CN114684286A - Multistage magnetofluid damping load-reducing and shock-absorbing type all-dimensional land surveying vehicle - Google Patents
Multistage magnetofluid damping load-reducing and shock-absorbing type all-dimensional land surveying vehicle Download PDFInfo
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- CN114684286A CN114684286A CN202210611147.9A CN202210611147A CN114684286A CN 114684286 A CN114684286 A CN 114684286A CN 202210611147 A CN202210611147 A CN 202210611147A CN 114684286 A CN114684286 A CN 114684286A
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- 238000009434 installation Methods 0.000 claims description 6
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
- B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
- B60R19/023—Details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
- F16F9/535—Magnetorheological [MR] fluid dampers
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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
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/38—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by folding, e.g. pivoting or scissors tong mechanisms
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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
- F16M11/425—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 along guiding means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
- B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
- B60R2019/026—Buffers, i.e. bumpers of limited extent
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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
- F16M2200/00—Details of stands or supports
- F16M2200/06—Arms
- F16M2200/063—Parallelogram arms
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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
- F16M2200/00—Details of stands or supports
- F16M2200/06—Arms
- F16M2200/068—Arms being part of the undercarriage
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
- G01N2001/085—Grabs
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Transportation (AREA)
- Combustion & Propulsion (AREA)
- General Physics & Mathematics (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Health & Medical Sciences (AREA)
- Electromagnetism (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a multistage magnetofluid damping load-reducing and shock-absorbing type all-dimensional land measuring vehicle which comprises a magnetofluid damping load-reducing and shock-absorbing type protective walking assembly, an all-dimensional annular laser scanning protective collecting assembly, a folding storage protective measuring assembly and a petal-like crank arm driving type obstacle clearing sampling assembly. The invention belongs to the technical field of land measuring equipment, and aims at solving the problem that a measuring vehicle is easy to collide with an obstacle when the moving speed is too high, magnetic fluid is adopted to replace traditional hydraulic oil to serve as a hydraulic medium, resistance generated when the magnetic fluid passes through a permanent magnet is used as a power source for load reduction and shock absorption, impact caused by collision is primarily buffered, then the impact force is continuously reduced by using a damping effect, and when the impact force enables the magnetic fluid in a pressure bearing chamber to flow through a coil winding drum, the magnetic fluid is influenced by a magnetic field generated by a magnetic induction coil, and the resistance is generated to further consume the impact force caused by collision.
Description
Technical Field
The invention belongs to the technical field of land measuring equipment, and particularly relates to a multistage magnetofluid damping load-reducing and shock-absorbing type omnibearing land measuring vehicle.
Background
Land is an important foundation on which people live and develop, so that the land surveying work is very significant. With the continuous development of science and technology, the value of land measurement work is continuously improved, and due to the large land measurement workload and the wide area range, various problems are faced in the actual measurement work.
In the land measurement work, workers are often required to hold measuring instruments to measure at different places, so that the efficiency is low, the physical strength of the workers is consumed when the equipment is carried, even if a movable measuring vehicle is adopted, in order to accelerate the work progress, the moving speed of the measuring vehicle is often too high when the measuring vehicle moves among various measuring points, when the attention of the workers is not focused, the measuring vehicle easily collides with obstacles such as trees on the roadside when the measuring vehicle passes a bend or goes up and down a slope, even the workers are injured seriously, the safety is extremely low, and when a large obstacle exists in front, the obstacles are required to be manually removed by the workers, the time is delayed in the obstacle removing process, a large amount of physical strength of the workers can be wasted, and the measuring progress is seriously influenced; when the existing measuring vehicle encounters a terrain with difficult steering, the laser scanner and the measuring instrument equipped on the measuring vehicle are difficult to change the measuring direction, so that the measuring result is incomplete.
There is a strong need for an earth measuring vehicle to solve the above problems.
Disclosure of Invention
Aiming at the situation, in order to overcome the defects of the prior art, the invention provides a multistage magnetofluid damping load-reducing and shock-absorbing type omnibearing land measuring vehicle, which solves various problems in the land measuring process.
