CN114485401A - Movable three-dimensional laser scanner - Google Patents

Abstract

The application relates to a mobile three-dimensional laser scanner, which comprises a laser scanner and a traveling system, wherein the traveling system comprises a traveling bracket and four traveling mechanisms arranged on the traveling bracket, the laser scanner is arranged on the traveling bracket, the traveling mechanisms comprise two traveling swivels and a plurality of traveling rollers arranged around the traveling swivels, the traveling swivels are rotatably connected with the traveling bracket, the outer edges of the two traveling swivels are concavely formed with installation parts towards the direction away from each other, the installation parts are V-shaped folded plate-shaped structures, the two ends of each traveling roller are respectively rotatably connected with the installation parts of the two traveling swivels, and the rotating axis of the walking roller and the rotating axis of the walking swivel are at an included angle of 45 degrees, the vertical projections of the walking rollers of the two adjacent walking mechanisms are arranged in an axial symmetry manner, and the walking support is provided with four driving pieces for driving the four walking mechanisms to rotate. The regional measurement and transfer method and the regional measurement and transfer device can perform regional measurement and transfer which are relatively convenient and fast under the conditions that the number of interferents is relatively large 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 mobile three-dimensional laser scanner.

Background

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

In the prior art, a three-dimensional laser scanner is often adopted for engineering measurement, and the conventional three-dimensional laser scanner is mainly divided into a vehicle-mounted three-dimensional laser scanner, a backpack three-dimensional laser scanner and a standing three-dimensional laser scanner. The backpack type three-dimensional laser scanner is mainly applied to engineering measurement in places inconvenient to transport or narrow; the 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 with more interferents such as steel structures, pipe networks and the like and limited space is met, the vehicle-mounted three-dimensional laser scanner cannot carry out measurement due to limited space and more interferents; the three-dimensional laser scanners of knapsack formula and frame standing formula are the measurement mode of fixed point type, because angle and space are limited during the transportation, need transport many times, and are comparatively inconvenient.

Disclosure of Invention

In order to facilitate the regional measurement of carrying out that relatively more convenient is more and space is limited under the more and limited circumstances of interference thing, this application provides a portable 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 laser scanner, still includes the traveling system who is used for carrying laser scanner walking, traveling system includes walking bracket and four running gear that are the rectangle distribution and set up in walking bracket, laser scanner installs in walking bracket, running gear includes two walking swivels and a plurality of walking rollers that encircle the walking swivel setting, the walking swivel rotates and connects in walking bracket, two the outer border of walking swivel has the installation department towards the sunken shaping of the direction of keeping away from mutually, the installation department is the folded plate column structure of V-arrangement, the both ends of walking roller rotate respectively and connect in the installation department of two walking swivels, just the axis of rotation of walking roller is 45 contained angles with the axis of rotation of walking swivel, and the hoop is adjacent two the vertical projection of running gear's walking roller is the axial symmetry setting, the walking bracket is provided with four driving pieces which respectively drive the walking rotating rings of the four walking mechanisms to rotate in a one-to-one correspondence manner.

By adopting the technical scheme, when regional measurement is carried out at a position with relatively more interference objects and limited space, and the walking rotating ring rotates, an angle is formed between the walking roller and the walking rotating ring, so that the friction force between the walking roller and the ground can generate component force along the rotating direction of the walking rotating ring and the direction of a central axis; the forward or backward movement can be finished only by driving the walking rotary rings of the four walking mechanisms to rotate along the same direction through the driving piece; when the position of the three-dimensional laser scanner needs to be laterally adjusted, only four driving pieces are needed to respectively drive the walking rotating rings of any two adjacent walking mechanisms to rotate in opposite directions, so that component forces parallel to the advancing direction and generated by the two walking mechanisms on the same side of the advancing direction are balanced with each other, and component forces facing to the same side are generated at the same time, so that the whole walking support is driven to laterally displace; when the angle of the three-dimensional laser scanner needs to be adjusted in situ through rotation, only four driving pieces are needed to respectively drive two traveling mechanisms on the same side of a traveling rotating plane in four traveling mechanisms to rotate along the same direction; then the two travelling mechanisms on the other side rotate in opposite directions, so that the four travelling mechanisms can generate annular torque, and the travelling support is driven to integrally rotate; meanwhile, when the position needs to be adjusted laterally forwards or laterally backwards, component forces along the rotation direction of the walking swivel and on the same side can be generated by only rotating any two walking mechanisms located at opposite angles along the same direction so as to drive the whole walking support to move laterally forwards or laterally backwards; 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 outline of the outer wall of the walking roller is arc-shaped, and the outlines of the outer sides of the walking rollers of the walking mechanism are overlapped and circular along the axial projection of the walking swivel.

