CN114485401B - Movable three-dimensional laser scanner - Google Patents

Abstract

The utility model relates to a portable three-dimensional laser scanner, it includes laser scanner and traveling system, traveling system includes the traveling support and four running gear who sets up in the traveling support, laser scanner installs in the traveling support, running gear includes two walking swivel and a plurality of walking roller that encircles the walking swivel setting, the walking swivel rotates and connects in the traveling support, the outside edge of two walking swivel is towards the direction sunken shaping that keeps away from mutually has the installation department, the installation department is the folded plate-like structure of V-arrangement, the both ends of walking roller are rotated respectively and are connected in the installation department of two walking swivel, and the axis of rotation of walking roller is 45 contained angles with the axis of rotation of walking swivel, the vertical projection of the walking roller of two adjacent running gear of hoop is axisymmetric setting, the traveling support is provided with four running gear's of drive swivel pivoted driving piece. The regional measurement and the transportation can be carried out relatively conveniently under the condition that the interference is relatively more and the space is limited.

Description

Movable three-dimensional laser scanner

Technical Field

The application relates to the field of engineering surveying and mapping, in particular to a movable three-dimensional laser scanner.

Background

Along with the continuous development of the three-dimensional laser scanning technology, the application field is also expanding, and the advantages of the three-dimensional laser scanning technology in engineering measurement are also becoming obvious. The appearance and development of the three-dimensional laser scanning technology provides a brand new technical means for acquiring the space three-dimensional information, and becomes one of the main modes for rapidly acquiring the space entity three-dimensional model.

In the prior art, a three-dimensional laser scanner is often adopted for engineering measurement, and the existing three-dimensional laser scanner is mainly divided into a vehicle-mounted three-dimensional laser scanner, a backpack type three-dimensional laser scanner and a standing type three-dimensional laser scanner. The knapsack type three-dimensional laser scanner is mainly applied to engineering measurement in a place inconvenient to transport or narrow; the frame standing type three-dimensional laser scanner is mainly applied to fixed-point engineering measurement; the vehicle-mounted three-dimensional laser scanner is mainly applied to measurement of buildings and the like in a fixed area.

However, in the actual use process, when the regional measurement of more interference objects and limited space such as a steel structure, a pipe network and the like is met, the vehicle-mounted three-dimensional laser scanner cannot measure because of the limited space and the more interference objects; the knapsack type and standing type three-dimensional laser scanners are fixed-point type measuring modes, and are relatively inconvenient because of limited angles and spaces during transportation, and the knapsack type and standing type three-dimensional laser scanners need to be transported for many times.

Disclosure of Invention

In order to facilitate regional measurement relatively conveniently under the conditions of more interferents and limited space, the application provides a mobile three-dimensional laser scanner.

The application provides a portable three-dimensional laser scanner adopts following technical scheme:

the utility model provides a portable three-dimensional laser scanner, includes the laser scanner, still includes the running gear who is used for carrying the walking of laser scanner, running gear includes walking support and four are the rectangle and divide to arrange in the running gear of walking support, the laser scanner is installed in the walking support, running gear includes two walking swivel and a plurality of walking rollers that encircle the walking swivel setting, the walking swivel rotates and connects in the walking support, two the outside of walking swivel is along the direction of keeping away from mutually sunken shaping has the installation department, the installation department is the folded plate form structure of V-arrangement, the both ends of walking roller rotate respectively and connect in the installation department of two walking swivel, just the axis of rotation of walking roller is 45 contained angles with the axis of rotation of walking swivel, the annular two adjacent vertical projection of running roller of running gear is axisymmetric setting, the walking support is provided with four walking swivel pivoted driving pieces of the four running gear of drive respectively one-to-one.

By adopting the technical scheme, when regional measurement is carried out at a position with relatively more interference and limited space, when the walking swivel rotates, the walking roller and the walking swivel form an angle, so that the friction force between the walking roller and the ground can generate component forces along the rotation direction and the central axis direction of the walking swivel; only the driving piece drives the traveling swivel of the four traveling mechanisms to rotate in the same direction, so that the traveling swivel can finish advancing or retreating; when the position of the three-dimensional laser scanner needs to be laterally adjusted, only four driving parts are needed to drive the walking swivel of any two adjacent walking mechanisms to rotate in opposite directions, so that component forces parallel to the advancing direction generated by the two walking mechanisms on the same side along the advancing direction are balanced with each other, and component forces facing the same side are generated at the same time, so that the whole walking bracket is driven to move laterally; when the angle of the three-dimensional laser scanner is required to be adjusted in a rotating way in situ, only four driving parts are required to drive two travelling mechanisms on the same side along the travelling swivel rotation plane in the four travelling mechanisms to rotate in the same direction; then, the two travelling mechanisms at the other side rotate in opposite directions, so that the four travelling mechanisms generate circumferential torque, and the travelling support is driven to integrally rotate; meanwhile, when the position is required to be adjusted forwards or backwards sideways, only any two travelling mechanisms positioned at the diagonal positions are required to rotate in the same direction, so that component forces along the rotation direction of the travelling swivel and on the same side can be generated, and the whole travelling support is driven to displace forwards or backwards sideways; therefore, the position and the angle can be adjusted at will under the conditions of more interferents and limited space, and regional measurement can be completed relatively conveniently.

