotor is provided with the link assembly risen or fallen in vertical direction, and described link assembly is provided with the scanner for being scanned the article on described pallet.
2. 3-D scanning machine people automatically as claimed in claim 1, it is characterized in that, described base includes first half pedestal and the later half pedestal docked with described first half pedestal, and described the first rotor is located on described first half pedestal, and described second rotor is located on described later half pedestal.
3. 3-D scanning machine people automatically as claimed in claim 2, it is characterised in that be connected by retraction assemblies between described first half pedestal with described later half pedestal.
4. 3-D scanning machine people automatically as claimed in claim 3, it is characterised in that described retraction assemblies includes the first ram pot and the first hydraulic stem；Described first hydraulic stem one end is connected with described first half pedestal, and the other end is inserted in described first ram pot, and described first ram pot is connected with described later half pedestal；Or, described first hydraulic stem one end is connected with described later half pedestal, and the other end is inserted in described first ram pot, and described first ram pot is connected with described first half pedestal.
5. the automatic 3-D scanning machine people as described in any one of Claims 1 to 4, it is characterized in that, described lifting assembly includes the second ram pot and the second hydraulic stem, described second ram pot is located on described the first rotor, described second hydraulic stem one end is inserted in described second ram pot, and the other end supports described pallet.
6. 3-D scanning machine people automatically as claimed in claim 5, it is characterised in that described second hydraulic stem is supported in the bottom centre of described pallet.
7. the automatic 3-D scanning machine people as described in any one of Claims 1 to 4, it is characterized in that, described lifting assembly includes motor, be located at described motor the gear on output shaft and the tooth bar being vertically arranged and engaging with described gear, the upper end of described tooth bar is located at by described pallet.
8. the automatic 3-D scanning machine people as described in any one of Claims 1 to 4, it is characterized in that, described link assembly includes the bull stick being located on described second rotor, described bar rotation connects first connecting rod, the free end of described first connecting rod is rotatably connected to second connecting rod, and the free end of described second connecting rod is rotationally connected with described scanner.
9. 3-D scanning machine people automatically as claimed in claim 8, it is characterized in that, described bull stick is connected by third trochanter with described first connecting rod, and described first connecting rod is connected by fourth trochanter with described second connecting rod, and described second connecting rod is connected by the 5th rotor with described scanner.
10. the automatic 3-D scanning machine people as described in any one of claim 2～4, it is characterised in that the bottom of described first half pedestal and the bottom of described later half pedestal are respectively equipped with roller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521139713.2U CN205466149U (en) | 2015-12-31 | 2015-12-31 | Automatic three dimensional scanner ware people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521139713.2U CN205466149U (en) | 2015-12-31 | 2015-12-31 | Automatic three dimensional scanner ware people |
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| Publication Number | Publication Date |
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| CN205466149U true CN205466149U (en) | 2016-08-17 |
Family
ID=56662991
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| Application Number | Title | Priority Date | Filing Date |
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| CN201521139713.2U Active CN205466149U (en) | 2015-12-31 | 2015-12-31 | Automatic three dimensional scanner ware people |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106764313A (en) * | 2017-02-20 | 2017-05-31 | 深圳市宝康隆科技有限公司 | A kind of spatial digitizer elevating mechanism |
