SUMMERY OF THE UTILITY MODEL
The utility model aims at: the three-dimensional scanner and the driving structure thereof are provided, the transmission is stable, the transmission precision is higher, and the three-dimensional scanner also has an ultra-long wear-resisting service life.
In order to achieve the above object, the present invention provides a three-dimensional scanner, which comprises a driving device, an input cam, an output turret and a scanning head, wherein an output shaft of the driving device is connected with one end of the input cam, the input cam is provided with a taper supporting rib having a driving curve profile, a limiting groove is formed between the taper supporting ribs,
the output rotating tower is rotatably connected with a plurality of needle roller bearings along the radial direction, the needle roller bearings are uniformly distributed on the outer side of the output rotating tower at equal intervals, any needle roller bearing is located in the limiting groove, the output rotating tower is provided with an output shaft along the central line direction, and the output shaft is connected with the scanning head.
Preferably, the driving device comprises a driving motor, and an output shaft of the driving motor is connected with the input cam through a coupler.
Preferably, the driving device further comprises a motor driver electrically connected to the driving motor.
Preferably, the scanner further comprises a controller, and the controller is electrically connected with the motor driver and the scanning head respectively.
As a preferable scheme, the scanner further comprises a case, the input cam and the output turret are both installed in the case, one end of the input cam penetrates through the case and is connected with an output shaft of the driving motor, the other end of the input cam is rotatably connected with the inner wall of the case, one end of the output shaft penetrates through the case and is connected with the scanning head, and the other end of the output shaft is rotatably connected with the inner wall of the case.
Preferably, the device further comprises a support, the driving motor is mounted on the support through a motor base, and the motor driver and the case are both mounted on the support.
Preferably, the support further comprises at least one counterweight, the support is provided with at least one mounting position matched with the counterweight in a positioning mode, and the counterweight is detachably connected to the mounting position.
Preferably, the weight is a lead block, the mounting position is a screw hole formed in the support, and the lead block is screwed in the screw hole.
In order to solve the same problem, the present invention further provides a three-dimensional scanner, which comprises the driving structure of the three-dimensional scanner according to any of the above technical solutions.
The embodiment of the utility model provides a three-dimensional scanner and drive structure thereof compares with prior art, and its beneficial effect lies in: the utility model discloses drive arrangement's output and income power cam are connected, are equipped with the tapering that has the drive curve profile on the income power cam and support the rib, and the equidistant evenly distributed has a plurality of needle bearing on the capstan head of exerting oneself, and needle bearing supports the rib with the tapering on the income power cam and cooperatees, and one of them needle bearing is located the spacing groove that the tapering supported the rib and formed. The needle roller bearings are rotatably connected to the outer periphery of the force-applying turret, so that the friction force between the force-applying turret and the force-applying cam is reduced to the minimum, the abrasion between the meshing surfaces is reduced, and the service life of the scanner is prolonged. The force output rotating tower is provided with a force output shaft which is connected with the scanning head. The driving device drives the input cam to rotate, so that the taper supporting ribs push the needle roller bearing to rotate, the output turret rotates to drive the output shaft and the scanning head to rotate, 360-degree arbitrary indexing is realized, the transmission is stable, the output precision is high, and the scanner can realize 360-degree scanning of a space at a constant speed.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the terms used in the present invention are used in the description of the present invention, and it should be understood that the terms "center", "upper", "vertical", "horizontal", "inner", "outer" and the like used in the present invention are used as the terms of the orientation or the positional relationship shown in the drawings, and are only used for convenience of description and simplification of the description, but do not indicate or imply that the device or the element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be interpreted as limiting the present invention.
It should be understood that the present invention uses the terms "first", "second", "third", "fourth", etc. to describe various information, but the information should not be limited to these terms, and these terms are only used to distinguish one type of information from another. For example, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information, without departing from the scope of the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to 4, the driving structure of a three-dimensional scanner according to the preferred embodiment of the present invention includes a driving device 4, an input cam 2, an output turret 3 and a scanning head 1, an output shaft of the driving device 4 is connected to one end of the input cam 2, a taper supporting rib 6 having a driving curve profile is disposed on the input cam 2, a limiting groove 7 is formed between the taper supporting ribs 6, the output turret 3 is rotatably connected to a plurality of needle bearings 5 along a radial direction thereof, the needle bearings 5 are uniformly distributed at equal intervals outside the output turret 3, any needle bearing 5 is located in the limiting groove 7, the output turret 3 is provided with an output shaft 12 along a central line direction thereof, and the output shaft 12 is connected to the scanning head 1.