Optionally, the profile of the outer wall of the walking roller is arc-shaped, and the projections of the profile lines of the outer sides of a plurality of walking rollers of the walking mechanism along the axial direction of the walking swivel are mutually overlapped and are circular.

Through adopting above-mentioned technical scheme, when can making the walking swivel rotate, different walking roller butt is more mild relatively in the in-process of ground conversion to the vibration that produces when reducing the use, thereby reduce the influence that the vibration produced to three-dimensional laser scanner because of setting up the walking roller.

Optionally, the same still be provided with coupling assembling between two walking swivel joints of running gear, coupling assembling includes first connecting axle and first connecting disc, first connecting axle is T shape and its tip wears to establish and fixed connection in two walking swivel joints and first connecting disc, two the walking swivel joint is held between the main aspects and the first connecting disc of first connecting axle, first connecting axle and first connecting disc all rotate and connect in the walking support.

Through adopting above-mentioned technical scheme, when using, can link together two walking swivel through first connecting disc and first connecting axle to when restricting the axial component of two walking swivel, can also be through the elasticity bending of walking swivel, the side direction component that produces when balanced walking roller butt in ground.

Optionally, the first connecting axle and the first connecting disk all are provided with the damping subassembly that is used for the shock attenuation, the damping subassembly includes damping ring, two sets of elasticity damping strip and collar, damping ring fixed connection is in the walking support, same group the elasticity damping strip encircles the central axis setting of damping ring, and two sets of the one end fixed connection that elasticity damping strip kept away from mutually in damping ring, two sets of the opposite ends fixed connection of elasticity damping strip in the collar, the collar rotates to be connected in first connecting axle.

By adopting the technical scheme, when the walking swivel rotates, the walking swivel walks through mutually switching and abutting the ground by the plurality of walking rollers, and the generated vibration is relatively large; at the moment, the first connecting shaft is provided with the vibration reduction assembly to be rotationally connected to the walking bracket, and can buffer the vibration generated by the walking roller through the elastic deformation of the elastic vibration reduction strip in the walking process; the device can also absorb lateral component force generated in the conversion process of the walking roller so as to optimize the stability in use and achieve relatively stable regional measurement in a limited space.

Optionally, be provided with the flexible drive mechanism that is used for transmitting power between first connecting axle and the driving piece, flexible drive mechanism includes flexible transfer line and flexible transmission pipe, flexible transfer line and flexible transmission pipe respectively one-to-one universal articulated in the power take off of first connecting axle and driving piece, flexible transfer line inserts and establishes and sliding connection in flexible transmission pipe, be provided with the lubricated subassembly that is used for lubricated in the flexible transmission pipe.

By adopting the technical scheme, the driving output of the driving piece can be influenced to a certain extent due to relatively large vibration in the process of switching the walking roller; at this time, can stretch out and draw back through the relative axial between flexible transfer line and the flexible transfer line, when adaptation leads to the change of interval between driving piece and the walking swivel because of the vibration, still can lubricate the clearance between flexible transfer line and the flexible transfer line through lubrication assembly, reduce the wearing and tearing because of the vibration leads to, when optimizing the stability of use, increase life.

Optionally, the lubrication assembly includes the lubrication bellows, the both ends of lubrication bellows are fixed connection in flexible transfer line and flexible transfer line respectively, all be filled with lubricating liquid in the lubrication bellows and the flexible transfer line, the lubrication bellows is provided with two check valves, two the flow direction of check valve is opposite, and one of them the check valve communicates in flexible transfer line, another the check valve communicates in the clearance between flexible transfer line and the flexible transfer line, fixedly connected with is used for sealed pipe between flexible transfer line and the flexible transfer line.

By adopting the technical scheme, in the walking process, as the telescopic transmission rod and the telescopic transmission pipe can relatively generate tiny expansion, the gap opening between the telescopic transmission pipe and the telescopic transmission rod is sealed in a sliding way through the sealing pipe, meanwhile, in the process, the lubrication corrugated pipe can expand and contract, and through the two one-way valves, the lubrication liquid in the lubrication corrugated pipe is extruded through one-way valve in sequence; then sucking lubricating liquid through another one-way valve; and the extruded lubricating liquid can be input into a gap between the telescopic transmission rod and the telescopic transmission pipe or into the telescopic transmission pipe, so that the lubricating liquid in the gap between the telescopic transmission pipe and the telescopic transmission rod, the lubricating liquid in the telescopic transmission pipe and the lubricating liquid in the lubricating corrugated pipe can be circulated, the gap between the telescopic transmission rod and the telescopic transmission pipe can be kept in a lubricated state, the situation that the gap between the telescopic transmission pipe and the telescopic transmission rod is locally free of the lubricating liquid due to overlarge local load is reduced, and the relatively sufficient resistance in the circulating flow process of the lubricating liquid can be used for buffering vibration during rotation of a travelling mechanism while lubricating the telescopic transmission pipe and the telescopic transmission rod.

Optionally, flexible transfer line is the tubulose, the lubrication bellows is located inside the flexible transfer line, the one end fixedly connected with lubrication board that the lubrication bellows is located the flexible transfer line, the border fixedly connected with of lubrication board is in the inner wall of flexible transfer line, the other end fixedly connected with lubrication bellows, lubrication bellows slides and connects in the inner wall of flexible transfer line, lubrication bellows fixedly connected with telescopic push rod, telescopic push rod fixedly connected with is in flexible transfer line.

