CN115560183A - Automatic leveling mobile device that three-dimensional laser scanner used - Google Patents
Automatic leveling mobile device that three-dimensional laser scanner used Download PDFInfo
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- CN115560183A CN115560183A CN202211148521.2A CN202211148521A CN115560183A CN 115560183 A CN115560183 A CN 115560183A CN 202211148521 A CN202211148521 A CN 202211148521A CN 115560183 A CN115560183 A CN 115560183A
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- 230000005484 gravity Effects 0.000 claims abstract description 16
- 230000000670 limiting effect Effects 0.000 claims abstract description 11
- 238000009434 installation Methods 0.000 claims abstract description 9
- 238000007667 floating Methods 0.000 claims description 21
- 239000007788 liquid Substances 0.000 claims description 19
- 239000012530 fluid Substances 0.000 claims description 11
- 229910000831 Steel Inorganic materials 0.000 claims description 10
- 239000010959 steel Substances 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000005286 illumination Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 230000010076 replication Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides an automatic balancing and moving device for a three-dimensional laser scanner, and belongs to the technical field of metering auxiliary equipment. The three-dimensional laser scanning device comprises a base, an installation block, a movable block, a counterweight ball, a limiting mechanism and an adjusting mechanism, wherein the installation block is fixedly arranged above the base through a plurality of stand columns, a spherical groove is formed in the upper side surface of the installation block, the lower end of the movable block is spherical and movably arranged in the spherical groove, a three-dimensional laser scanner is arranged on the upper side surface of the movable block, a first through hole is formed in the bottom of the spherical groove, the lower end of the movable block is fixedly connected with a connecting rod, the lower end of the connecting rod penetrates through the first through hole, the end part of the connecting rod is fixedly connected with the counterweight ball, the limiting mechanism can limit the movable block at the current position, and the adjusting mechanism can adjust the gravity center height of the base. The three-dimensional laser scanner on the mobile device can be automatically adjusted to be in a horizontal state according to the inclination of the tank bottom, and the measurement accuracy is improved.
Description
Technical Field
The invention belongs to the technical field of metering auxiliary equipment, and relates to an automatic leveling and moving device for a three-dimensional laser scanner.
Background
The three-dimensional laser scanning technology is also called as live-action replication technology, and is a technical revolution following the GPS technology in the mapping field. The three-dimensional laser scanning method breaks through the traditional single-point measurement method, has the unique advantages of high efficiency and high precision, and can be used for obtaining a digital terrain model with high precision and high resolution because the three-dimensional laser scanning technology can provide three-dimensional point cloud data of the surface of a scanned object. The method utilizes the principle of laser ranging, and can quickly reconstruct a three-dimensional model of a measured object and various drawing data such as lines, surfaces, bodies and the like by recording information such as three-dimensional coordinates, reflectivity, textures and the like of a large number of dense points on the surface of the measured object.
The large-scale storage tank generally occupies a large area, a three-dimensional laser scanner is usually adopted to measure a tank body, the three-dimensional laser scanner is installed on a moving trolley and then enters the tank body through a control trolley, and the three-dimensional laser scanner is inclined when the moving trolley moves at the bottom of the tank due to the fact that the bottom of the storage tank is designed into a convex conical surface shape; in addition, when the travelling bogie inclines greatly, rollover is also easy to occur.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides an automatic leveling moving device for a three-dimensional laser scanner, which can enable the three-dimensional laser scanner on the moving device to be automatically adjusted to be in a horizontal state according to the inclination of a tank bottom, improve the measuring accuracy and ensure the moving stability of the device.
