CN212031857U

CN212031857U - Laser scanning device

Info

Publication number: CN212031857U
Application number: CN202020529916.7U
Authority: CN
Inventors: 豆飞飞
Original assignee: Shaanxi Vihero Robot Technology Co ltd
Current assignee: Shaanxi Vihero Robot Technology Co ltd
Priority date: 2020-04-13
Filing date: 2020-04-13
Publication date: 2020-11-27
Anticipated expiration: 2030-04-13

Abstract

The utility model discloses a laser scanning device, include: the fixing plate is provided with a laser; a laser reflection assembly is arranged in the laser emission direction of the laser; the laser reflection assembly comprises a reflector supporting plate, and a reflector is arranged on one side of the reflector supporting plate, which is close to the laser; a rotary driving assembly is arranged on the fixed plate and drives the reflector supporting plate to rotate so as to drive the reflector to rotate; the fixed plate is provided with an encoder which is used for acquiring the angular speed of the output shaft of the rotary driving component; the fixed plate is provided with a control panel, and the encoder, the laser and the rotary driving assembly are electrically connected with the control panel. The utility model discloses technical scheme's laser scanning device has advantages such as laser output is stable, whole size is little, the scanning range is big, laser control precision is high for prior art.

Description

Laser scanning device

Technical Field

The utility model relates to a laser scanning field, concretely relates to laser scanning device.

Background

The rapid development of the robot technology expands the application of the robot from traditional fixed target high-precision repeated operation to flexible operation with variable operation objects and variable operation object positions, and the robot urgently needs the cooperation of machine vision to obtain the three-dimensional information of the operation objects.

For a machine vision system, a self-scanning laser eye device which is stable in operation, small in structural size and high in control precision is crucial, but the existing self-scanning laser eye device has some defects: firstly, the traditional laser swings in the operation process, so that the outgoing line at the back of the laser is easily damaged, and the integral stability of a binocular vision system is influenced; the conventional self-scanning laser eye device is too large in size and cannot be installed in a binocular vision system, so that the overall size of the binocular vision system is too large; and (III) the prior self-scanning laser eye device has low control precision.

Disclosure of Invention

For solving above technical problem, the utility model aims at providing a laser scanning device adopts the laser instrument fixed, utilizes laser reflection subassembly with the laser line reflection, has solved the easy not hard up, the unstable, the too big, the low problem of control accuracy of scanning device size of laser instrument afterbody wiring.

In order to achieve the above purpose, the present invention adopts the following technical solution.

A laser scanning device, comprising: the fixing plate is provided with a laser; a laser reflection assembly is arranged in the laser emission direction of the laser; the laser reflection assembly comprises a reflector supporting plate, and a reflector is arranged on one side of the reflector supporting plate, which is close to the laser; a rotary driving assembly is arranged on the fixed plate and drives the reflector supporting plate to rotate so as to drive the reflector to rotate; the fixed plate is provided with an encoder which is used for acquiring the angular speed of the output shaft of the rotary driving component; the fixed plate is provided with a control panel, and the encoder, the laser and the rotary driving assembly are electrically connected with the control panel.

Furthermore, the laser is a linear laser, and a laser emitting port of the linear laser is parallel to an output shaft of the rotary driving component.

Furthermore, the laser emitting direction of the laser is the positive direction of the X axis, and the rotating range of the reflecting mirror is-63.75 degrees to-26.25 degrees.

Furthermore, the laser of the laser passes through the central axis of the output shaft of the rotary driving component, and the reflecting surface of the reflector passes through the central axis of the output shaft of the rotary driving component.

Furthermore, the laser device further comprises a swing arm, one end of the swing arm is connected with an output shaft of the rotary driving assembly, and the other end of the swing arm is connected with one side, far away from the laser, of the reflector supporting plate.

Further, the encoder is an absolute value encoder.

Further, the rotary driving assembly comprises a motor and a speed reducer; the speed reducer is fixed on the fixing plate, an output shaft of the motor is connected with an input shaft of the speed reducer, and the driving reflector supporting plate of the speed reducer rotates.