By adopting the technical scheme, the lubrication corrugated pipe is arranged in the telescopic transmission rod, so that the occupied space can be reduced during use; when the lubrication corrugated pipe is used, the telescopic push rod can push the lubrication telescopic plate to extrude or stretch the lubrication corrugated pipe, and in the process, the lubrication corrugated pipe can be limited by the lubrication plate, so that the lubrication corrugated pipe can be fully extruded and stretched.

Optionally, the telescopic push rod is tubular and is fixedly connected with a control valve communicated with the inside of the telescopic push rod, an inlet of the control valve on the telescopic push rod penetrates out of the telescopic transmission tube, and the telescopic transmission rod is also fixedly connected with the control valve communicated with the inside of the telescopic transmission rod.

By adopting the technical scheme, when the lubricating liquid needs to be replaced, new lubricating liquid is pumped in through one of the control valves, and then old lubricating liquid is discharged through the other lubricating liquid.

Optionally, the walking support is provided with four first walking parts of four driving parts of one-to-one respectively, first walking parts is including rotating the walking support of connecting in first connecting axle and rotating the walking wheel of connecting in the walking support, the walking wheel is provided with the walking driving part, the power input and the output of walking driving part are connected in first connecting axle and walking wheel respectively, the walking support still is provided with the telescopic cylinder that is used for controlling walking support pivoted.

By adopting the technical scheme, when the transport is required, the travelling wheel is abutted to the ground only by controlling the travelling support to rotate through the telescopic cylinder; at the moment, the driving piece transmits the power of the first connecting shaft to the travelling wheels through the travelling transmission piece, so that relatively quick and stable transportation is realized; meanwhile, when encountering part of the vertical obstacle, the walking support is only required to rotate in sequence, and then the walking mechanism or the walking wheel is abutted to the upper part of the vertical obstacle; then, after the whole walking is driven, the walking support is propped against the obstacle through a walking mechanism or a walking wheel which is not propped against the obstacle, so that the lifting and the walking of the walking support are realized; and 3, completing crossing of the obstacle.

Optionally, the walking driving medium includes two walking sprockets and the walking chain of cover locating two walking sprockets, two the walking sprocket is coaxial fixed connection respectively in walking wheel and first connecting axle.

By adopting the technical scheme, when the novel bicycle is used, one of the walking chain wheels is driven to rotate by the first connecting shaft, and the other walking chain wheel is driven to rotate by the walking chain; simultaneously, the walking support rotates to be connected in first connecting axle, can effectually reduce the influence that walking support meshed in walking sprocket to the walking chain.

Drawings

Fig. 1 is a first structural schematic diagram of an embodiment of the present application.

Fig. 2 is an enlarged schematic view of the portion a in fig. 1.

Fig. 3 is a schematic cross-sectional view of an embodiment of the present application.

Fig. 4 is an enlarged schematic view of the portion B in fig. 3.

Fig. 5 is an enlarged schematic view of the portion C in fig. 3.

Fig. 6 is a second structural schematic diagram of an embodiment of the present application.

Reference numerals illustrate: 1. a laser scanner; 11. a mounting base; 111. a second support bar; 112. a second slide bar; 2. a walking bracket; 21. a first runner; 211. a walking support; 212. a walking wheel; 22. a walking transmission member; 221. a traveling chain wheel; 222. a walking chain; 23. a telescopic cylinder; 24. a first support bar; 25. a first slide bar; 3. a walking mechanism; 31. a walking swivel; 311. a mounting part; 312. an abutting portion; 32. a walking roller; 33. a connection assembly; 331. a first connecting shaft; 332. a first connection plate; 333. a vibration damping shaft; 34. a vibration damping assembly; 341. a vibration damping ring; 342. an elastic vibration damping strip; 343. a mounting ring; 344. connecting a bearing; 4. a driving member; 5. a telescopic transmission mechanism; 51. a telescopic transmission rod; 52. a telescopic transmission tube; 53. a lubrication assembly; 531. lubrication of the bellows; 532. a one-way valve; 533. a lubricating plate; 534. lubricating the expansion plate; 535. a telescopic push rod; 536. a control valve; 54. sealing the tube; 6. an adjusting mechanism; 61. an adjusting frame; 611. an adjusting lever; 62. an adjusting member; 621. adjusting a motor; 622. adjusting a screw; 623. and (5) adjusting the seat.

Detailed Description

The present application is described in further detail below in conjunction with figures 1-6.

The embodiment of the application discloses a mobile three-dimensional laser scanner. Referring to fig. 1 and 2, the mobile three-dimensional laser scanner includes a laser scanner 1 and a travel system for traveling with the laser scanner 1. The laser scanner 1 is a vehicle-mounted laser scanner.

The traveling system comprises a traveling support 2 and four traveling mechanisms 3 which are distributed on the traveling support 2 in a rectangular shape, wherein the traveling mechanisms 3 comprise two traveling swivel rings 31 and a plurality of traveling rollers 32 which are arranged around the central axis of the traveling swivel rings 31. The traveling swivel 31 is rotatably connected to the traveling bracket 2 through a connecting component 33, and the traveling bracket 2 is provided with four driving members 4 for driving the traveling swivel 31 of the four traveling mechanisms 3 to rotate in a one-to-one correspondence manner. Wherein the driving member 4 is a motor or an engine.