The technical scheme adopted by the invention is as follows: the invention provides a multistage magnetofluid damping load-reducing and shock-absorbing type omnibearing land surveying vehicle which comprises a magnetofluid damping load-reducing and shock-absorbing type protective walking assembly, wherein the magnetofluid damping load-reducing and shock-absorbing type protective walking assembly comprises a magnetofluid damping load-reducing and shock-absorbing protective device and a crawler walking device, and the magnetofluid damping load-reducing and shock-absorbing protective device is arranged on two sides of the crawler walking device; the all-round annular laser scanning protects the collection assembly, the all-round annular laser scanning protects the collection assembly to locate on crawler attachment, the all-round annular laser scanning protects the collection assembly to include all-round annular laser scanning device and rainwater dust collecting protector, the rainwater dust collecting protector locates above all-round annular laser scanning device; the foldable storage protection type measuring assembly is arranged on the rainwater and dust collecting and protecting device and comprises a foldable storage type measuring device and a top cover overturning type protecting device, and the top cover overturning type protecting device is arranged on the side wall of the foldable storage type measuring device; and, imitative petal formula crank arm drive type sample subassembly that clears the barrier locate the folding one side of accomodating protection type measuring subassembly, imitative petal formula crank arm drive type sample subassembly that clears the barrier includes crank arm drive arrangement and imitative petal formula sample device that clears the barrier, and imitative petal formula sample device that clears the barrier is located and is cranked on the arm drive arrangement.
As a preferable aspect of the present invention, wherein: the magnetic fluid damping load-reducing shock-absorbing protection device comprises an arc protection plate, a forward extension telescopic column, a forward extension sleeve, a piston, a permanent magnet, a partition plate, a pressure-bearing cavity, a buffer cavity, a damping cavity, load-reducing damping, a top extension telescopic column, a top extension sleeve, a coil bobbin, a magnetic induction coil, a movable sealing plug, a pressure-bearing chamber, a compression chamber and a reset spring, wherein the arc protection plate is arranged on the forward extension telescopic column, the forward extension telescopic column extends out of the forward extension sleeve, the piston is arranged at one end of the forward extension telescopic column, one end of the reset spring is connected with the piston, the other end of the reset spring is connected with the inner wall of the forward extension sleeve, the partition plate is arranged in the forward extension sleeve, one end of the partition plate is fixedly connected with the inner wall of the forward extension sleeve, a gap is reserved between the other end of the partition plate and the inner wall of the forward extension sleeve, the piston is attached to the partition plate, the permanent magnet is arranged in the forward extension sleeve and is arranged opposite to the permanent magnet partition plate, the pressure-bearing chamber is arranged below the partition board, the pressure-bearing chamber is filled with the magnetic fluid, the buffer chamber is arranged above the partition board, the front stretching sleeve is arranged on the buffer board, the damping cavity is arranged in the buffer board, the load-reducing damping is arranged in the damping cavity, the load-reducing damping can freely slide in the damping cavity, one end of the top support telescopic column is hinged with the side wall of the buffer board, the other end of the top support telescopic column extends into the top support sleeve, the coil bobbin is arranged on the top support telescopic column, the magnetic induction coil is wound on the coil bobbin, a gap is reserved between the coil bobbin and the inner wall of the top support sleeve, the movable sealing plug is arranged in the top support sleeve, the pressure-bearing chamber is arranged between the movable sealing plug and the lower cylinder wall of the top support sleeve, the pressure-bearing chamber is filled with the magnetic fluid, the compression chamber is arranged between the upper cylinder wall of the movable sealing plug and the top support sleeve, and the movable sealing plug can freely slide along the top support sleeve.