Furthermore, the motor is a stepping motor, the speed reducer is a gear speed reducer, the gear speed reducer is fixed on the fixing plate, an output shaft of the stepping motor is connected with an input shaft of the gear speed reducer, and the gear speed reducer drives the reflector supporting plate to rotate.

Furthermore, the motor is a brushless motor, the speed reducer is a worm gear speed reducer, the worm gear speed reducer is fixed on the fixing plate, an output shaft of the brushless motor is connected with an input shaft of the worm gear speed reducer, and the gear speed reducer drives the reflector supporting plate to rotate.

Further, still include the laser seat, laser seat fixed connection has seted up laser instrument mounting hole and fastening screw on the fixed plate on the laser seat, and the laser instrument penetrates the laser instrument mounting hole and fastens through holding screw.

The utility model discloses technical scheme's laser scanning device has advantages such as laser output is stable, the whole size of device is little, the scanning range is big, laser control precision is high for prior art.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic perspective view of an embodiment of a laser scanning apparatus according to the present invention;

fig. 2 is an exploded view of an embodiment of the laser scanning device of the present invention;

fig. 3 is a schematic perspective view of another embodiment of the laser scanning device of the present invention;

fig. 4 is an exploded view of another embodiment of the laser scanning device of the present invention;

FIG. 5 is a diagram of the laser reflection path with the mirror in the end position of left rotation;

FIG. 6 is a laser reflection path with reflected rays directed vertically downward;

fig. 7 is a laser reflection optical path diagram when the reflector is at the right-hand end position.

In the above figures: 1, fixing a plate; 2, a laser; 3, a reflector supporting plate; 4, a reflector; 5, swinging the arm; 6, a coder; 7, controlling the board; 8, a stepping motor; 9 a gear reducer; 10 a brushless motor; 11 worm gear speed reducer; 12, a laser seat; 1201 laser mounting holes; 1202 fastening screw holes.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.

In the following description, specific details are set forth in order to provide a thorough understanding of the present invention. The invention can be implemented in a number of other ways than those described herein, and those skilled in the art will be able to make similar generalizations without departing from the spirit of the invention. The invention is therefore not limited to the specific embodiments disclosed below.

Referring to fig. 1, 2, 3 and 4, a laser scanning apparatus includes: the device comprises a fixed plate 1, wherein a laser 2 is arranged on the fixed plate 1; a laser reflection assembly is arranged in the laser emission direction of the laser 2; the laser reflection assembly comprises a reflector supporting plate 3, and a reflector 4 is arranged on one side, close to the laser 2, of the reflector supporting plate 3;

a rotary driving assembly is arranged on the fixed plate 1 and drives the reflector supporting plate 3 to rotate so as to drive the reflector 4 to rotate;

an encoder 6 is arranged on the fixed plate 1, and the encoder 6 is used for acquiring the angular speed of an output shaft of the rotary driving assembly;

the fixed plate 1 is provided with a control plate 7, and the encoder 6, the laser 2 and the rotary driving assembly are all electrically connected with the control plate 7.

In the prior art, a laser scanning device mostly adopts laser rotation scanning, the wiring at the tail part of the laser scanning device is easy to loosen, so that a scanning signal is unstable, and in addition, the rotation angle of the laser is equal to the scanning angle in the rotation scanning process of the laser, so that the rotation range of the laser is large if a large angle range is to be scanned, the laser occupies a large space, and the laser scanning device cannot be applied to places with high requirements on space dimensions. The utility model provides a laser scanning device, laser instrument 2 is fixed, and the laser of the fixed direction of 2 transmission of laser instrument is installed at the laser reflection subassembly in 2 transmission direction the place ahead of laser instrument rotatory, with laser ray reflection. The method for reflecting the laser by rotating the laser reflection assembly has the advantages that firstly, the tail part of the laser 2 is stably connected with a wire and can output stable laser; secondly, because the laser reflection assembly rotates, according to the reflection law of light, the incident light ray is kept unchanged, the plane mirror rotates by A degrees, and the reflected light ray rotates by 2 degrees in the same direction. Consequently, under the same scanning angle, adopt the utility model discloses technical scheme, the rotatory angle of its laser reflection subassembly is half of adopting 2 rotation angles of laser instrument in the 2 self rotation schemes of laser instrument. Therefore, the utility model discloses laser scanning device is more saved space, and is corresponding, and its scanning range is bigger.