Based on the above technical solution, the scanning head 1 may be a 2D lidar scanner. The driving device 4 can drive the input cam 2 to rotate, and the periphery of the input cam 2 is provided with a tapered supporting rib 6 with a driving curve profile. A limiting groove 7 is formed between the tapered support ribs 6, and the tapered support ribs 6 can be sequentially divided into an inlet section 6a, a limiting section 6b and an outlet section 6 c. The output turret 3 is cylindrical, a plurality of needle bearings 5 are uniformly distributed on the outer side of the circumference of the output turret at equal intervals, the needle bearings 5 are rotatably connected to the output turret 3, and the center line of the output turret 3 is perpendicular to the axis of each needle bearing 5. When the driving structure of the three-dimensional scanner is assembled, the central line of the output turret 3 and the axis of the input cam 2 are perpendicular to each other, at least one needle bearing 5 is positioned in a limiting groove 7 formed by the tapered support rib 6, and the needle bearing 5 is matched with the two side walls of the tapered support rib 6. After the parts are installed, sufficient lubricating oil can be added between the needle roller bearing 5 and the entry cam 2 when the driving structure operates, and the problem that the driving structure operates in a clamping machine due to unsmooth movement between the surface of the entry cam 2 and the needle roller bearing 5 is avoided.
The needle bearings 5 located in the stopper groove 7 may be referred to as a third needle bearing 5c, two needle bearings 5 disposed on both sides of the second needle bearing 5b may be referred to as a second needle bearing 5b and a fourth needle bearing 5d, respectively, and the needle bearing 5 located on the side of the second needle bearing 5b remote from the third needle bearing 5c may be referred to as a first needle bearing 5 a. In the working state, the third needle bearing 5c is limited in the limiting groove 7 of the limiting section 6b and is contacted with two sides of the taper supporting rib 6, while the second needle bearing 5b and the fourth needle bearing 5d are respectively abutted on the inlet section 6a and the outlet section 6c, and the first needle bearing 5a is close to the inlet section 6a of the input cam 2 but is not contacted with the taper supporting rib 6 of the input cam 2. As the driving device 4 drives the input cam 2 to rotate for one circle, the third needle bearing 5c rolls along the driving curve profile under the pushing of the tapered supporting rib 6 of the input cam 2, enters the outlet section 6c from the limiting section 6b, and the output turret 3 intermittently rotates, so that the output shaft 12 and the scanning head 1 rotate. The first needle bearing 5a is in contact with the inlet section 6a during the rotation of the output turret 3, and the fourth needle bearing 5d is moved away from the inlet cam 2 from the outlet section 6c as the output turret 3 rotates. The second needle bearing 5b enters the limiting section 6b from the inlet section 6a and is positioned in the limiting groove 7, the driving device 4 continues to drive the input cam 2 to rotate, when the input cam 2 does not rotate to a certain angle, the second needle bearing 5b continues to be positioned in the limiting groove 7 and contacts with the tapered supporting ribs 6 on the two sides of the limiting groove, at this time, the output turret 3 does not rotate, and the output shaft 12 and the scanning head 1 do not rotate. Only when the entry cam 2 rotates for one circle, the tapered support rib 6 on the entry cam 2 rotates for a corresponding angle, and the needle bearing 5 is pushed to move. Therefore, the driving structure can realize 360-degree random indexing, the transmission is stable, and the scanner can realize 360-degree scanning of the space at a constant speed.
The needle bearing 5 is rotatably connected in the force turret 3 and has a high load-bearing capacity, which minimizes the friction of the forces between the force turret 3 and the force cams 2 and reduces the wear between the engaging surfaces, so that the drive structure has a long service life. The spacing of the limiting grooves of the tapered supporting ribs 6 on the input cam 2 is unchanged, so that the accuracy and stability of the output speed are ensured.