As a preferable aspect of the present invention, wherein: crawler travel unit includes the supporting baseplate, support the riser, hang the bottom plate, the side mounting panel, the driving wheel of marcing, driving motor marches, the auxiliary wheel, take-up pulley and walking track, the supporting baseplate is located on supporting the riser, hang on the diapire that the bottom plate was located and is supported the riser, the side mounting panel is located on the lateral wall of supporting the riser, driving motor marces is located and is hung on the bottom plate, the both ends of locating the side mounting panel are connected in the rotation of the driving wheel, the auxiliary wheel rotates to be connected the top of locating the side mounting panel, the take-up pulley rotates to be connected the below of locating the side mounting panel, the walking track suit is at the driving wheel of marcing, on auxiliary wheel and the take-up pulley, driving motor's output and the driving wheel of marcing keep rotating to be connected.
As a preferable aspect of the present invention, wherein: the omnibearing circular laser scanning device comprises a track supporting platform, a circular track, a sliding wheel, a moving platform, a laser probe, a flexible connecting block, a transmission belt, a transmission wheel, a circular driving motor and a motor placing groove, wherein the track supporting platform is arranged on a supporting bottom plate, the circular track is arranged on the track supporting platform, the moving platform is arranged above the circular track, the sliding wheel is rotatably connected and arranged on the bottom wall of the moving platform, the sliding wheel is clamped and arranged on the circular track, the sliding wheel and the circular track are in rolling connection, the laser probe is arranged on the moving platform, one end of the flexible connecting block is connected with the moving platform, the other end of the flexible connecting block is connected with the transmission belt, the transmission belt is sleeved on the transmission wheel, the shaft part of the transmission wheel is rotatably connected with the supporting bottom plate, the transmission wheel is arranged at two ends of the supporting bottom plate, and the transmission wheel at each end is integrally distributed in a semicircular shape, the output end of the annular driving motor is rotatably connected with the single driving wheel at one end, the annular driving motor is arranged in a motor placing groove, and the motor placing groove is arranged on the supporting bottom plate.
As a preferable aspect of the present invention, wherein: the rainwater dust collecting and protecting device comprises a supporting base, an annular collecting plate, a first collecting pipe, a second collecting pipe and a downcomer, wherein the supporting base is arranged on a supporting base plate, the annular collecting plate is arranged on the supporting base in a surrounding mode, the annular collecting plate is located right above a laser probe, the first collecting pipe and the second collecting pipe are arranged in the supporting base, the first collecting pipe is perpendicular to the second collecting pipe, the first collecting pipe and the second collecting pipe are communicated, the top end of the downcomer is connected with the intersection of the first collecting pipe and the second collecting pipe, the bottom of the downcomer penetrates through the supporting base, the supporting base plate and the hanging base plate, and two ends of the first collecting pipe and the second collecting pipe are exposed on the annular collecting plate.
As a preferable aspect of the present invention, wherein: the folding storage type measuring device comprises a measuring platform, a folding storage box, a built-in slide rail, a sliding rack plate, a bottom gear, a folding driving arm, a folding driven arm, a top supporting plate, a diamond-shaped connecting plate, a driving plate, a first hydraulic cylinder, an installation block, an opening, a rotating platform, a measuring instrument, gear teeth, a rotating gear, a rotary driving motor, a hanging motor frame and a telescopic platform, wherein the measuring platform is arranged on a supporting base, the folding storage box is arranged on the measuring platform, the built-in slide rails are symmetrically arranged on the inner wall of the folding storage box in a staggered mode, the sliding rack plate is arranged in the built-in slide rails in a sliding mode, the shaft part of the bottom gear is in rotating connection with the inner wall of the folding storage box, the bottom gear is in meshing connection with the sliding rack plate, the bottom of the folding driving arm is fixedly connected with the shaft part of the bottom gear, and the top of the folding driving arm is in rotating connection with the bottom of the folding driven arm, the top of the folding driven arm is rotationally connected with the top supporting plate, the top supporting plate is arranged on the bottom wall of the folding platform, the side wall of the folding platform is slidably connected with the inner wall of the folding containing box, the sliding rack plates on the upper side and the lower side are connected through a diamond-shaped connecting plate, the opening is arranged on the side wall of the folding containing box, the driving plate passes through the opening, one end of the driving plate is connected with the diamond-shaped connecting plate, the other end of the driving plate is connected with a first hydraulic cylinder, the first hydraulic cylinder is arranged on an installation block, the installation block is arranged on the side wall of the folding containing box, the rotating platform is rotationally connected on the top wall of the folding platform, the gear teeth are arranged on the rotating platform in a surrounding manner, the rotating gear is arranged on one side of the rotating platform, the rotating gear is in meshing connection with the gear teeth, the hanging motor is erected on the bottom wall of the folding platform, the rotating driving motor is arranged on a hanging motor frame, and the output end of the rotating driving motor is rotationally connected with the rotating gear teeth, the measuring instrument is arranged on the rotating platform.