The purpose of the invention can be realized by the following technical scheme:
an auto-leveling mobile device for a three-dimensional laser scanner, comprising a three-dimensional laser scanner, the mobile device comprising: the four sides of the lower side surface of the base are provided with four idler wheels through four mounting brackets, the four mounting brackets are provided with first motors, and the first motors are in transmission connection with the corresponding idler wheels;
the mounting block is fixedly arranged above the base through a plurality of stand columns, and the upper side surface of the mounting block is provided with a spherical groove;
the lower side of the movable block is spherical and movably arranged in the spherical groove, the upper side of the movable block is provided with an accommodating groove, and the three-dimensional laser scanner is arranged in the accommodating groove;
the bottom of the spherical surface groove is provided with a first through hole, the lower end of the movable block is fixedly connected with a connecting rod, the lower end of the connecting rod penetrates through the first through hole, and the end part of the connecting rod is fixedly connected with the counterweight ball;
the limiting mechanism is arranged in the spherical groove and can limit the movable block at the current position;
the adjusting mechanism is arranged on the base and can adjust the height of the center of gravity of the base.
Preferably, a plurality of steel balls are embedded on the side wall of the spherical groove in a rolling manner, and the spherical surface of each steel ball protrudes out of the spherical groove to be in contact with the lower end of the movable block.
Preferably, the limiting mechanism comprises:
the size of the annular grooves is gradually reduced from outside to inside, and annular air bags are arranged in the annular grooves;
the electric air pump is arranged on the mounting block and is communicated with the annular air bags through pipes.
Preferably, the adjustment mechanism comprises:
the two first sliding rods are vertically arranged on two corners of the base in a sliding manner, and the lower ends of the first sliding rods are fixedly connected with the corresponding mounting brackets;
the two second sliding rods are vertically and slidably arranged on the other two corners of the base, and the lower ends of the second sliding rods are fixedly connected with the corresponding mounting brackets;
the driving structure is arranged on the base and can drive the two first sliding rods and the two second sliding rods to simultaneously slide upwards and downwards.
Preferably, the driving structure includes:
the first rotating shaft is rotatably arranged on the base and is provided with two first gears;
the two first racks are respectively vertically arranged on the two first sliding rods, the two first racks correspond to the two first gears one by one, and the first racks are meshed and connected with the corresponding first gears;
the second rotating shaft is rotatably arranged on the base and is provided with two second gears;
the two second racks are respectively vertically arranged on the two second sliding rods, the two second racks correspond to the two second gears one by one, and the second racks are meshed and connected with the corresponding second gears;
the linkage structure is arranged on the base and can drive the first rotating shaft and the second rotating shaft to synchronously rotate.
Preferably, the interlocking structure includes:
the first belt pulley is coaxially and fixedly arranged on the first rotating shaft;
the second belt pulley is coaxially and fixedly arranged on the second rotating shaft, and a transmission belt is wound between the first belt pulley and the second belt pulley;
the third gear is coaxially and fixedly arranged on the second rotating shaft;
the second motor is fixedly arranged on the base, a fourth gear is fixedly arranged on an output shaft of the second motor, and the fourth gear is meshed with the third gear.
Preferably, a rotating ring is rotatably arranged in the containing groove through two first rotating shafts, a floating block for mounting the three-dimensional laser scanner is rotatably arranged on the inner side wall of the rotating ring through two second rotating shafts, the first rotating shafts and the second rotating shafts are axially perpendicular to each other, liquid is contained in the containing groove, the floating block floats on the liquid level of the liquid, and a fixing structure is arranged in the containing groove and can fix the floating block at the current position.
Preferably, the rotating plate is provided with a through hole along the length direction, the fixing structure comprises an electromagnet, a mounting cavity is arranged in the movable block and located under the accommodating groove, the electromagnet is arranged in the mounting cavity, and the liquid contained in the accommodating groove is magnetorheological fluid.
Preferably, the edge of the upper end opening of the accommodating groove is provided with an annular cover plate.
Preferably, a lighting lamp is arranged on the base.