Referring to fig. 1 and 2, further, the two traveling swivel rings 31 are parallel to each other and are disposed along the central axis, the two traveling swivel rings 31 are concavely formed with mounting portions 311 toward the direction away from each other, the mounting portions 311 are in a V-shaped plate structure, two ends of the traveling roller 32 are respectively rotatably connected to the inner sides of the mounting portions 311 on the two traveling swivel rings 31, and meanwhile, the strength of the entire traveling swivel ring 31 can be effectively increased by the mounting portions 311, and the possibility of bending of the traveling swivel ring 31 due to axial force of the traveling roller 32 is reduced.

The outer wall profile of the traveling roller 32 is arc-shaped, and the projection profile of a plurality of traveling rollers 32 rotatably connected to the same traveling swivel 31 along the central axis direction of the traveling swivel 31 is circular, so as to reduce vibration generated by overlapping the traveling rollers 32 on the ground when the traveling swivel 31 rotates.

Specifically, the central axis of the running roller 32 forms an included angle of 45 ° with the rotation axis of the running swivel 31, and projections of the running rollers 32 on two running swivel 31 adjacent in the circumferential direction are symmetrically arranged, so that when two adjacent running mechanisms 3 rotate, the running rollers 32 of two adjacent running mechanisms 3 generate opposite axial friction component forces.

When the laser scanner is used, because the central axis of the walking roller 32 and the rotation axis of the walking swivel 31 form an included angle of 45 degrees, the friction force generated between the walking roller 32 and the ground can generate component force parallel to the rotation plane of the walking swivel 31 and the central axis direction of the walking swivel 31, when the walking roller is required to advance, retreat, horizontally move or rotate in situ, the rotation directions of different walking swivel 31 are controlled by the driving piece 4 respectively, so that when the four walking swivel 31 rotates, the component force generated by the abutment of the walking roller 32 on the ground balances each other and forms resultant force along the movement direction, and the walking bracket 2 can be driven to move forwards, retreat, horizontally move left and right or rotate in situ, thereby the position and the angle of the laser scanner 1 can be adjusted relatively conveniently under the conditions of more interference objects and limited space; while reducing vibrations caused by the need to balance the force components of the different running rollers 32 in both axial and rotational directions.

For example, when the laser scanner 1 needs to be rotated to adjust the angle, it is only necessary to make the rotation directions of the traveling swivel 31 of any adjacent two of the traveling mechanisms 3 the same; the rotation directions of the traveling swivel 31 of the other adjacent two traveling mechanisms 3 are rotated in opposite directions, so that the axial separation generated by the traveling rollers 32 of the two adjacent traveling mechanisms 3 rotating in different directions can be in the same direction; simultaneously, the axial force components generated by the walking rollers 32 of the other two adjacent walking mechanisms 3 are along different directions; and the forces along the rotation direction that the walking roller 32 of four running gear 3 produced are along different directions respectively to make walking support 2 produce the moment along four running gear 3 centers, with drive walking support 2 circumferential direction, reach the effect of the adjustment laser scanner 1 in situ, and do not need the manual handling and do not need extra space, make the use comparatively more convenient.

Referring to fig. 3 and 4, in order to further increase stability between the two traveling swivels 31 of the same traveling mechanism 3 at the time of traveling, the two traveling swivels 31 of the same traveling mechanism 3 are concavely formed with the abutting portions 312 in opposition, and the two abutting portions 312 of the same traveling mechanism 3 abut against each other so that, at the time of use, the possibility of deformation of the traveling swivel 31 due to the axial force of the traveling roller 32 can be reduced by mutual abutment of the two abutting portions 312, being mutually restricted.

The connecting assembly 33 comprises a first connecting shaft 331 and a first connecting disc 332, the first connecting shaft 331 is T-shaped, the small ends of the first connecting shaft 331 penetrate through the two traveling swivel rings 31 at the same time, the large ends of the first connecting shaft 331 are abutted to one of the two traveling swivel rings 31 of the same traveling mechanism 3, the two traveling swivel rings 31 of the same traveling mechanism 3 are clamped between the large ends of the first connecting shaft 331 and the first connecting disc 332, and the two traveling swivel rings 31 are fixedly connected to the large ends of the first connecting shaft 331 and the first connecting disc 332 respectively. Wherein, the power output end of the driving member 4 is connected to the large end of the first connecting shaft 331.

Referring to fig. 4 and 5, further, the small end of the first connecting shaft 331 is penetrated and fixedly connected to the first connecting disc 332, and the vibration damping assemblies 34 are respectively disposed at the ends of the first connecting shaft 331 and the first connecting disc 332 away from each other, so that the first connecting shaft 331 and the first connecting disc 332 are respectively connected to the walking bracket 2 through different vibration damping assemblies 34 in a rotating manner.

Specifically, the ends of the first connecting shaft 331 and the first connecting plate 332 away from each other are fixedly connected with a vibration damping shaft 333. The vibration damping assembly 34 includes a vibration damping ring 341, two sets of elastic vibration damping strips 342 and a mounting ring 343, the vibration damping ring 341 has a U-shaped cross section with an opening of the U-shape facing the center side of the vibration damping ring 341. The same set of elastic vibration damping strips 342 is provided in plurality, and the same set of plurality of elastic vibration damping strips 342 is provided around the center axis of vibration damping ring 341, with elastic vibration damping strips 342 being parallel to the center axis of vibration damping ring 341. Wherein the mounting ring 343 is provided with two corresponding sets of elastomeric vibration damping strips 342.