The driving device 4 comprises a driving motor 41, and an output shaft of the driving motor 41 is connected with the input cam 2 through a coupler 8. The shaft coupling 8 has the functions of buffering, damping and improving the dynamic performance of a shaft system. The coupler 8 is used in the driving structure, so that the transmission precision can be improved, and the transmission is more stable. The driving device 4 further includes a motor driver 42, and the motor driver 42 is electrically connected to the driving motor 41. The driving motor 41 and the motor driver 42 jointly form a driving system, and the motor driver 42 is externally connected with an external power supply and has the functions of speed regulation and positioning. The motor driver 42 can control the angular displacement by controlling the number of the pulses, so as to achieve the purpose of accurate positioning, and can control the rotating speed and the acceleration of the motor by controlling the pulse frequency, so as to achieve the purpose of speed regulation. The embodiment of the utility model provides a three-dimensional scanner's drive structure still includes the controller, and the controller is connected with motor driver 42 and scanning head 1 electricity respectively. The controller can be a PLC system, and can control the motor driver 42 to make the driving motor 41 drive the input cam 2 to rotate and drive the output turret 3 to rotate, so that the output shaft 12 and the scanning head 1 rotate, and the controller can also control the scanning head 1 to start or close scanning.
Further, the embodiment of the utility model provides a three-dimensional scanner's drive structure still includes quick-witted case 11, and income power cam 2 and power capstan head 3 are all installed in quick-witted case 11, and quick-witted case 11 is passed to the one end of income power cam 2 and the output shaft of driving motor 41, and the other end of income power cam 2 is rotationally connected with quick-witted case 11's inner wall, and the one end of power axle 12 is passed quick-witted case 11 and is connected with scanning head 1, and the other end of power axle 12 is rotationally connected with quick-witted case 11's inner wall. The case 11 has the function of protecting the transmission components such as the input cam 2, the output turret 3 and the like, and is prevented from being blocked due to the influence of external factors in the rotating process. The case 11 is provided with a through hole through which the force input cam 2 passes, a bearing is installed in the through hole, and one end of the force input cam 2 passes through the bearing to be connected with the output end of the driving motor 41. Similarly, the housing 11 is also provided with a through hole for the output shaft 12 to pass through, a bearing is also installed in the through hole, and one end of the output shaft 12 passes through the bearing to be connected with the scanning head 1. The case 11, the input cam 2 and the output turret 3 can form a 360-degree arbitrary indexing type cam divider, and can drive the scanner to rotate at a constant speed so as to scan a space.
Specifically, the embodiment of the utility model provides a three-dimensional scanner's drive structure still includes support 9, and driving motor 41 passes through motor cabinet 10 to be installed on support 9, and motor driver 42 and quick-witted case 11 are all installed on support 9. The motor base 10 is used for supporting and protecting the driving motor 41, and the bracket 9 has the function of supporting parts of the whole driving structure. In this embodiment, the bracket 9 includes a rear plate 91, a horizontally disposed bottom plate 92, and two vertical and oppositely disposed side plates 93. The cross-sectional shapes of the rear plate 91 and the bottom plate 92 are both rectangular, and the rear plate 91 and the bottom plate 92 have two long sides disposed opposite to each other and two short sides disposed opposite to each other. The rear plate 91 is vertically arranged on the bottom plate 92, and one short side of the rear plate 91 is fixedly connected with one short side of the bottom plate 92. The long sides of the back plate 91 are fixedly connected with the two side plates 93 respectively. The cross-sectional shape of the side plate 93 is a right trapezoid, and the bottom side of the side plate 93 is fixedly connected to the long side of the bottom plate 92. The rear plate 91, the bottom plate 92 and the two side plates 93 together enclose an installation space for installing the cabinet 11, the coupling 8 and the driving device 4. The motor base 10, the chassis 11, the motor driver 42 and other devices are all installed inside the back plate 91 and located in the installation space, the scanning head 1 is located outside the back plate 91, and the output shaft 12 penetrates through the chassis 11 and the back plate 91 to be connected with the scanning head 1.