Compared with the prior art, the invention has the following advantages:
1. when the ground is relatively flat, the counterweight ball and the connecting rod are vertically downward, the four rollers drive the base to move into the tank body by controlling the first motor, the base is inclined due to the fact that the tank bottom is in a conical surface shape, the counterweight ball is also inclined under the action of gravity, the movable block rotates in the opposite direction due to the fact that the lower side face of the movable block is in spherical contact with the spherical surface of the spherical groove, the three-dimensional laser scanner at the bottom of the containing tank is kept in a horizontal state, when the three-dimensional laser scanner conducts measurement, the movable block is limited at the current position through the limiting mechanism, rotation of the movable block is avoided, and measurement accuracy is improved; in addition, when the inclination angle of the base is larger, the gravity center of the base can be lowered through the adjusting mechanism, so that the device can move more stably;
2. when the movable block is in contact with the spherical surfaces of the plurality of steel balls, the friction force between the swing block and the spherical surface groove is reduced, so that the movable block can rotate more smoothly and can quickly reach the horizontal position;
3. in the initial state, the annular air bags are positioned in the annular groove and do not contact the bottom of the movable block, when the movable block rotates to the horizontal state, the electric air pump is started, and meanwhile, the plurality of annular air bags are inflated to enable the annular air bags to be inflated and expanded to contact the bottom of the movable block, and meanwhile, under the action of the vertical downward gravity of the counterweight ball, the friction force between the movable block and the annular air bags is increased, so that the movable block is limited at the current position, and the operation is simple;
4. in the initial state, in order to improve the passing performance of the device, the ground clearance of the base is larger, and when the inclination angle of the base is larger, the first sliding rod and the second sliding rod are driven by the driving structure to simultaneously slide downwards, so that the gravity center height of the base is reduced, and the moving stability of the device is improved;
5. the second motor is started to drive the fourth gear to rotate, the second rotating shaft and the second belt pulley are driven to rotate through the third gear, two second gears on the second rotating shaft are driven to rotate, two second sliding rods are driven to slide upwards or downwards, the second belt pulley drives the first belt pulley and the first rotating shaft to rotate through the transmission belt, the two first gears drive the two first sliding rods to synchronously slide upwards or downwards, the ground clearance of the base is quickly adjusted, and different use requirements of the device are met;
6. when the base inclines, the liquid level in the accommodating groove is always kept in a horizontal state, the floating block horizontally floats on the liquid level, and then the floating block is fixed at the current position through the fixing structure, so that the three-dimensional laser scanner on the floating block is kept in the horizontal state, the rotating ring rotates in the accommodating groove, and the floating block rotates in the rotating ring, so that the floating block is prevented from drifting left and right, and the stability of the three-dimensional laser scanner is prevented from being influenced; in addition, when the inclination angle of the base exceeds the rotation range of the counterweight ball, the three-dimensional laser scanner can be kept in a horizontal state through the rotation of the rotating ring and the floating block, and the measurement precision is ensured;
7. after the slider and the three-dimensional laser scanner reach the horizontality, the electromagnet is started to generate a magnetic field, so that magnetorheological fluid in the accommodating groove generates larger fluid resistance, the slider is limited to rotate, and the slider is fixed at the current position, and the operation is simple.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 isbase:Sub>A cross-sectional view taken at A-A of FIG. 1;
FIG. 3 is a cross-sectional view taken at B-B of FIG. 2;
FIG. 4 is an enlarged view of a portion of FIG. 3 at C;
FIG. 5 is a top view of the mounting block;
FIG. 6 is a state diagram of an embodiment during a tilt;
FIG. 7 is a schematic structural view of the second embodiment;
FIG. 8 is a cross-sectional view taken at D-D of FIG. 7;
FIG. 9 is a state diagram of the second embodiment in the case of tilting.