Through adopting above-mentioned technical scheme, can be so that when walking swivel rotates, different walking rollers butt is more gentle relatively in the in-process of ground conversion to the vibration of production when reducing the use, thereby reduce because of setting up the walking roller and lead to the influence of vibration to three-dimensional laser scanner's measurement production.

It is optional, same still be provided with coupling assembling between two walking swivels of running gear, coupling assembling includes first connecting axle and first flange, first connecting axle is T shape and its tip wears to establish and fixed connection in two walking swivels and first flange, two the walking swivel is by the centre gripping between the main aspects of first connecting axle and first flange, first connecting axle and first flange all rotate to be connected in the walking support.

By adopting the technical scheme, when the walking roller is used, the two walking rotating rings can be connected together through the first connecting disc and the first connecting shaft, the axial component force of the two walking rotating rings is limited, and meanwhile, the lateral component force generated when the walking roller is abutted against the ground can be balanced through the elastic bending of the walking rotating rings.

Optionally, first connecting axle and first flange all are provided with and are used for absorbing damping assembly, damping assembly includes damping ring, two sets of elasticity damping strip and collar, damping ring fixed connection is in walking support, with the group elasticity damping strip encircles the central axis setting of damping ring, and two sets of one end fixed connection that elasticity damping strip kept away from mutually is in the damping ring, and is two sets of the opposite end fixed connection of elasticity damping strip is 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 is mutually converted and abutted to the ground through the plurality of walking rollers to walk, and the generated vibration is relatively large; at the moment, the first connecting shaft is rotatably connected to the walking bracket through the vibration damping assembly, and can buffer the vibration generated by the walking roller through the elastic deformation of the elastic vibration damping strip in the walking process; the device can also absorb the 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 who is used for transmitting power between first connecting axle and the driving piece, flexible drive mechanism includes flexible transfer line and flexible driving pipe, flexible transfer line and flexible driving pipe correspond the universal power take off who articulates in first connecting axle and driving piece respectively one-to-one, flexible transfer line is inserted and is established and sliding connection in flexible driving pipe, be provided with the lubricated subassembly that is used for lubricating in the flexible driving pipe.

By adopting the technical scheme, the vibration is relatively large in the conversion process of the walking roller, so that certain influence is generated on the driving output of the driving piece; at this moment, can stretch out and draw back through the relative axial between flexible transfer line and the flexible driving pipe, when the adaptation leads to the change of interval between driving piece and the walking swivel because of the vibration, can also lubricate the clearance between flexible transfer line and the flexible driving pipe through lubricated subassembly, reduce because of the wearing and tearing that the vibration leads to, when optimizing the stability of use, increase life.

Optionally, the lubricating component includes lubricated bellows, the both ends of lubricated bellows are fixed connection respectively in flexible transfer line and flexible transmission pipe, it has lubricated liquid all to fill in the lubricated bellows and the flexible transmission pipe, lubricated bellows is provided with two check valves, two the flow opposite direction of check valve, and one of them check valve communicates in flexible transmission pipe, another the check valve communicates in the clearance between flexible transmission pipe and the flexible transfer line, fixedly connected with is used for sealed seal tube between flexible transmission pipe and the flexible transfer line.