As a preferable aspect of the present invention, wherein: the convertible protector of top cap includes the motor mount pad, upset driving motor, drive gear, driven gear, the upset arm, the top apron, sliding plate and roof slide, the motor mount pad is located on measuring platform's the lateral wall, upset driving motor locates on the motor mount pad, drive gear's axial region keeps rotating with upset driving motor's output and is connected, driven gear rotates to be connected and locates on the lateral wall of folding containing box, driven gear keeps meshing with drive gear and is connected, the one end of upset arm keeps fixed connection with driven gear's axial region, the other end of upset arm keeps rotating with the lateral wall of top apron and is connected, the roof slide is located on the top apron, sliding plate sliding connection locates in the roof slide, the bottom of sliding plate keeps articulating with the lateral wall top of folding containing box.
As a preferable aspect of the present invention, wherein: the crank arm driving device comprises a bottom supporting frame, a front arm bending driving motor, a rear arm bending driving motor, a bending driving arm, a rear driven arm I, a front driven arm I, a suspension plate, a fixed connecting arm, a front driven arm II, a triangular connecting plate, a rear driven arm II and a driving frame, wherein the bottom supporting frame is arranged on a supporting base, the front arm bending driving motor is arranged on the side wall of the bottom supporting frame, one end of the bending driving arm is rotatably connected with the front arm bending driving motor, the other end of the bending driving arm is rotatably connected with the bottom end of the rear driven arm I, one end of the front driven arm I is rotatably connected with the top end of the rear driven arm I, the other end of the front driven arm I is rotatably connected with the suspension plate, the fixed connecting arm is fixedly connected with one side of the suspension plate, and the rear arm bending driving motor is arranged on the side wall of the bottom supporting frame, the bottom of the driving frame keeps rotating with the bending driving motor of the rear arm and is connected, one end of the triangular connecting plate keeps rotating with the top of the driving frame and is connected, the bottom of the rear driven arm II rotates to be connected with the side wall of the bottom supporting frame, the top end of the rear driven arm II keeps rotating with one end of the triangular connecting plate and is connected, the front driven arm II is provided with two groups, the front driven arm II above the front driven arm II is respectively kept rotating with the fixed connecting arm and the triangular connecting plate and is connected, the front driven arm II below the rear driven arm II is respectively kept rotating with the hanging plate and the triangular connecting plate and is connected, and the middle section of the front driven arm I keeps rotating with the top of the driving frame.
As a preferable aspect of the present invention, wherein: imitative petal formula sampling device that clears away obstacles includes that hanging erection column, pneumatic cylinder two and arc snatch the lamella, and hanging the erection column and locate on hanging the board, the arc snatchs the top of lamella and rotates the bottom of connecting and locating hanging the erection column, and the arc snatchs the valve ring and arranges around hanging the erection column, and the one end of pneumatic cylinder two keeps rotating with the top of hanging the erection column to be connected, and the other end of pneumatic cylinder two keeps rotating with the interlude that the lamella was snatched to the arc and is connected.
As a preferable aspect of the present invention, wherein: four groups of advancing driving motors are arranged, and each advancing driving motor is independently connected with an advancing wheel.
Preferably, a central controller is arranged on the supporting bottom plate to assist in achieving functions of measurement, protection and the like of the measuring vehicle, and the model of the central controller is STC12C 6082.