In the figure, 1 a base; 11. mounting a bracket; 12. a roller; 121. a first motor; 13. a first rotating shaft; 131. a first gear; 132. a first pulley; 14. a second rotating shaft; 141. a second gear; 142. a second pulley; 15. a drive belt; 16. a third gear; 17. a second motor; 171. a fourth gear; 18. an illuminating lamp; 19. a controller; 191. a storage battery; 2. mounting blocks; 21. a column; 22. an electric air pump; 23. a spherical groove; 24. a first perforation; 25. a steel ball; 26. an annular groove; 261. an annular air bag; 27. a camera; 3. a movable block; 31. accommodating grooves; 32. a rotating ring; 321. a first rotating shaft; 33. a slider; 331. a second rotating shaft; 34. a mounting cavity; 341. an iron core; 342. a coil; 35. an annular cover plate; 4. a counterweight ball; 41. a connecting rod; 411. a pressure sensor; 5. a three-dimensional laser scanner; 6. a liquid; 7. a first slide bar; 71. a first rack; 8. a second slide bar; 81. a second rack.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
The first embodiment is as follows:
as shown in fig. 1 to 5, an automatic leveling moving device for a three-dimensional laser scanner includes a three-dimensional laser scanner 5, and the moving device includes a base 1, an installation block 2, a movable block 3, a counterweight ball 4, a limiting mechanism, and an adjusting mechanism.
Four gyro wheels 12, preferably are equipped with all around of 1 downside of base through four installing support 11, gyro wheel 12 is the mecanum wheel, and the rotation direction of controlling four mecanum wheels can realize the omnidirectional of base and remove, four all be equipped with first motor 121, four on the installing support 11 first motor 121 and four gyro wheel 12 one-to-one, first motor 121 is connected with corresponding gyro wheel 12 transmission, be equipped with controller 19 and battery 191 on the base 1, four first motor 121 all is connected with battery 191 electricity through controller 19, the leading flank of base 1 is equipped with light 18, light 18 is connected with battery 191 electricity.
The mounting block 2 is fixedly arranged above the base 1 through a plurality of stand columns 21, a spherical groove 23 is formed in the upper side face of the mounting block 2, a camera 27 is arranged on the mounting block 2, the camera 27 is electrically connected with the storage battery 191, and the camera 27 is an infrared camera.
The sphere form and the activity setting in spherical recess 23 are personally submitted to the lower side of movable block 3, holding tank 31 has been seted up to the last side of movable block 3, and holding tank 31's bottom is parallel with the side of going up of base 1, 5 horizontal installation of three-dimensional laser scanner are in holding tank 31.
Preferably, a plurality of steel balls 25 are embedded on the side wall of the spherical groove 23 in a rolling manner, and the spherical convex spherical groove 23 of the steel balls 25 is in contact with the lower side surface of the movable block 3. When the movable block 3 contacts with the spherical surfaces of the steel balls 25, the friction force between the movable block 3 and the spherical surface groove 23 is reduced, so that the movable block 3 can rotate more smoothly and can quickly reach the horizontal position.
The limiting mechanism is arranged in the spherical groove 23 and comprises a plurality of annular grooves 26 and an electric air pump 22.
A plurality of annular groove 26 is all coaxial to be seted up on the lateral wall of spherical surface recess 23, a plurality of annular groove 26's size reduces gradually by outer to interior, be equipped with annular gasbag 261 in the annular groove 26, initial state, annular gasbag is located annular groove 26, does not contact the bottom of movable block 3.
The electric air pump 22 is arranged on the mounting block 2, the electric air pump 22 is communicated with the plurality of annular air bags 261 through pipes, and the electric air pump 22 is electrically connected with the storage battery 191 through the controller 19.
The adjusting mechanism is arranged on the base 1, and the gravity center height of the base 1 can be adjusted by the adjusting mechanism. When the inclination angle of the base 1 is larger, the gravity center of the base 1 can be lowered through the adjusting mechanism, so that the device can move more stably.