Further, the laser 2 is a linear laser, and a laser emitting port of the linear laser 2 is parallel to the output shaft of the rotary driving component. In the above embodiment, the laser is mainly used for scanning, so the line laser 2 is preferred, and in practice, other forms of laser may be used according to practical requirements.

Further, the laser emitting direction of the laser 2 is the positive direction of the X axis, and the rotating range of the reflecting mirror 4 is-63.75 degrees to-26.25 degrees.

In this embodiment, a plane coordinate system is taken as an example, the laser emitting direction of the laser is the positive direction of the X-axis, and the rotation range of the reflector is-63.75 ° to-26.25 °.

Referring to fig. 5, when the mirror 4 is at-63.75 °, the reflected ray is-127.5 °.

Referring to fig. 6, when the mirror 4 is at-45 °, the reflected light is-90 °.

Referring to fig. 7, when the mirror 4 is at-26.25 °, the reflected ray is-52.5 °.

The range of rotation of the mirror 4 is 37.5 °, and the range of reflected ray scanning is 75 °.

Further, referring to fig. 5, 6 and 7, the laser light of the laser 2 passes through the central axis of the output shaft of the rotation driving assembly, and the reflecting surface of the reflector 4 passes through the central axis of the output shaft of the rotation driving assembly.

In the above embodiments, the preferred scheme is: the laser line passes through the axis of the output shaft of the rotation driving component, and the reflecting surface of the reflector passes through the axis of the output shaft of the rotation driving component. The scheme has simple structure and most convenient operation.

As another embodiment of the utility model, still include swing arm 5, swing arm 5's one end with the output shaft of rotary driving subassembly, the other end with one side that the laser instrument was kept away from to speculum layer board 3 is connected. In this embodiment, a swing arm 5 is provided between the mirror support plate 3 and the output shaft of the rotation driving assembly, and the mirror 4 is driven to rotate by the swing arm 5.

Further, the encoder 6 is an absolute value encoder. An absolute encoder determines the code from mechanical position without the need for memory, the need for finding a reference point, and without counting all the time, when it is needed to know the position, and when to read its position. The encoder has high anti-interference characteristic and high data reliability.

Further, the rotary driving assembly comprises a motor and a speed reducer; the speed reducer is fixed on the fixing plate 1, an output shaft of the motor is connected with an input shaft of the speed reducer, and the speed reducer drives the reflector supporting plate 3 to rotate.

Preferably, referring to fig. 1 and fig. 2, in this embodiment, the motor is a stepping motor 8, and the speed reducer is a gear speed reducer 9; the gear speed reducer 9 is fixed on the fixing plate 1, an output shaft of the stepping motor 8 is connected with an input shaft of the gear speed reducer 9, and the gear speed reducer 9 drives the reflector supporting plate 3 to rotate. The stepping motor 8 is an open-loop control motor which converts an electric pulse signal into angular displacement or linear displacement, is a main executive element in a digital program control system, and is widely applied. Under the condition of non-overload, the rotating speed and the stopping position of the stepping motor only depend on the frequency and the pulse number of the pulse signal and are not influenced by the load change, when the stepping driver receives a pulse signal, the stepping driver drives the stepping motor to rotate by a fixed angle in a set direction, and the stepping motor rotates by one step at the fixed angle. The angular displacement can be controlled by controlling the number of pulses, so that the aim of accurate positioning is fulfilled; meanwhile, the rotating speed and the rotating acceleration of the motor can be controlled by controlling the pulse frequency, so that the aim of speed regulation is fulfilled. The control precision of the device can be improved by adopting the stepping motor.

Referring to fig. 3 and 4, in another embodiment, the motor is a brushless motor 10, and the speed reducer is a worm gear speed reducer 11. The worm gear speed reducer 11 is fixed on the fixing plate 1, an output shaft of the brushless motor 10 is connected with an input shaft of the worm gear speed reducer 11, and the gear speed reducer 9 drives the reflector supporting plate 3 to rotate. Because the brushless DC motor is operated in a self-control mode, a starting winding is not additionally arranged on a rotor like a synchronous motor which is started under the condition of heavy load under the condition of frequency conversion and speed regulation, and oscillation and step-out can not be generated when the load suddenly changes.