Additionally, the embodiment of the utility model provides a three-dimensional scanner's drive structure still includes at least one counterweight, is equipped with at least one on the support 9 and installs position 13 with counterweight location complex, and counterweight detachably connects on installing position 13. In the working process, the scanning head 1 rotates outside the support 9, and in order to ensure the gravity balance of the whole driving structure, a counterweight part can be detachably arranged at the position corresponding to the support 9, so that the support 9 and the scanning head 1 are prevented from weightlessness and toppling over. In the present embodiment, the mounting locations 13 are located on the outer side of the rear plate 91. The counterweight is a lead block, the mounting position 13 is a screw hole arranged on the support 9, and the lead block is screwed in the screw hole. The outer side of the back plate 91 is provided with a row of screw holes, and a user can screw lead blocks in the screw holes, so that the scanning head 1 can keep static balance and dynamic balance when rotating. The lead block can be provided with a lead block matched with the screw hole in a threaded manner, and can also be a common lead block, and a user can connect the common lead block in the screw hole in a threaded manner through a screw.
In order to solve the same technical problem, the utility model also provides a three-dimensional scanner, its drive structure who includes above-mentioned technical scheme's three-dimensional scanner. The bracket 9 is installed in the three-dimensional scanner, and under the control of the controller, under the driving of the motor driver 42 and the driving motor 41, the input cam 2 drives the output turret 3 to rotate so as to drive the output shaft 12 to rotate, so that the 2D laser radar scanner can rotate 360 degrees.
The utility model discloses a working process does: the operator can control the driving motor 41 to drive the input cam 2 to rotate through the controller. The force input cam 2 is provided with a taper supporting rib 6, the taper supporting rib 6 is provided with a driving curve profile, the driving curve can be divided into a curve section and a straight line section of a profile surface of the plane cam, the curve section of the profile surface of the plane cam drives the needle roller bearing 5 to rotate, and the straight line section enables the needle roller bearing 5 to be static. The tapered support ribs 6 contact two or three needle bearings 5. A limiting groove 7 is formed between the tapered supporting ribs 6, and any needle bearing 5 is positioned in the limiting groove 7. When the input cam 2 rotates 360 degrees, the tapered support rib 6 pushes the needle bearing 5 on the input cam 2 to move, so that the output turret 3 rotates. One revolution of the power cam 2 pushes one needle bearing 5 to move, so that the power turret 3 rotates. Continuous input motion can be converted into intermittent output motion through the input cam 2 and the output turret 3, and the input cam 2 can drive the output turret 3 to rotate so as to drive the output shaft 12 to rotate, so that the scanning head 1 rotates. The operator can control the motor driver 42 to adjust the rotation speed and the rotation direction of the driving motor 41 by the controller, thereby changing the rotation speed and the rotation direction of the scanner head 1.
To sum up, the embodiment of the utility model provides a three-dimensional scanner and drive structure thereof, its drive arrangement's output and income power cam connection are equipped with the tapering that has the drive curve profile on the cam of going into power and support the rib, and the equidistant evenly distributed has a plurality of bearing on the capstan head of exerting oneself, and bearing and the tapering on the cam of going into power support the rib and cooperate, and one of them bearing is located the spacing groove that the tapering supported the rib and formed. The needle roller bearings are rotatably connected to the outer periphery of the force-applying turret, so that the friction force between the force-applying turret and the force-applying cam is reduced to the minimum, the abrasion between the meshing surfaces is reduced, and the service life of the scanner is prolonged. The force output rotating tower is provided with a force output shaft which is connected with the scanning head. The driving device drives the input cam to rotate, so that the taper supporting ribs push the needle roller bearing to rotate, the output turret rotates to drive the output shaft and the scanning head to rotate, 360-degree arbitrary division is realized, transmission is stable, output precision is high, and the scanner can realize 360-degree scanning of a space at a constant speed.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and replacements can be made without departing from the technical principle of the present invention, and these modifications and replacements should also be regarded as the protection scope of the present invention.