When ground is comparatively level, counter weight ball 4 and connecting rod 41 are vertical downwards this moment, through controlling first motor 121, make four mecanum wheels rotate, it removes to the internal jar to drive base 1, because the tank bottoms is the conical surface type, make base 1 take place the slope, counter weight ball 4 also follows the slope that takes place under the action of gravity this moment, because the lower extreme of movable block 3 and the interior steel ball 25 sphere contact of sphere recess 23, make movable block 3 rotate to the opposite direction, make three-dimensional laser scanner 5 in the holding tank 31 keep the horizontality, when three-dimensional laser scanner 5 measures, start electronic air pump 22, aerify in a plurality of annular gasbag 261 simultaneously, make annular gasbag 261 aerify the bottom of inflation to contact movable block 3, simultaneously under the vertical decurrent action of gravity of counter weight ball 4, increase movable block 3 and the frictional force of annular gasbag 261, inject movable block 3 at the current position, avoid it to rotate, improve measurement accuracy.
In the present embodiment, the adjustment mechanism comprises two first slide bars 7, two second slide bars 8 and a drive structure.
Two first slide bars 7 vertically slide and set up on two angles of base 1, the lower extreme of first slide bar 7 links firmly together with corresponding installing support 11, the upper end of first slide bar 7 is equipped with the shrouding.
The two second sliding rods 8 are vertically arranged at the other two corners of the base 1 in a sliding manner, the lower ends of the second sliding rods 8 are fixedly connected with the corresponding mounting supports 11, and the upper ends of the second sliding rods 8 are also provided with sealing plates.
The driving structure is arranged on the base 1, and the driving structure can drive the two first sliding rods 7 and the two second sliding rods 8 to simultaneously slide upwards and downwards.
In the initial state, in order to improve the passing performance of the device, the ground clearance of the base 1 is larger, and when the inclination angle of the base 1 is larger, the driving structure drives the first slide bar 7 and the second slide bar 8 to simultaneously slide downwards, so that the gravity center height of the base 1 is reduced, and the moving stability of the device is improved.
Specifically, the driving structure includes: a first rotating shaft 13, a second rotating shaft 14, two first racks 71, two second racks 81, a first pulley 132, a second pulley 142, a third gear 16, and a second motor 17.
The first rotating shaft 13 is rotatably disposed on the base 1, and two first gears 131 are disposed on the first rotating shaft 13. The second rotating shaft 14 is rotatably disposed on the base 1, and two second gears 141 are disposed on the second rotating shaft 14.
The two first racks 71 are respectively vertically arranged on the two first sliding rods 7, the two first racks 71 correspond to the two first gears 131 one by one, and the first racks 71 are meshed and connected with the corresponding first gears 131.
The two second racks 81 are respectively vertically arranged on the two second sliding rods 8, the two second racks 81 correspond to the two second gears 141 one by one, and the second racks 81 are meshed with the corresponding second gears 141.
The first pulley 132 is coaxially fixed on the first rotating shaft 13.
The second pulley 142 is coaxially fixed on the second rotating shaft 14, and a transmission belt 15 is wound between the first pulley 132 and the second pulley 142.
The third gear 16 is coaxially fixed on the second rotating shaft 14.
The second motor 17 is fixedly arranged on the base 1, a fourth gear 171 is fixedly arranged on an output shaft of the second motor 17, the fourth gear 171 is meshed with the third gear 16, and the second motor 17 is electrically connected with the storage battery 191 through the controller 19.
When the inclination angle of the base 1 is large, the controller 191 starts the second motor 17 to drive the fourth gear 171 to rotate, the third gear 16 drives the second rotating shaft 14 and the second belt pulley 142 to rotate, so that the two second gears 141 on the second rotating shaft 14 rotate to drive the two second slide bars 8 to slide downwards, the second belt pulley 142 drives the first belt pulley 132 and the first rotating shaft 13 to rotate through the transmission belt 15, the two first gears 131 drive the two first slide bars 7 to slide downwards synchronously, the ground clearance of the base 1 is quickly adjusted, and different use requirements of the device are met.