Referring to fig. 4 and 5, two mounting rings 343 are disposed about the central axis, and the mounting rings 343 are sleeved on the damper shaft 333. One ends of the two groups of elastic vibration reduction strips 342, which are far away from each other, are respectively and fixedly connected with two opening edges of the vibration reduction ring 341; the opposite ends of the two sets of elastomeric vibration damping strips 342 are fixedly attached to two mounting rings 343, respectively. The inner edges of the two mounting rings 343 are bent in opposite directions, and a connecting bearing 344 is arranged between the two mounting rings 343.

The inner ring of the connecting bearing 344 is sleeved outside and fixedly connected to the vibration damping shaft 333, the outer ring of the connecting bearing 344 is clamped on the inner sides of the bending parts of the two mounting rings 343, so that the mounting rings 343 are rotationally connected to the vibration damping shaft 333 through the connecting bearing 344, the mounting rings 343 are rotationally connected to the first connecting shaft 331, and the power output end of the driving piece 4 is connected to the first connecting shaft 331 through the vibration damping shaft 333.

In use, the axial slip of the connecting bearing 344 can be limited by the two mounting rings 343, so that the axial slip of the first connecting shaft 331 can be limited for balancing the axial force generated by the running roller 32 in use, and at the same time, vibration generated by the running roller 32 in rotation and component force of the running roller 32 in the axial direction can be absorbed by the elastic bending of the plurality of elastic vibration absorbing strips 342.

Referring to fig. 4 and 5, in addition, since the vibration-damping shaft 333 vibrates following the traveling swivel 31 when in use, the vibration-damping shaft 333 is displaced in a certain axial direction and in a vertical direction at this time, and since the traveling swivel 31 rotates, vibrations generated at the time of traveling are further increased by the transition between the plurality of traveling rollers 32, resulting in a relatively larger collision with the driving member 4. In order to solve this problem, a telescopic transmission 5 for transmitting power and being telescopic is provided between the first connection shaft 331 and the driving member 4 to accommodate the vibration of the running gear 3.

The telescopic transmission mechanism 5 comprises a telescopic transmission rod 51 and a telescopic transmission tube 52, the telescopic transmission rod 51 is of a tubular structure with one end closed, one end of an opening of the telescopic transmission rod 51 is inserted and glidingly connected to the telescopic transmission tube 52, and the telescopic transmission rod 51 and the telescopic transmission tube 52 are arranged with the central axis. Further, the telescopic transmission rod 51 is articulated with the vibration-damping shaft 333 in a universal manner, so that the telescopic transmission rod 51 is articulated with the first connecting shaft 331 through the vibration-damping shaft 333 in a universal manner; the end of the telescopic transmission tube 52 remote from the telescopic transmission rod 51 is universally hinged to the power output end of the driving member 4. Wherein, the telescopic transmission rod 51 is pinned with the inner wall of the telescopic transmission tube 52, specifically, the outer wall of the telescopic transmission rod 51 is adapted to the inner wall of the telescopic transmission tube 52, and the outline of the outer wall of the telescopic transmission rod 51 is polygonal; or the outer wall of the telescopic transmission rod 51 is fixedly connected with a telescopic strip embedded in and glidingly connected with the inner wall of the telescopic transmission tube 52 so as to limit the circumferential rotation of the telescopic transmission rod 51 relative to the telescopic transmission tube 52.

Referring to fig. 4 and 5, further, in order to reduce wear caused by the telescopic transmission rod 51 and the telescopic transmission tube 52 due to axial sliding of the telescopic transmission rod 51 relative to the telescopic transmission tube 52 during use, a lubrication assembly 53 for lubricating a gap between the telescopic transmission rod 51 and the telescopic transmission tube 52 is provided in the telescopic transmission rod 51.

The lubrication assembly 53 includes a lubrication bellows 531, a lubrication plate 533, a lubrication expansion plate 534, and a connection expansion rod 535, where one end of the lubrication bellows 531 is in a closed state and the closed end is fixedly connected to the lubrication plate 533, and the lubrication plate 533 is fixedly connected to the inner wall of the expansion transmission rod 51. The open end of the lubrication bellows 531 extends toward the open end of the telescopic transmission rod 51 and is fixedly connected to the lubrication telescopic plate 534. One end of the telescopic pushing rod 535 is fixedly connected to the lubrication telescopic plate 534, and the other end of the telescopic pushing rod 535 extends out of the telescopic transmission rod 51 and is fixedly connected to the telescopic transmission tube 52.

Referring to fig. 4 and 5, two check valves 532 are fixedly connected to the outer wall of the lubrication bellows 531, the flow directions of the two check valves 532 are respectively the inflow lubrication bellows 531 and the outflow lubrication bellows 531, and one check valve 532 is communicated with the inside of the telescopic transmission tube 52; the other check valve 532 is fixedly connected to the lubricating plate 533 and communicates with the gap between the telescopic drive tube 52 and the telescopic drive rod 51. The opening edge of the telescopic transmission tube 52 is fixedly connected with a sealing tube 54 sleeved outside the telescopic transmission rod 51, the sealing tube 54 is fixedly connected with the sealing tube 54, and the sealing tube 54 is an elastic tube for sealing. The inside of the telescopic drive tube 52 and the inside of the lubrication bellows 531 are filled with a lubrication liquid.