The multistage magnetofluid damping load-reducing and shock-absorbing type omnibearing land measuring vehicle has the beneficial effects that:
(1) aiming at the problem that the measuring vehicle is easy to collide with an obstacle when the moving speed is too high, the invention uses magnetic fluid to replace the traditional hydraulic oil as a hydraulic medium based on the technical principle of an air pressure and hydraulic structure, utilizes the resistance generated when the magnetic fluid passes through a permanent magnet as a power source for load reduction and shock absorption, primarily buffers the impact caused by collision, simultaneously makes load reduction damping slide back and forth in a damping cavity by impact force, so as to continuously reduce the impact force transmitted backwards, when the impact force is transmitted to a top support telescopic column, a coil bobbin slides towards the upper oblique direction, the magnetic fluid in a pressure bearing chamber is pressed to flow through the coil bobbin, the magnetic fluid is influenced by a magnetic field generated by a magnetic induction coil, the impact force caused by collision is further consumed by resistance, and the magnetic induction coil can be used for controlling the change of the magnetic field, so as to adjust the viscosity of the magnetic fluid flowing through the gap of the coil bobbin, thereby changing the magnitude of the resistance.
(2) Aiming at the problem that the existing measuring vehicle is difficult to carry out comprehensive measurement when the existing measuring vehicle cannot turn, the invention utilizes a transmission belt to drive a mobile platform to do circular motion along a circular track based on the technical principle of space dimension change, so that a laser probe can carry out scanning observation on the surrounding soil in an all-around manner, a circular collecting plate above the laser probe can play the roles of keeping off rain and collecting dust, and meanwhile, a rotating gear is utilized to drive the rotating platform to rotate, thereby adjusting the direction of a measuring instrument and facilitating the measuring vehicle to measure the surrounding soil in situ.
(3) When the measuring instrument is stored in the folding storage box, the overturning driving motor drives the driving gear to rotate, the driving gear drives the driven gear to rotate reversely, the driven gear drives the overturning arm to rotate upwards, the overturning arm drives the top covering plate to rotate upwards together, when the top covering plate rotates, the sliding plate starts to slide along the top plate slideway, and the bottom of the sliding plate is hinged on the folding storage box, the sliding plate can rotate under the action of thrust, so that the direction of the top covering plate is changed, the top covering plate moves upwards while coinciding with the top end of the folding storage box gradually, the folding storage box is covered, and the measuring instrument is protected.
(4) When a front obstacle needs to be cleaned or a front land needs to be sampled, the front arm bending driving motor drives the bending driving arm to rotate, the bending driving arm drives the rear driven arm to rotate, the rear driven arm drives the front driven arm to rotate, the front driven arm can change the front position and the rear position of the suspension plate when rotating, so that the front position and the rear position of the arc-shaped grabbing flap are adjusted, the rear arm bending driving motor drives the driving frame to rotate, when the driving frame rotates, the rear driven arm II and the driving frame are always parallel due to the limitation of the triangular connecting plate, the upper front driven arm II and the lower front driven arm II are also always parallel, so that when the driving frame rotates forwards, the rear driven arm II rotates forwards together, and drives the triangular connecting plate to move forwards and downwards on one side, so that the front driven arm II bends downwards and changes the position of the arc-shaped grabbing flap, when the arc grabbing flap moves to a proper position, the second hydraulic cylinder extends gradually from a contraction state, so that the arc grabbing flaps around are gradually close to each other, and the front obstacle or soil is grabbed.
(5) When the marching driving motor drives the marching wheel to rotate, the measuring vehicle can be moved under the matching of the tracks, the auxiliary wheels and the tensioning wheels, when the vehicle needs to turn, the motor rotating speeds of the left side and the right side only need to be adjusted, the rotating speeds of the tracks on the two sides are inconsistent, the reversing can be completed, a large amount of measuring instruments do not need to be carried by a worker to move back and forth, a large amount of physical power of the worker is saved, and the working efficiency is greatly improved.
(6) The arc guard plate not only can play and fall and carry absorbing effect, can prevent moreover that the walking track from touching the barrier in the place ahead and rear, avoids the barrier direct and track to bump, causes the damage of walking track or travelling wheel, influences the normal walking of measuring car.