Above-mentioned three-dimensional laser scanner's auto leveling mobile device's application method, as shown in fig. 6, after base 1 removes the assigned position of slope tank bottoms, counter weight ball 4 follows base 1 and takes place the slope, it takes place counter rotation to drive movable block 3 through connecting rod 41, three-dimensional laser scanner 5 in messenger's holding tank 31 is in the horizontality, then aerify in electronic air pump 22 case annular gasbag 26, make annular gasbag 26 expand to the downside of contact movable block 3, under counter weight ball 4's action of gravity, the frictional force of movable block 3 downside and annular gasbag 26 has been increased, inject movable block 3 at the current position, then utilize three-dimensional laser scanner 5 to scan.
Example two:
the second embodiment is substantially the same as the first embodiment, and is different from the first embodiment in that, as shown in fig. 7 to 8, a depth of the accommodating groove 31 is larger, a rotating ring 32 is rotatably disposed in the accommodating groove 31 through two first rotating shafts 321, a floating block 33 is rotatably disposed on an inner side wall of the rotating ring 32 through two second rotating shafts 331, axial directions of the first rotating shaft 321 and the second rotating shaft 331 are perpendicular to each other, the liquid 6 is contained in the accommodating groove 31, the floating block 33 floats on a liquid level of the liquid 6, the three-dimensional laser scanner 5 is mounted on the floating block 33, a mounting cavity 34 is disposed in the movable block 3, the mounting cavity 34 is located right below the accommodating groove 31, an electromagnet is disposed in the mounting cavity 34, the electromagnet includes an iron core 341 and a coil 342, the liquid contained in the accommodating groove 31 is magnetorheological fluid, when the electromagnet needs to be activated, the coil 342 is energized through the storage battery 191, so that a magnetic field is generated around the coil 342, and then fluid resistance of the magnetorheological fluid in the accommodating groove 31 is increased, and a limiting effect is achieved.
When the base 1 is inclined, the liquid level in the accommodating groove 31 is always kept in a horizontal state, the floating block 33 horizontally floats on the liquid level, then the electromagnet is started to generate a magnetic field, the magnetorheological fluid in the accommodating groove 31 generates large fluid resistance, the floating block 33 is limited to rotate and is fixed at the current position, the three-dimensional laser scanner 5 on the floating block 33 is kept in the horizontal state, and the measuring accuracy is guaranteed; in addition, the rotation ring 32 can limit the slider 33 from drifting.
Preferably, be equipped with annular pressure sensor 411 on the connecting rod 41 that is located first perforation 24, pressure sensor 411 is connected with controller 19 electricity, when base 1's inclination is great, counter weight ball 4 rotates to the biggest, pressure sensor 411 on the connecting rod 41 contacts the lateral wall of first perforation 24, pressure sensor 411 signals gives controller 191, controller 191 starts second motor 17, drive two first slide bars 7 and two second slide bars 8 and slide downwards simultaneously, reduce the centre of gravity height of base 1, after the inclination of base 1 satisfied the settlement requirement, just can reduce the centre of gravity height automatically, and is easy to operate, remove manual control's trouble from.
Preferably, the upper opening edge of the accommodating groove 31 is provided with an annular cover plate 35. The annular cover plate 35 can prevent the liquid in the housing groove 31 from flowing obliquely out of the housing groove 31.
As shown in fig. 9, when the inclination angle of the tank bottom is large, the counterweight ball 4 is inclined along with the base 1, the pressure sensor 411 on the connecting rod 41 contacts the side wall of the first through hole 24, the controller 191 starts the second motor 17 to reduce the height of the center of gravity of the base 1, the connecting rod 41 is limited by the first through hole 24, the bottom of the accommodating groove 31 is not rotated to the horizontal state, the floating block 33 is horizontally floated on the liquid level through the rotation of the rotating ring 32 and the floating block 33 at the moment, the three-dimensional laser scanner 5 is ensured to be in the horizontal state, then the electromagnet generates magnetic force, the fluid resistance of the magnetorheological fluid is increased, and the floating block 33 is limited at the current position.