By adopting the technical scheme, in the walking process, because the telescopic transmission rod and the telescopic transmission pipe can relatively slightly stretch, the sealing pipe is used for performing sliding sealing on a gap opening between the telescopic transmission pipe and the telescopic transmission rod, and meanwhile, the lubricating corrugated pipe can stretch and is sequentially extruded out of the lubricating liquid in the lubricating corrugated pipe through one of the two one-way valves; then the lubricating liquid is pumped in through the other one-way valve; and the lubricated liquid of extruding can be inputed to the clearance between flexible transfer line and the flexible transfer line or in the flexible transfer line, thereby realize the lubricated liquid in the clearance between flexible transfer line and the flexible transfer line, the circulation of the lubricated liquid in the flexible transfer line and the lubricated bellows, thereby make the clearance between flexible transfer line and the flexible transfer line can keep lubricated state, reduce because of local load is too big, lead to the condition that the clearance part does not have lubricated liquid between flexible transfer line and the flexible transfer line, thereby when comparatively abundant do the lubrication between flexible transfer line and the flexible transfer line, can also be through the resistance of the circulation flow in-process of lubricated liquid, do the buffering to the vibration when running gear rotates.

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

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

Optionally, the telescopic push rod is tubular and 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 pipe, and the telescopic transmission rod is also fixedly connected with a control valve communicated with the inside of the telescopic transmission pipe.

Through adopting above-mentioned technical scheme, when needing to be changed lubricated liquid, only need through one of them control valve pump in new lubricated liquid, then through another lubricated liquid with old lubricated liquid discharge can.

Optionally, the walking support is provided with four first walking pieces of four driving pieces of one-to-one correspondence respectively, first walking piece is connected in the walking support of first connecting axle and is rotated the walking wheel of connecting in the walking support including rotating, the walking wheel is provided with the walking driving medium, the power input end and the output of walking driving medium are connected respectively in first connecting axle and walking wheel, the walking support still is provided with and is used for controlling walking support pivoted telescoping cylinder.

By adopting the technical scheme, when the transportation is needed, the walking support is controlled to rotate only through the telescopic cylinder, so that the walking wheels are abutted against the ground; at the moment, the driving piece transmits the power of the first connecting shaft to the travelling wheel through the travelling transmission piece, so that relatively quick and stable transfer is realized; meanwhile, when partial vertical obstacles are met, only the walking support is required to rotate in sequence, and then the walking mechanism or the walking wheels are abutted to the upper part of the vertical obstacle; then, after the whole body is driven to walk, the walking mechanism or the walking wheel which is not abutted to the obstacle abuts to the obstacle, so that the walking bracket is lifted and walks; the crossing of the obstacle is completed.

Optionally, the walking transmission part comprises two walking chain wheels and a walking chain sleeved on the two walking chain wheels, and the two walking chain wheels are respectively and fixedly connected to the walking wheel and the first connecting shaft in a coaxial mode.

By adopting the technical scheme, when in use, the first connecting shaft can drive one of the walking chain wheels to rotate and drive the other walking chain wheel to rotate through the walking chain; meanwhile, the walking support is rotatably connected to the first connecting shaft, so that the influence of the walking support on the meshing of the walking chain and the walking chain wheel can be effectively reduced.

Drawings

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

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

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

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

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

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

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

Detailed Description

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

The embodiment of the application discloses portable three-dimensional laser scanner. Referring to fig. 1 and 2, the mobile three-dimensional laser scanner includes a laser scanner 1 and a traveling system for traveling with the laser scanner 1. Among them, 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 mode, and each traveling mechanism 3 comprises two traveling rotating rings 31 and a plurality of traveling rollers 32 which are arranged around the central axis of each traveling rotating ring 31. Wherein, walking swivel 31 rotates through coupling assembling 33 and connects in walking support 2, and walking support 2 is provided with four and is used for respectively the one-to-one driving piece 4 of walking swivel 31 pivoted of four running gear 3 of drive. Wherein, the driving member 4 is a motor or an engine.