Drawings
FIG. 1 is a schematic overall structure diagram of a multistage magnetofluid damping load-reducing and shock-absorbing type omnibearing land measuring vehicle provided by the invention;
FIG. 2 is a schematic view of the overall structure of the magnetofluid damping load-reducing shock-absorbing type protective walking assembly provided by the invention;
FIG. 3 is a cross-sectional view of the magnetic fluid damping load-reducing shock-absorbing type protective walking assembly provided by the invention;
FIG. 4 is a cross-sectional view of the magnetic fluid damping load-reducing shock-absorbing protection device proposed by the present invention;
FIG. 5 is a cross-sectional view of a forward extending sleeve according to the present invention;
FIG. 6 is a cross-sectional view of a jacking sleeve according to the present invention;
FIG. 7 is a schematic view of the overall structure of the omni-directional annular laser scanning protection collection assembly according to the present invention;
fig. 8 is a schematic view of the overall structure of the mobile platform according to the present invention;
FIG. 9 is a cross-sectional view of a support base according to the present invention;
FIG. 10 is a schematic view of the overall structure of the foldable storage protection type measuring assembly according to the present invention;
fig. 11 is a schematic view of the overall structure of the foldable and retractable measuring device according to the present invention;
fig. 12 is a schematic view of the overall structure of the folding driving arm according to the present invention;
FIG. 13 is a schematic view showing the overall structure of a top cover according to the present invention;
fig. 14 is a working state diagram of the cover turnover type protection device provided by the invention;
fig. 15 is a schematic view of the overall structure of the crank arm driving device according to the present invention;
fig. 16 is a plan view of the crank arm driving device according to the present invention;
fig. 17 is a schematic overall structure diagram of the petal-like barrier-removing sampling device provided by the invention;
FIG. 18 is a schematic block diagram of a multistage magnetofluid damping load-reducing shock-absorbing type omnibearing land measuring vehicle provided by the invention;
FIG. 19 is a block circuit diagram of a multistage magnetofluid damping load-reducing shock-absorbing type omnibearing land measuring vehicle provided by the invention;
fig. 20 is a motor driving circuit diagram of a multistage magnetofluid damping load-reducing shock-absorbing type omnibearing land surveying vehicle provided by the invention.
The device comprises a magnetofluid damping load-reducing shock-absorbing type protection walking assembly, a magnetofluid damping load-reducing shock-absorbing protection device, a 110 arc-shaped protection plate, a 111 extending telescopic column, a 112 extending sleeve, a 113 piston, a 114 permanent magnet, a 115, a partition plate, a 116 pressure-bearing cavity, a 117 buffer cavity, a 118 buffer plate, a 119, a damping cavity, a 1110, load-reducing damping, a 1111, a jacking telescopic column, a 1112, a jacking sleeve, a 1113, a coil bobbin, a 1114, a magnetic induction coil, a 1115, a movable sealing plug, a 1116, a pressure-bearing chamber, a 1117, a compression chamber, a 1118, a reset spring, a 12, a crawler walking device, a 120, a support base plate, a 121, a support vertical plate, a 122, a hanging base plate, a 123, a side mounting plate, a 124, a walking wheel, a 125, a walking driving motor, a 126, an auxiliary wheel, a 127, a tension wheel, a 128, a crawler walking wheel, a 2, an omnibearing laser annular scanning and annular scanning protection collection assembly, a 21, a suspension device, an omnidirectional annular laser scanning device, 210, a track support platform, 211, an annular track, 212, a sliding wheel, 213, a moving platform, 214, a laser probe, 215, a flexible connecting block, 216, a transmission belt, 217, a transmission wheel, 218, an annular driving motor, 219, a motor placing groove, 22, a rainwater and dust collecting and protecting device, 220, a supporting base, 221, an annular collecting plate, 222, a first collecting pipe, 223, a second collecting pipe, 224, a sewer pipe, 3, a folding and containing type measuring component, 31, a folding and containing type measuring device, 310, a measuring platform, 311, a folding and containing box, 312, an internal sliding rail, 313, a sliding rack plate, 314, a bottom gear, 315, a folding driving arm, 316, a folding driven arm, 317, a top supporting plate, 318, a diamond-shaped connecting plate, 319, a driving plate, 3110, a hydraulic cylinder I, 3111, an installation block, 3112, an opening, 3113 and a rotating platform, 3114. 