In the description of this patent, it is to be understood that the terms "upper", "lower", "inner", "outer", and the like, as used herein, refer to an orientation or positional relationship based on that shown in the drawings, which is for convenience in describing the patent and to simplify the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered limiting of the patent.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (10)
1. An automatic leveling moving device for a three-dimensional laser scanner, comprising a three-dimensional laser scanner (5), characterized in that the moving device comprises: the device comprises a base (1), wherein four idler wheels (12) are arranged on the periphery of the lower side surface of the base (1) through four mounting brackets (11), first motors (121) are arranged on the four mounting brackets (11), and the first motors (121) are in transmission connection with the corresponding idler wheels (12);
the mounting block (2) is fixedly arranged above the base (1) through a plurality of upright posts (21), and a spherical groove (23) is formed in the upper side surface of the mounting block (2);
the lower side of the movable block (3) is spherical and movably arranged in the spherical groove (23), the upper side of the movable block (3) is provided with an accommodating groove (31), and the three-dimensional laser scanner (5) is arranged in the accommodating groove (31);
the bottom of the spherical groove (23) is provided with a first through hole (24), the lower end of the movable block (3) is fixedly connected with a connecting rod (41), the lower end of the connecting rod (41) penetrates through the first through hole (24), and the end part of the connecting rod is fixedly connected with the counterweight ball (4);
the limiting mechanism is arranged in the spherical groove (23) and can limit the movable block (3) at the current position;
the adjusting mechanism is arranged on the base (1) and can adjust the height of the center of gravity of the base (1).
2. The automatic leveling and moving device for the three-dimensional laser scanner according to claim 1, wherein a plurality of steel balls (25) are embedded on the side wall of the spherical groove (23) in a rolling manner, and the spherical protruding spherical groove (23) of the steel balls (25) is in contact with the lower end of the movable block (3).
3. The automatic leveling and moving device for the three-dimensional laser scanner according to claim 1, wherein the position limiting mechanism comprises:
the annular grooves (26) are coaxially formed in the side wall of the spherical groove (23), the sizes of the annular grooves (26) are gradually reduced from outside to inside, and an annular air bag (261) is arranged in each annular groove (26);
the electric air pump (22), the electric air pump (22) sets up on installation piece (2), electric air pump (22) is linked together through pipe and a plurality of annular gasbag (261). .
4. The automatic leveling moving device for the three-dimensional laser scanner according to claim 1, wherein the adjusting mechanism comprises:
the two first sliding rods (7) are vertically arranged at two corners of the base (1) in a sliding manner, and the lower ends of the first sliding rods (7) are fixedly connected with corresponding mounting brackets (11);
the two second sliding rods (8) are vertically arranged at the other two corners of the base (1) in a sliding manner, and the lower ends of the second sliding rods (8) are fixedly connected with corresponding mounting brackets (11);
the driving structure is arranged on the base (1) and can drive the two first sliding rods (7) and the two second sliding rods (8) to simultaneously slide upwards and downwards.
5. The automatic leveling movement device for the three-dimensional laser scanner according to claim 4, wherein the driving structure comprises:
the first rotating shaft (13), the first rotating shaft (13) is rotatably arranged on the base (1), and two first gears (131) are arranged on the first rotating shaft (13);
the two first racks (71) are respectively vertically arranged on the two first sliding rods (7), the two first racks (71) correspond to the two first gears (131) one by one, and the first racks (71) are meshed and connected with the corresponding first gears (131);
the second rotating shaft (14), the second rotating shaft (14) is rotatably arranged on the base (1), and two second gears (141) are arranged on the second rotating shaft (14);
the two second racks (81) are respectively vertically arranged on the two second sliding rods (8), the two second racks (81) correspond to the two second gears (141) one by one, and the second racks (81) are meshed and connected with the corresponding second gears (141);
the linkage structure is arranged on the base (1) and can drive the first rotating shaft (13) and the second rotating shaft (14) to synchronously rotate.