Referring to fig. 1 and 2, further, the two traveling swivels 31 are parallel to each other and are disposed on the same central axis, the two traveling swivels 31 are formed with mounting portions 311 in a recessed manner toward a direction away from each other, the mounting portions 311 are in a V-shaped plate-shaped structure, and both ends of the traveling roller 32 are rotatably connected to the inner sides of the mounting portions 311 on the two traveling swivels 31, respectively, and meanwhile, the mounting portions 311 can also effectively increase the overall strength of the traveling swivels 31, and reduce the possibility that the traveling swivels 31 are bent due to the axial force of the traveling roller 32.

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

Specifically, the central axis of each walking roller 32 forms an included angle of 45 degrees with the rotation axis of each walking swivel 31, and the projections of the walking rollers 32 on two adjacent walking swivels 31 along the ring are symmetrically arranged, so that when two adjacent walking mechanisms 3 rotate, the walking rollers 32 of two adjacent walking mechanisms 3 generate opposite axial friction force components.

When the laser scanner is used, because the central axis of the walking roller 32 and the rotating axis of the walking swivel 31 form an included angle of 45 degrees, a friction force generated between the walking roller 32 and the ground can generate component forces parallel to the rotating plane of the walking swivel 31 and the central axis of the walking swivel 31, when the laser scanner needs to advance, retreat, translate left and right or rotate in place, the rotating directions of different walking swivels 31 are respectively controlled by the driving piece 4, so that when the four walking swivels 31 rotate, the component forces generated by the walking roller 32 abutting against the ground are mutually balanced and form a resultant force along the moving direction, and the foreground, retreat, translate left and right or rotate in place of the walking bracket 2 can be driven, so that the position and the angle of the laser scanner 1 can be relatively and conveniently adjusted under the conditions of more interferents and limited space; while reducing vibrations caused by the need to balance the axial and rotational components of the various running rollers 32.

For example, when it is necessary to rotate the laser scanner 1 to adjust the angle, it is only necessary to make the rotation directions of the traveling swivels 31 of any two adjacent traveling mechanisms 3 therein the same; then the rotating directions of the walking rotary rings 31 of the other two adjacent walking mechanisms 3 are rotated along opposite directions, so that the axial separation generated by the walking rollers 32 of the two adjacent walking mechanisms 3 rotating along different directions can be along the same direction; meanwhile, the axial component forces generated by the walking rollers 32 of the other two adjacent walking mechanisms 3 are along different directions; and the force along the direction of rotation that the walking roller 32 of four running gear 3 produced respectively follows equidirectional to make walking support 2 produce the torque along four running gear 3 centers, in order to drive walking support 2 ring and rotate, reach the effect of original place adjustment laser scanner 1, and do not need artifical transport and do not need extra space, make the use comparatively convenient.

Referring to fig. 3 and 4, in order to further increase the stability between the two traveling swivels 31 of the same traveling mechanism 3 during traveling, the two traveling swivels 31 of the same traveling mechanism 3 are recessed in opposite directions to form abutting portions 312, and the two abutting portions 312 of the same traveling mechanism 3 abut against each other so that when in use, the two abutting portions 312 abut against each other to restrict each other, thereby reducing the possibility of deformation of the traveling swivels 31 due to the axial force of the traveling rollers 32.

The connecting assembly 33 includes a first connecting shaft 331 and a first connecting disc 332, the first connecting shaft 331 is T-shaped and its small end penetrates through the two traveling swivels 31, the large end of the first connecting shaft 331 abuts against one of the two traveling swivels 31 of the same traveling mechanism 3, and the two traveling swivels 31 of the same traveling mechanism 3 are clamped between the large end of the first connecting shaft 331 and the first connecting disc 332, and the two traveling swivels 31 are respectively and fixedly connected to the large end of the first connecting shaft 331 and the first connecting disc 332. 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, a small end of the first connecting shaft 331 penetrates through and is fixedly connected to the first connecting disc 332, and vibration damping assemblies 34 are respectively disposed at ends of the first connecting shaft 331 and the first connecting disc 332, which are far away from each other, so that the first connecting shaft 331 and the first connecting disc 332 are rotatably connected to the walking bracket 2 through different vibration damping assemblies 34.