When in use, the driving piece 4 only needs to drive the telescopic transmission pipe 52 to rotate, so as to drive the telescopic transmission rod 51 to rotate, and the rotating telescopic transmission rod 51 drives the walking swivel 31 to rotate through the vibration reduction shaft 333; meanwhile, in the process, the telescopic transmission rod 51 and the telescopic transmission tube 52 can slide relatively and drive the telescopic push rod 535 to slide, and then the lubricating bellows 531 is extruded or stretched through the lubricating telescopic plate 534; in this process, the compressed lubrication bellows 531 discharges the internal lubrication oil through one of the check valves 532; or the stretched lubrication bellows 531 will draw in the lubrication oil in the lubrication bellows 531 through the other one-way valve 532; thereby realizing the circulation of the clearance between the telescopic transmission rod 51 and the lubrication bellows 531, the inside of the telescopic transmission tube 52 and the inside of the lubrication bellows 531, so that the clearance between the telescopic transmission rod 51 and the telescopic transmission tube 52 can be kept in a relatively sufficient lubricated state; the possibility that the stress part between the telescopic transmission rod 51 and the telescopic transmission tube 52 cannot be sufficiently lubricated due to extrusion caused by severe and frequent vibration is reduced so as to adapt to the vibration generated by the walking roller 32; and simultaneously, the abrasion generated when the telescopic transmission rod 51 and the telescopic transmission tube 52 are used can be effectively reduced.

Referring to fig. 4 and 5, further, in order to facilitate replacement of the lubrication fluid inside the telescopic drive tube 52, the telescopic push rod 535 is tubular, and the telescopic push rod 535 and the telescopic drive rod 51 are provided with control valves 536, respectively. A control valve 536 on telescoping ram 535 communicates the interior of telescoping ram 535 with the exterior of telescoping drive tube 52; the control valve 536 on the telescopic drive rod 51 communicates with the inside and outside of the telescopic drive rod 51.

When the lubrication liquid needs to be replaced, only two control valves 536 are required to be opened, then new lubrication liquid is pumped or poured into through one of the control valves 536, so that the new lubrication liquid flows in the lubrication bellows 531, the gaps between the telescopic transmission pipe 52 and the telescopic transmission rod 51 and the inside of the telescopic transmission pipe 52, and finally is discharged through the control valve 536 of the telescopic transmission rod 51, thereby being convenient for replacing the lubrication liquid and reducing the influence on power transmission.

Of course, in other embodiments, the lubrication assembly 53 may also include two check valves 532 with opposite flow directions and a lubrication tube, the lubrication tube is inserted and slidingly connected in the telescopic transmission rod 51, and one check valve 532 is respectively communicated with the interior of the telescopic transmission rod 51 and the gaps between the telescopic transmission rod 51 and the telescopic transmission tube 52; another one-way valve 532 communicates the lubrication tube with the interior of the telescoping drive tube 52.

Referring to fig. 1 and 2, in actual use, since the travelling mechanism 3 drives the travelling support 2 to travel and perform position and angle adjustment, the travelling mechanism needs to rely on axial force component driving generated between the travelling roller 32 and the ground and along the plane of the travelling swivel 31, so that the vibration amplitude between the travelling roller 32 and the ground can be increased when the travelling mechanism needs to transport, and relatively high-speed transportation is inconvenient. In order to reduce the influence of the travelling rollers 32 on the transport, the travelling support 2 is provided with four first travelling members 21, the four first travelling members 21 being arranged in a one-to-one correspondence with the four travelling mechanisms 3, respectively.

Specifically, the first traveling member 21 includes a traveling support 211 rotatably coupled to the traveling bracket 2 and a traveling wheel 212 rotatably coupled to the traveling support 211. Further, the walking support 211 is rotatably connected to the vibration damping shaft 333, such that the walking support 211 is rotatably connected to the walking bracket 2 through the vibration damping shaft 333 and the vibration damping assembly 34. The walking support 211 is provided with a telescopic cylinder 23 for controlling the walking support 211 to rotate, the telescopic cylinder 23 is a hydraulic cylinder, an air cylinder or an electric pushing cylinder, the telescopic cylinder 23 is hinged to the walking support 2, and the telescopic end of the telescopic cylinder 23 is hinged to the walking support 211. The travel support 211 is provided with a travel gear 22 for transmitting the power of the driving element 4 to the travel wheels 212.

When the transport is needed, the traveling support 211 is driven to extend downwards through the telescopic cylinder 23, so that the traveling wheels 212 are abutted to the ground, and then the driving piece 4 and the traveling transmission piece 22 drive the traveling wheels 212 to rotate, so that the transport is convenient, and the influence of the traveling rollers 32 on the transport speed is reduced.