6. The automatic leveling and moving device for the three-dimensional laser scanner according to claim 5, wherein the interlocking structure comprises:
a first pulley (132), the first pulley (132) being coaxially fixed on the first rotating shaft (13);
the second belt pulley (142), the said second belt pulley (142) is coaxially fixed on the second axis of rotation (14), the said first belt pulley (132) and second belt pulley (142) are wound and equipped with the driving belt (15);
the third gear (16), the said third gear (16) is fixed on the second axis of rotation (14) coaxially;
the second motor (17), the second motor (17) sets firmly on base (1), set firmly fourth gear (171) on the output shaft of second motor (17), fourth gear (171) and third gear (16) meshing connection.
7. The automatic leveling and moving device for the three-dimensional laser scanner as recited in claim 1, wherein a rotating ring (32) is rotatably disposed in the accommodating groove (31) through two first rotating shafts (321), a floating block (33) for mounting the three-dimensional laser scanner (5) is rotatably disposed on the inner side wall of the rotating ring (32) through two second rotating shafts (331), the first rotating shafts (321) and the second rotating shafts (331) are axially perpendicular to each other, the accommodating groove (31) is filled with liquid (6), the floating block (33) floats on the liquid level of the liquid (6), and a fixing structure is disposed in the accommodating groove (31) and can fix the floating block (33) at the current position.
8. The automatic leveling mobile device that three-dimensional laser scanner used according to claim 7, characterized in that, the fixed knot structure includes the electro-magnet, be equipped with installation cavity (34) in the movable block (3), installation cavity (34) are located holding tank (31) under, the electro-magnet sets up in installation cavity (34), the liquid that holds in holding tank (31) is magnetorheological fluid.
9. The automatic leveling moving device for the three-dimensional laser scanner according to claim 8, wherein an upper end opening edge of the receiving groove (31) is provided with an annular cover plate (35).
10. The automatic leveling moving device for the three-dimensional laser scanner according to claim 1, wherein the base (1) is provided with an illumination lamp (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211148521.2A CN115560183A (en) | 2022-09-21 | 2022-09-21 | Automatic leveling mobile device that three-dimensional laser scanner used |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211148521.2A CN115560183A (en) | 2022-09-21 | 2022-09-21 | Automatic leveling mobile device that three-dimensional laser scanner used |
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| CN115560183A true CN115560183A (en) | 2023-01-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211148521.2A Pending CN115560183A (en) | 2022-09-21 | 2022-09-21 | Automatic leveling mobile device that three-dimensional laser scanner used |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116045142A (en) * | 2023-01-12 | 2023-05-02 | 河北鑫蓝图测绘有限公司 | Leveling instrument |
| CN116045844A (en) * | 2023-01-05 | 2023-05-02 | 山东黄金矿业(莱州)有限公司三山岛金矿 | Mine goaf roof laser measuring device |
| CN117629302A (en) * | 2023-12-07 | 2024-03-01 | 中国建筑第五工程局有限公司 | Engineering quality detection device |
-
2022
- 2022-09-21 CN CN202211148521.2A patent/CN115560183A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116045844A (en) * | 2023-01-05 | 2023-05-02 | 山东黄金矿业(莱州)有限公司三山岛金矿 | Mine goaf roof laser measuring device |
| CN116045844B (en) * | 2023-01-05 | 2023-08-15 | 山东黄金矿业(莱州)有限公司三山岛金矿 | Mine goaf roof laser measuring device |
| CN116045142A (en) * | 2023-01-12 | 2023-05-02 | 河北鑫蓝图测绘有限公司 | Leveling instrument |
| CN117629302A (en) * | 2023-12-07 | 2024-03-01 | 中国建筑第五工程局有限公司 | Engineering quality detection device |
| CN117629302B (en) * | 2023-12-07 | 2024-04-30 | 中国建筑第五工程局有限公司 | Engineering quality detection device |
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