3115, gear teeth, 3116, rotary gear, 3117, rotary drive motor, 3118, hanging motor rack, 3119, telescopic platform, 32, cover turnover type guard, 320, motor mount, 321, turnover drive motor, 322, drive gear, 323, driven gear, 324, turnover arm, 325, top cover plate, 326, sliding plate, 327, top plate slideway, 4, petal-like bent arm driving type obstacle clearing sampling component, 41, bent arm driving device, 410, bottom support frame, 411, front arm bending drive motor, 412, rear arm bending drive motor, 413, bending drive arm, 414, rear driven arm I, 415, front driven arm I, 416, suspension plate, 417, fixed connecting arm, 418, front driven arm II, 419, triangular connecting plate, 0, rear driven arm II, 4111, drive rack, 42, petal-like obstacle clearing sampling device, 420, 4111, driving rack, 42, petal-like obstacle clearing sampling device, And the hanging mounting column 421, the hydraulic cylinder II, 422 and the arc-shaped grabbing flap.
In the circuit diagram of the central controller in fig. 19, +5V is a power supply of the circuit, GND is a ground terminal, XTAL1 is a crystal oscillator, C1 and C2 are oscillation starting capacitors of the crystal oscillator, P1 is a connection port of a traveling motor and the central controller, P2 is a connection port of a circumferential driving motor and the central controller, P3 is a connection port of a rotational driving motor and the central controller, P4 is a connection port of a reverse driving motor and the central controller, P5 is a connection port of a front arm bending driving motor and the central controller, and P6 is a connection port of a rear arm bending driving motor and the central controller; in the motor driving circuit diagram of fig. 20, BTS7970B is a dc motor driving chip, R1-R10 are resistors, C3 and C4 are filter capacitors, D1 and D2 are diodes, and a motor is a motor.
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
As a new embodiment of the invention, as shown in fig. 1, the invention provides a multistage magnetofluid damping load-reducing and shock-absorbing type omnibearing land measurement vehicle, which comprises a magnetofluid damping load-reducing and shock-absorbing type protection walking assembly 1, wherein the magnetofluid damping load-reducing and shock-absorbing type protection walking assembly 1 comprises a magnetofluid damping load-reducing and shock-absorbing protection device 11 and a crawler walking device 12, and the magnetofluid damping load-reducing and shock-absorbing protection device 11 is arranged on two sides of the crawler walking device 12; the device comprises an omnibearing annular laser scanning protection and collection assembly 2, wherein the omnibearing annular laser scanning protection and collection assembly 2 is arranged on a crawler walking device 12, the omnibearing annular laser scanning protection and collection assembly 2 comprises an omnibearing annular laser scanning device 21 and a rainwater dust collection and protection device 22, and the rainwater dust collection and protection device 22 is arranged above the omnibearing annular laser scanning device 21; the foldable storage protective type measuring assembly 3 is arranged on the rainwater and dust collecting and protecting device 22, the foldable storage protective type measuring assembly 3 comprises a foldable storage type measuring device 31 and a top cover turning type protecting device 32, and the top cover turning type protecting device 32 is arranged on the side wall of the foldable storage type measuring device 31; and, imitative petal formula crank arm drive type sample assembly 4 that clears the obstacles locates the one side of folding protection type measuring component 3 of accomodating, and imitative petal formula crank arm drive type sample assembly 4 that clears the obstacles includes crank arm drive arrangement 41 and imitative petal formula sampling device 42 that clears the obstacles, and imitative petal formula sampling device 42 that clears the obstacles is located on crank arm drive arrangement 41.