Referring to fig. 1 and 2, four travelling wheels 212 are all located at the inner sides of four travelling mechanisms 3, so that when the travelling wheels are transported, when the travelling wheels encounter an obstacle, only the travelling support 211 is required to shrink, the travelling wheels can travel through the travelling mechanisms 3, the passing of relatively more obstacles and even step surfaces is completed, the transporting speed can be effectively increased, and meanwhile, the passing performance during transporting can be increased.

The traveling transmission member 22 includes two traveling sprockets 221 and a traveling chain 222 sleeved on and engaged with the two traveling sprockets 221, wherein one traveling sprocket 221 is fixedly connected to the traveling wheel 212 coaxially, and the other traveling sprocket 221 is fixedly connected to the damper shaft 333 coaxially, so that the traveling sprocket 221 is fixedly connected to the large end of the first connecting shaft 331 through the damper shaft 333.

Referring to fig. 6, the traveling bracket 2 has a rectangular frame-like structure, and the traveling bracket 2 is provided with an adjusting mechanism 6 for adjusting the height of the three-dimensional laser scanner 1. The adjusting mechanism 6 comprises two adjusting frames 61 and an adjusting piece 62 for controlling the adjusting frames 61 to lift, and the two adjusting frames 61 are symmetrically arranged on the walking bracket 2.

The adjusting frame 61 comprises a plurality of adjusting rods 611, the adjusting rods 611 are divided into two groups which are vertically distributed, each group comprises two adjusting rods 611 with middle parts hinged with each other, and the rotating planes of the adjusting rods 611 are vertically arranged. The walking support 2 is fixedly connected with a first supporting rod 24 parallel to the distribution direction of the two groups of adjusting rods 611, the walking support 2 is connected with a first sliding rod 25 parallel to the first supporting rod 24 in a sliding manner, specifically, two ends of the first sliding rod 25 are respectively provided with a linear sliding rail, the sliding rails of the linear sliding rails are fixedly connected with the walking support 2, and the sliding seats of the linear sliding rails are fixedly connected with the first sliding rod 25.

Referring to fig. 6, one adjustment lever 611 among the lowermost set of adjustment levers 611 in the same adjustment frame 61 is hinged to the first support lever 24, and the other adjustment lever 611 among the lowermost set of adjustment levers 611 in the same adjustment frame 61 is hinged to the first slide lever 25. Wherein the adjusting member 62 is used for controlling the sliding movement of the first sliding rod 25.

The upper ends of the lowermost set of adjustment bars 611 in the same adjustment frame 61 are hinged to the lower ends of the upper set of adjustment bars 611 in a one-to-one correspondence. The upper ends of the group of adjustment bars 611 above the two adjustment brackets 61 are provided with mounting seats 11.

Specifically, the mounting seat 11 is fixedly connected with a second supporting rod 111 parallel to the first supporting rod 24 corresponding to the first supporting rod 24; and the mounting seat 11 is slidably connected with a second sliding rod 112 parallel to the second supporting rod 111 corresponding to the first sliding rod 25, and the second sliding rod 112 is slidably connected to the mounting seat 11 by adopting the same structure as the first sliding rod 25. The upper end of one adjusting rod 611 in the upper group of the same adjusting frame 61 is hinged to the second supporting rod 111, and the upper end of the other adjusting rod 611 in the upper group of the same adjusting frame 61 is hinged to the second sliding rod 112.

When in use, the first sliding rod 25 is controlled to slide only through the adjusting piece 62, so that the two adjusting rods 611 in the same group are opened or closed to drive the second sliding rod 112 on the mounting seat 11 to slide and simultaneously enable the mounting seat 11 to vertically lift; in the process, the first support rod 24 and the second support rod 111 are arranged, so that the displacement of the mounting seat 11 in the horizontal direction relative to the walking bracket 2 is relatively small in the lifting process, and the stability of the three-dimensional laser scanner 1 is maintained; it is also possible to link the two adjustment brackets 61 to increase the integrity in use.

Referring to fig. 6, the adjusting member 62 includes an adjusting motor 621 fixedly connected to the traveling bracket 2, an adjusting screw 622 coaxially and fixedly connected to an output shaft of the adjusting motor 621, and an adjusting seat 623 fixedly connected to the first supporting rod 24, the adjusting screw 622 is rotatably connected to the traveling bracket 2, and the adjusting screw 622 is threaded through the adjusting seat 623. When the mounting seat 11 needs to be adjusted to lift, only the adjusting motor 621 is required to drive the adjusting screw 622 to rotate and drive the adjusting seat 623 to slide along the axial direction of the adjusting screw 622, so as to drive the sliding of the first sliding rod 25, so that the mounting seat 11 vertically lifts.

The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.

Claims (5)