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

Referring to fig. 4 and 5, two mounting rings 343 are disposed on the same central axis, and the mounting rings 343 are externally fitted on the damping shaft 333. The ends of the two groups of elastic vibration damping strips 342 far away from each other are respectively and fixedly connected with the two opening edges of the vibration damping ring 341; the opposite ends of the two sets of elastic damping strips 342 are fixedly connected to the two mounting rings 343, respectively. The inner ring edges of the two mounting rings 343 are oppositely bent, and a connecting bearing 344 is arranged between the two mounting rings 343.

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

When in use, the two mounting rings 343 can limit the axial sliding of the connecting bearing 344, thereby limiting the axial sliding of the first connecting shaft 331 so as to balance the axial force generated by the running rollers 32 during use, and also absorb the vibration generated by the rotation of the running rollers 32 and the component force in the axial direction of the running rollers 32 by the elastic bending of the plurality of elastic vibration damping strips 342.

Referring to fig. 4 and 5, in addition, since the damping shaft 333 vibrates along with the traveling rotary ring 31 in use, the damping shaft 333 is displaced in a certain axial and vertical direction, and since the traveling rotary ring 31 rotates, the vibration generated during traveling is further increased by switching among the plurality of traveling rollers 32, thereby causing a relatively greater interference with the driving member 4. In order to solve this problem, a telescopic transmission mechanism 5 for transmitting power and being telescopic is provided between the first connecting shaft 331 and the driving member 4 to accommodate the vibration of the traveling mechanism 3.

The telescopic transmission mechanism 5 comprises a telescopic transmission rod 51 and a telescopic transmission pipe 52, the telescopic transmission rod 51 is of a tubular structure with one closed end, the open end of the telescopic transmission rod 51 is inserted and slidably connected to the telescopic transmission pipe 52, and the telescopic transmission rod 51 and the telescopic transmission pipe 52 are arranged on the same central axis. Further, the telescopic transmission rod 51 is universally hinged to the damping shaft 333, so that the telescopic transmission rod 51 is universally hinged to the first connecting shaft 331 through the damping shaft 333; one end of the telescopic transmission pipe 52 far away from the telescopic transmission rod 51 is universally hinged to the power output end of the driving piece 4. The telescopic transmission rod 51 is in pin joint with the inner wall of the telescopic transmission pipe 52, specifically, the outer wall of the telescopic transmission rod 51 is adapted to the inner wall of the telescopic transmission pipe 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 which is embedded and connected to the inner wall of the telescopic transmission pipe 52 in a sliding manner, so as to limit the circumferential rotation of the telescopic transmission rod 51 relative to the telescopic transmission pipe 52.

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

The lubricating assembly 53 includes a lubricating bellows 531, a lubricating plate 533, a lubricating expansion plate 534, and a connecting expansion push rod 535, wherein one end of the lubricating bellows 531 is in a closed state and the closed end is fixedly connected to the lubricating plate 533, and the lubricating plate 533 is fixedly connected to the inner wall of the expansion transmission rod 51. The open end of the lubricating bellows 531 extends toward the open end of the telescopic driving lever 51 and is fixedly connected to the lubricating telescopic plate 534. One end of the telescopic pushing rod 535 is fixedly connected to the lubricating 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 pipe 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 of the check valves 532 is communicated with the inside of the telescopic transmission tube 52; another check valve 532 is fixedly connected to the lubricating plate 533 and communicates with the gap between the telescopic transmission pipe 52 and the telescopic transmission rod 51. The opening edge of the telescopic transmission pipe 52 is fixedly connected with a sealing pipe 54 sleeved outside the telescopic transmission rod 51, the sealing pipe 54 is fixedly connected with the sealing pipe 54, and the sealing pipe 54 is an elastic pipe for sealing. The inside of the telescopic transmission pipe 52 and the inside of the lubricating bellows 531 are filled with a lubricating fluid.