In practice, a suitable motor and reducer can be selected according to requirements.

Further, the laser device comprises a laser device seat 12, wherein the laser device seat 12 is fixedly connected to the fixing plate 1, a laser device mounting hole 1201 and a fastening screw hole 1202 are formed in the laser device seat 12, and the laser device 2 penetrates through the laser device mounting hole 1201 and is fastened through a fastening screw. The laser base 12 is made of a material with good heat conduction and heat dissipation performance, and on one hand, the laser base fixes the laser 2 and on the other hand, the laser base is beneficial to timely dissipation of heat generated by the laser 2.

Although the invention has been described in detail in this specification with reference to specific embodiments and illustrative embodiments, it will be apparent to those skilled in the art that certain changes and modifications can be made therein without departing from the scope of the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims

1. A laser scanning device, comprising:

the device comprises a fixing plate (1), wherein a laser (2) is arranged on the fixing plate (1); a laser reflection assembly is arranged in the laser emission direction of the laser (2); the laser reflection assembly comprises a reflector supporting plate (3), and a reflector (4) is arranged on one side, close to the laser (2), of the reflector supporting plate (3);

a rotary driving assembly is arranged on the fixed plate (1), and drives the reflector supporting plate (3) to rotate so as to drive the reflector (4) to rotate;

an encoder (6) is arranged on the fixed plate (1), and the encoder (6) is used for acquiring the angular speed of an output shaft of the rotary driving component;

the fixed plate (1) is provided with a control plate (7), and the encoder (6), the laser (2) and the rotary driving assembly are electrically connected with the control plate (7).

2. The laser scanning device according to claim 1, characterized in that the laser (2) is a line laser, the laser emission port of which is parallel to the output shaft of the rotary drive assembly.

3. The laser scanning device according to claim 2, wherein the laser emitting direction of the laser is a positive X-axis direction, and the rotation range of the mirror is from-63.75 ° to-26.25 °.

4. A laser scanning device according to claim 3, characterized in that the laser light of the laser (2) passes through the central axis of the output shaft of the rotary drive assembly, and the reflecting surface of the mirror (4) passes through the central axis of the output shaft of the rotary drive assembly.

5. A laser scanning device according to claim 3, further comprising a swing arm (5), wherein one end of the swing arm (5) is connected to the output shaft of the rotary driving assembly, and the other end is connected to the side of the mirror support plate (3) away from the laser (2).

6. Laser scanning device according to claim 1, characterized in that the encoder (6) is an absolute value encoder.

7. The laser scanning device of claim 1, wherein the rotary drive assembly comprises a motor and a speed reducer; the speed reducer is fixed on the fixing plate (1), an output shaft of the motor is connected with an input shaft of the speed reducer, and the speed reducer drives the reflector supporting plate (3) to rotate.

8. The laser scanning device according to claim 7, wherein the motor is a stepping motor (8), the speed reducer is a gear speed reducer (9), the gear speed reducer (9) is fixed on the fixing plate (1), an output shaft of the stepping motor (8) is connected with an input shaft of the gear speed reducer (9), and the gear speed reducer (9) drives the reflector supporting plate (3) to rotate.

9. The laser scanning device according to claim 7, wherein the motor is a brushless motor (10), the speed reducer is a worm gear speed reducer (11), the worm gear speed reducer (11) is fixed on the fixing plate (1), an output shaft of the brushless motor (10) is connected with an input shaft of the worm gear speed reducer (11), and an output shaft of the gear speed reducer (9) drives the reflector supporting plate (3) to rotate.

10. The laser scanning device according to claim 1, further comprising a laser seat (12), wherein the laser seat (12) is fixedly connected to the fixing plate (1), a laser mounting hole (1201) and a fastening screw hole (1202) are formed in the laser seat (12), and the laser (2) penetrates through the laser mounting hole (1201) and is fastened through a fastening screw.