| CN107053215A (en) * | 2017-02-28 | 2017-08-18 | 大陆智源科技（北京）有限公司 | A kind of robot control system |
| CN107121062A (en) * | 2016-12-07 | 2017-09-01 | 苏州笛卡测试技术有限公司 | A kind of robot three-dimensional scanning means and method |
| CN109282754A (en) * | 2018-10-19 | 2019-01-29 | 嘉善美源服饰水洗有限公司 | A kind of a wide range of 3D laser acquisition scanning means |
| CN109291079A (en) * | 2018-11-21 | 2019-02-01 | 苏州工业园区职业技术学院 | A kind of self assembly system of industrial robot and method |
| CN110116406A (en) * | 2019-01-25 | 2019-08-13 | 目竞株式会社 | The robot system of scan mechanism with enhancing |
| US10870204B2 (en) | 2019-01-25 | 2020-12-22 | Mujin, Inc. | Robotic system control method and controller |
| CN112917489A (en) * | 2021-01-22 | 2021-06-08 | 广东电网有限责任公司广州供电局 | Robot system for three-dimensional scanning detection of switch cabinet |
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- 2015-12-31 CN CN201521139713.2U patent/CN205466149U/en active Active
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107121062A (en) * | 2016-12-07 | 2017-09-01 | 苏州笛卡测试技术有限公司 | A kind of robot three-dimensional scanning means and method |
| WO2018103694A1 (en) * | 2016-12-07 | 2018-06-14 | 苏州笛卡测试技术有限公司 | Robotic three-dimensional scanning device and method |
| CN106764313A (en) * | 2017-02-20 | 2017-05-31 | 深圳市宝康隆科技有限公司 | A kind of spatial digitizer elevating mechanism |
| CN107053215A (en) * | 2017-02-28 | 2017-08-18 | 大陆智源科技（北京）有限公司 | A kind of robot control system |
| CN107053215B (en) * | 2017-02-28 | 2020-02-18 | 大陆智源科技（北京）有限公司 | Robot control system |
| CN109282754B (en) * | 2018-10-19 | 2020-09-25 | 嘉善美源服饰水洗有限公司 | Large-range 3D laser detection scanning device |
| CN109282754A (en) * | 2018-10-19 | 2019-01-29 | 嘉善美源服饰水洗有限公司 | A kind of a wide range of 3D laser acquisition scanning means |
| CN109291079A (en) * | 2018-11-21 | 2019-02-01 | 苏州工业园区职业技术学院 | A kind of self assembly system of industrial robot and method |
| CN109291079B (en) * | 2018-11-21 | 2022-02-22 | 苏州工业园区职业技术学院 | Industrial robot self-assembly system and method |
| CN110116406B (en) * | 2019-01-25 | 2020-09-15 | 牧今科技 | Robotic system with enhanced scanning mechanism |
| US10870204B2 (en) | 2019-01-25 | 2020-12-22 | Mujin, Inc. | Robotic system control method and controller |
| US10933527B2 (en) | 2019-01-25 | 2021-03-02 | Mujin, Inc. | Robotic system with enhanced scanning mechanism |
| CN110116406A (en) * | 2019-01-25 | 2019-08-13 | 目竞株式会社 | The robot system of scan mechanism with enhancing |
| US11413753B2 (en) | 2019-01-25 | 2022-08-16 | Mujin, Inc. | Robotic system control method and controller |
| US11638993B2 (en) | 2019-01-25 | 2023-05-02 | Mujin, Inc. | Robotic system with enhanced scanning mechanism |
| US11772267B2 (en) | 2019-01-25 | 2023-10-03 | Mujin, Inc. | Robotic system control method and controller |
| CN112917489A (en) * | 2021-01-22 | 2021-06-08 | 广东电网有限责任公司广州供电局 | Robot system for three-dimensional scanning detection of switch cabinet |
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| C14 | Grant of patent or utility model | ||
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| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Dongguan Xuhui E-commerce Co.,Ltd. Assignor: SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY CHINESE ACADEMY OF SCIENCES Contract record no.: X2023980037844 Denomination of utility model: Automatic 3D scanning robot Granted publication date: 20160817 License type: Common License Record date: 20230711 |
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| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Guangdong Xinshen Electronic Technology Co.,Ltd. Assignor: SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY CHINESE ACADEMY OF SCIENCES Contract record no.: X2023980039226 Denomination of utility model: Automatic 3D scanning robot Granted publication date: 20160817 License type: Common License Record date: 20230808 Assignee: Guangdong Qianqin Purification Technology Co.,Ltd. Assignor: SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY CHINESE ACADEMY OF SCIENCES Contract record no.: X2023980039224 Denomination of utility model: Automatic 3D scanning robot Granted publication date: 20160817 License type: Common License Record date: 20230808 |