When the walking rotary ring is used, the driving piece 4 only needs to drive the telescopic transmission pipe 52 to rotate, so that the telescopic transmission rod 51 is driven to rotate, and the rotating telescopic transmission rod 51 drives the walking rotary ring 31 to rotate through the damping shaft 333; meanwhile, in the process, the telescopic transmission rod 51 and the telescopic transmission pipe 52 can slide relatively, and the telescopic push rod 535 is driven to slide, and then the lubricating corrugated pipe 531 is extruded or stretched through the lubricating telescopic plate 534; in the process, the pressed lubricating bellows 531 will discharge the lubricating oil inside through one of the check valves 532; or the stretched lubricating bellows 531 will draw in the lubricating oil in the lubricating bellows 531 through another one-way valve 532; thereby realizing the circulation of the clearance between the telescopic transmission rod 51 and the lubricating corrugated pipe 531, the inside of the telescopic transmission pipe 52 and the inside of the lubricating corrugated pipe 531, and keeping the clearance between the telescopic transmission rod 51 and the telescopic transmission pipe 52 in a relatively sufficient lubricated state; the possibility that the stressed part between the telescopic transmission rod 51 and the telescopic transmission pipe 52 cannot be sufficiently lubricated due to extrusion caused by severe and frequent vibration is reduced, so that the vibration generated by the walking roller 32 is adapted; meanwhile, the abrasion generated when the telescopic transmission rod 51 and the telescopic transmission pipe 52 are used can be effectively reduced.

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

When the lubricating liquid needs to be replaced, only two control valves 536 need to be opened, then new lubricating liquid is pumped or poured in through one of the control valves 536, so that the new lubricating liquid flows in the lubricating corrugated pipe 531, in the gap between the telescopic transmission pipe 52 and the telescopic transmission rod 51 and in the telescopic transmission pipe 52, and is discharged through the control valve 536 of the telescopic transmission rod 51, thereby facilitating replacement of the lubricating liquid and reducing the influence on power transmission.

Of course, in other embodiments, the lubricating assembly 53 may also include two check valves 532 and lubricating pipes with opposite flow directions, the lubricating pipes are inserted and slidably connected in the telescopic transmission rod 51, and one of the check valves 532 respectively communicates the inside of the telescopic transmission rod 51 and the gap between the telescopic transmission rod 51 and the telescopic transmission pipe 52; another one-way valve 532 communicates the lubrication tube with the interior of the telescopic drive tube 52.

Referring to fig. 1 and 2, in practical use, when the traveling mechanism 3 drives the traveling carriage 2 to travel and adjust the position and angle, it needs to be driven by the component force generated between the traveling roller 32 and the ground in the axial direction and along the plane of the traveling swivel 31, which results in that the vibration amplitude between the traveling roller 32 and the ground is increased when transportation is needed, and relatively high-speed transportation is inconvenient. In order to reduce the influence on the transfer caused by the traveling rollers 32, the traveling bracket 2 is provided with four first traveling members 21, and the four first traveling members 21 are respectively arranged corresponding to the four traveling mechanisms 3 one by one.

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 traveling support 211 is rotatably coupled to the damping shaft 333, so that the traveling support 211 is rotatably coupled to the traveling bracket 2 through the damping shaft 333 and the damping unit 34. The walking support 211 is provided with a telescopic cylinder 23 for controlling the walking support to rotate, the telescopic cylinder 23 is a hydraulic cylinder, an air cylinder or an electric pushing cylinder, the telescopic cylinder 23 is hinged with the walking support 2, and the telescopic end of the telescopic cylinder 23 is hinged with the walking support 211. Wherein the walking support 211 is provided with a walking transmission 22 for power transmission of the driving member 4 to the walking wheels 212.

When needs are transported, only need to stretch out downwards through telescopic cylinder 23 drive walking support 211 for walking wheel 212 butt in ground, then driving piece 4 with walking driving medium 22 drive walking wheel 212 and rotate can, so that transport, reduce because of walking roller 32 to the influence of transporting speed.