1. A mobile three-dimensional laser scanner comprising a laser scanner (1), characterized in that: the novel laser scanner comprises a walking support (2), four walking mechanisms (3) which are arranged on the walking support (2) in a rectangular and separated mode, the laser scanner (1) is arranged on the walking support (2), the walking mechanisms (3) comprise two walking swivel rings (31) and a plurality of walking rollers (32) which are arranged around the walking swivel rings (31), the walking swivel rings (31) are rotationally connected to the walking support (2), the two outer edges of the walking swivel rings (31) are concavely provided with mounting parts (311) along the direction away from each other, the mounting parts (311) are of a V-shaped folded plate structure, two ends of the walking rollers (32) are respectively connected with the mounting parts (311) of the two walking swivel rings (31) in a rotating mode, the rotating axes of the walking rollers (32) and the rotating axes of the walking swivel rings (31) form 45-degree included angles, the vertical projections of the walking rollers (32) of the two adjacent walking mechanisms (3) are symmetrically arranged in a shaft mode, and the four walking mechanisms (3) are respectively arranged in a rotating mode, and four driving members (4) are correspondingly arranged on the walking supports (3); a connecting component (33) is further arranged between the two traveling swivel rings (31) of the same traveling mechanism (3), the connecting component (33) comprises a first connecting shaft (331) and a first connecting disc (332), the first connecting shaft (331) is in a T shape, the small ends of the first connecting shaft (331) penetrate through and are fixedly connected with the two traveling swivel rings (31) and the first connecting disc (332), the two traveling swivel rings (31) are clamped between the large end of the first connecting shaft (331) and the first connecting disc (332), and the first connecting shaft (331) and the first connecting disc (332) are both rotationally connected with the traveling bracket (2); the walking support (2) is provided with four first walking members (21) which are respectively in one-to-one correspondence with four driving members (4), the first walking members (21) comprise walking supports (211) which are rotatably connected to a first connecting shaft (331) and walking wheels (212) which are rotatably connected to the walking supports (211), the walking wheels (212) are provided with walking transmission members (22), power input ends and output ends of the walking transmission members (22) are respectively connected to the first connecting shaft (331) and the walking wheels (212), and the walking support (2) is further provided with telescopic cylinders (23) for controlling the walking supports (211) to rotate; the walking transmission piece (22) comprises two walking chain wheels (221) and a walking chain (222) sleeved on the two walking chain wheels (221), and the two walking chain wheels (221) are respectively and coaxially fixedly connected to the walking wheels (212) and the first connecting shaft (331); a telescopic transmission mechanism (5) for transmitting power is arranged between the first connecting shaft (331) and the driving piece (4), the telescopic transmission mechanism (5) comprises a telescopic transmission rod (51) and a telescopic transmission tube (52), the telescopic transmission rod (51) and the telescopic transmission tube (52) are respectively articulated with the power output ends of the first connecting shaft (331) and the driving piece (4) in a one-to-one correspondence manner, the telescopic transmission rod (51) is inserted into and slidingly connected with the telescopic transmission tube (52), and a lubrication assembly (53) for lubrication is arranged in the telescopic transmission tube (52); the lubrication assembly (53) comprises a lubrication corrugated pipe (531), two ends of the lubrication corrugated pipe (531) are respectively and fixedly connected with the telescopic transmission rod (51) and the telescopic transmission pipe (52), lubrication liquid is filled in the lubrication corrugated pipe (531) and the telescopic transmission pipe (52), the lubrication corrugated pipe (531) is provided with two one-way valves (532), the flow directions of the two one-way valves (532) are opposite, one of the one-way valves (532) is communicated with the telescopic transmission pipe (52), the other one of the one-way valves (532) is communicated with a gap between the telescopic transmission pipe (52) and the telescopic transmission rod (51), and a sealing pipe (54) for sealing is fixedly connected between the telescopic transmission pipe (52) and the telescopic transmission rod (51).

2. A mobile three-dimensional laser scanner according to claim 1 wherein: the outline of the outer wall of the walking roller (32) is arc-shaped, and the projections of the outline lines of the outer sides of the plurality of walking rollers (32) of the walking mechanism (3) along the axial direction of the walking swivel (31) are mutually overlapped and are circular.

3. A mobile three-dimensional laser scanner according to claim 1 wherein: the utility model discloses a damping device for a bicycle, including first connecting axle (331) and first connecting disk (332), first connecting axle (331) and first connecting disk (332) all are provided with damping subassembly (34) that are used for the shock attenuation, damping subassembly (34) are including damping ring (341), two sets of elasticity damping strip (342) and collar (343), damping ring (341) fixed connection is in walking support (2), same group elasticity damping strip (342) encircle the central axis setting of damping ring (341), and two sets of one end fixed connection that elasticity damping strip (342) kept away from mutually is in damping ring (341), two sets of opposite ends fixed connection of elasticity damping strip (342) are in collar (343), collar (343) swivelling joint is in first connecting axle (331).

4. A mobile three-dimensional laser scanner according to claim 1 wherein: the telescopic transmission rod (51) is tubular, the lubrication bellows (531) is located inside the telescopic transmission rod (51), one end fixedly connected with lubrication plate (533) of lubrication bellows (531) in telescopic transmission rod (51), border fixedly connected with of lubrication plate (533) is in the inner wall of telescopic transmission rod (51), the other end fixedly connected with lubrication expansion plate (534) of lubrication bellows (531), lubrication expansion plate (534) slides and is connected in the inner wall of telescopic transmission rod (51), lubrication expansion plate (534) fixedly connected with telescopic push rod (535), telescopic push rod (535) fixedly connected with is in telescopic transmission tube (52).

5. The mobile three-dimensional laser scanner of claim 4, wherein: the telescopic push rod (535) is tubular, and is fixedly connected with a control valve (536) communicated with the inside of the telescopic push rod, an inlet of the control valve (536) on the telescopic push rod (535) penetrates out of the telescopic transmission tube (52), and the telescopic transmission rod (51) is also fixedly connected with the control valve (536) communicated with the inside of the telescopic transmission rod.

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