Referring to fig. 1 and 2, four walking wheels 212 are located inside four traveling mechanisms 3, so that when the transportation is performed and an obstacle is encountered, the walking support 211 is only required to be retracted, the walking can be performed through the traveling mechanisms 3, the passing of relatively more obstacles or even step surfaces is completed, the transportation speed can be effectively increased, and the passing performance during the transportation can be increased.

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

Referring to fig. 6, the traveling carriage 2 has a rectangular frame-like structure, and the traveling carriage 2 is provided with an adjustment 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 ascend and descend, 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, the same group comprises two adjusting rods 611, the middle parts of the two adjusting rods are hinged to each other, and the rotating planes of the adjusting rods 611 are vertically arranged. The traveling support 2 is fixedly connected with a first support rod 24 parallel to the distribution direction of the two sets of adjusting rods 611, the traveling support 2 is connected with a first sliding rod 25 parallel to the first support rod 24 in a sliding manner, specifically, two ends of the first sliding rod 25 are respectively provided with a linear slide rail, the slide rail of the linear slide rail is fixedly connected with the traveling support 2, and a slide seat of the linear slide rail is fixedly connected with the first sliding rod 25.

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

The upper ends of the group of adjusting rods 611 located at the lowest position in the same adjusting bracket 61 are hinged to the lower ends of the group of adjusting rods 611 located at the upper position in a one-to-one correspondence manner. The upper end of the group of adjusting rods 611 of the two adjusting brackets 61 located above is provided with a mounting seat 11.

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

When the device is used, 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, the second sliding rod 112 on the mounting seat 11 is driven to slide, and the mounting seat 11 is vertically lifted; in the process, due to the arrangement of the first support rod 24 and the second support rod 111, the displacement of the mounting seat 11 in the horizontal direction relative to the walking bracket 2 can be relatively small in the lifting process, so that the stability of the three-dimensional laser scanner 1 is maintained; and the two adjusting frames 61 can be linked, so that the integrity in use is improved.

Referring to fig. 6, the adjusting element 62 includes an adjusting motor 621 fixedly connected to the walking frame 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, wherein the adjusting screw 622 is rotatably connected to the walking frame 2, and the adjusting screw 622 penetrates through and is threadedly connected to the adjusting seat 623. When the installation seat 11 needs to be adjusted to lift, only the adjustment motor 621 needs to drive the adjustment screw 622 to rotate, and drive the adjustment seat 623 to slide along the axial direction of the adjustment screw 622, so as to drive the first sliding rod 25 to slide, and thus the installation seat 11 vertically lifts.

The above are preferred embodiments of the present application, and the scope of protection of the present application is not limited thereto, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims (10)

1. A mobile three-dimensional laser scanner comprising a laser scanner (1), characterized in that: still include the traveling system who is used for carrying laser scanner (1) walking, traveling system includes walking support (2) and four running gear (3) that are the rectangle distribution and set up in walking support (2), laser scanner (1) is installed in walking support (2), running gear (3) include two walking swivels (31) and a plurality of walking roller (32) of encircleing walking swivel (31) setting, walking swivel (31) rotate to be connected in walking support (2), two the outside along the direction sunken shaping of keeping away from mutually of walking swivel (31) has installation department (311), installation department (311) are the folded plate column structure of V-arrangement, the both ends of walking roller (32) are rotated respectively and are connected in installation department (311) of two walking swivels (31), just the axis of rotation of walking roller (32) is 45 contained angles with the axis of walking swivel (31), the hoop is adjacent two the vertical projection of walking roller (32) of running gear (3) is the axisymmetric setting, walking support (2) are provided with four respectively the one-to-one drive four running gear (3) the walking swivel (31) pivoted driving piece (4).

2. The mobile three-dimensional laser scanner of claim 1, wherein: the outline of the outer wall of the walking roller (32) is arc-shaped, and the outline of the outer sides of the walking rollers (32) of the walking mechanism (3) are overlapped and circular along the axial projection of the walking swivel (31).

3. The mobile three-dimensional laser scanner of claim 1, wherein: it is same still be provided with coupling assembling (33) between two walking change (31) of running gear (3), coupling assembling (33) are including first connecting axle (331) and first flange (332), first connecting axle (331) are T shape and its tip wears to establish and fixed connection in two walking change (31) and first flange (332), two walking change (31) are by the centre gripping between main aspects and first flange (332) of first connecting axle (331), first connecting axle (331) and first flange (332) all rotate to be connected in walking support (2).

4. A mobile three dimensional laser scanner according to claim 3 wherein: first connecting axle (331) and first flange (332) all are provided with and are used for absorbing damping subassembly (34), damping subassembly (34) are including damping ring (341), two sets of elastic damping strip (342) and collar (343), damping ring (341) fixed connection is in walking support (2), with the group elastic damping strip (342) encircle the central axis setting of damping ring (341), and two sets of one end fixed connection that elastic damping strip (342) kept away from mutually is in damping ring (341), two sets of opposite end fixed connection in collar (343) of elastic damping strip (342), collar (343) rotate to be connected in first connecting axle (331).

5. The mobile three-dimensional laser scanner of claim 4, wherein: be provided with between first connecting axle (331) and driving piece (4) and be used for transmitting flexible drive mechanism (5) of power, flexible drive mechanism (5) are including flexible transfer line (51) and flexible transmission pipe (52), flexible transfer line (51) and flexible transmission pipe (52) respectively one-to-one universal hinge in the power take off end of first connecting axle (331) and driving piece (4), flexible transfer line (51) are inserted and are established and sliding connection in flexible transmission pipe (52), be provided with in flexible transmission pipe (52) and be used for lubricated subassembly (53).

6. The mobile three-dimensional laser scanner of claim 5, wherein: lubricating component (53) are including lubricated bellows (531), the both ends difference fixed connection in flexible transfer line (51) and flexible transmission pipe (52) of lubricated bellows (531), all pack in lubricated bellows (531) and flexible transmission pipe (52) and have lubricated liquid, lubricated bellows (531) are provided with two check valves (532), two the flow opposite direction of check valve (532), and one of them check valve (532) communicate in flexible transmission pipe (52), another check valve (532) communicate in the clearance between flexible transmission pipe (52) and flexible transfer line (51), fixedly connected with is used for sealed sealing tube (54) between flexible transmission pipe (52) and the flexible transmission line (51).

7. The mobile three-dimensional laser scanner of claim 6, wherein: flexible transfer line (51) is the tubulose, lubricated bellows (531) are located flexible transfer line (51) inside, lubricated bellows (531) are located one end fixedly connected with lubricated board (533) of flexible transfer line (51), the border fixed connection of lubricated board (533) is in the inner wall of flexible transfer line (51), the lubricated expansion plate (534) of the other end fixedly connected with of lubricated bellows (531), lubricated expansion plate (534) slide and connect in the inner wall of flexible transfer line (51), lubricated expansion plate (534) fixedly connected with telescopic push rod (535), telescopic push rod (535) fixed connection is in flexible transfer line (52).

8. The mobile three-dimensional laser scanner of claim 7, 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, the inlet of the control valve (536) on the telescopic push rod (535) penetrates out of the telescopic transmission pipe (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.

9. A mobile three-dimensional laser scanner according to claim 3, wherein: walking support (2) are provided with first walking piece (21) of four respectively four driving pieces of one-to-one (4), first walking piece (21) are connected in walking support (211) of first connecting axle (331) and are rotated walking wheel (212) of connecting in walking support (211) including rotating, walking wheel (212) are provided with walking driving medium (22), the power input end and the output of walking driving medium (22) are connected respectively in first connecting axle (331) and walking wheel (212), walking support (2) still are provided with and are used for controlling walking support (211) pivoted telescoping cylinder (23).

10. The mobile three-dimensional laser scanner of claim 9, wherein: the walking transmission piece (22) comprises two walking chain wheels (221) and walking chains (222) sleeved on the two walking chain wheels (221), and the two walking chain wheels (221) are respectively and fixedly connected to the walking wheel (212) and the first connecting shaft (331) in a coaxial mode.

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