As shown in fig. 2-6, the magnetofluid damping load-reducing shock-absorbing protection device 11 includes an arc protection plate 110, a forward extension column 111, a forward extension sleeve 112, a piston 113, a permanent magnet 114, a partition plate 115, a pressure-bearing chamber 116, a buffer chamber 117, a buffer plate 118, a damping cavity 119, a load-reducing damper 1110, a top extension column 1111, a top support sleeve 1112, a coil bobbin 1113, a magnetic induction coil 1114, a movable sealing plug 1115, a pressure-bearing chamber 1116, a compression chamber 1117 and a return spring 1118, the arc protection plate 110 is disposed on the forward extension column 111, the forward extension column 111 extends from the forward extension sleeve 112, the piston 113 is disposed at one end of the forward extension column 111, one end of the return spring 1118 is connected to the piston 113, the other end of the return spring 1118 is connected to an inner wall of the forward extension sleeve 112, the partition plate 115 is disposed in the forward extension sleeve 112, one end of the partition plate 115 is fixedly connected to an inner wall of the forward extension sleeve 112, a gap is left between the other end of the partition plate 115 and the inner wall of the forward extension sleeve 112, the piston 113 is attached to the partition plate 115, the permanent magnet 114 is arranged in the forward extending sleeve 112, the permanent magnet 114 is arranged opposite to the partition plate 115, the pressure-bearing cavity 116 is arranged below the partition plate 115, the pressure-bearing cavity 116 is filled with magnetic fluid, the buffer cavity 117 is arranged above the partition plate 115, the forward extending sleeve 112 is arranged on the buffer plate 118, the damping cavity 119 is arranged in the buffer plate 118, the load-reducing damping 1110 is arranged in the damping cavity 119, the load-reducing damping 1110 can freely slide in the damping cavity 119, one end of the top support telescopic column 1111 is hinged with the side wall of the buffer plate 118, the other end of the top support telescopic column 1111 extends into the top support sleeve 1112, the coil bobbin 1113 is arranged on the top support telescopic column 1111, the magnetic induction coil 1114 is wound on the coil bobbin 1113, a gap is reserved between the coil bobbin 1113 and the inner wall of the top support sleeve 1112, the movable sealing plug 1111 is arranged in the top support sleeve 1112, the pressure-bearing chamber is arranged between the movable sealing plug 1116 and the lower cylinder wall of the top support sleeve 1112, the pressure-bearing chamber 1116 is filled with magnetic fluid, and the compression chamber 1117 is disposed between the movable sealing plug 1115 and the upper wall of the top support sleeve 1112, and the movable sealing plug 1115 can freely slide along the top support sleeve 1112.
As shown in fig. 2 and 3, the crawler travel apparatus 12 includes a support base plate 120, a support vertical plate 121, a hanging base plate 122, a side mounting plate 123, a travel wheel 124, a travel driving motor 125, an auxiliary wheel 126, a tension wheel 127 and a travel crawler 128, wherein the support base plate 120 is disposed on the support vertical plate 121, the hanging base plate 122 is disposed on the bottom wall of the support vertical plate 121, the side mounting plate 123 is disposed on the side wall of the support vertical plate 121, the travel driving motor 125 is disposed on the hanging base plate 122, the travel wheel 124 is rotatably connected to both ends of the side mounting plate 123, the auxiliary wheel 126 is rotatably connected to the upper side of the side mounting plate 123, the tension wheel 127 is rotatably connected to the lower side of the side mounting plate 123, the travel crawler 128 is sleeved on the travel wheel 124, the auxiliary wheel 126 and the tension wheel 127, and the output end of the travel driving motor 125 is rotatably connected to the travel wheel 124.
As shown in fig. 7 and 8, the omnidirectional circumferential laser scanning device 21 includes a rail support platform 210, a circumferential rail 211, a sliding wheel 212, a moving platform 213, a laser probe 214, a flexible connection block 215, a transmission belt 216, a transmission wheel 217, a circumferential driving motor 218 and a motor placement groove 219, the rail support platform 210 is disposed on the support base plate 120, the circumferential rail 211 is disposed on the rail support platform 210, the moving platform 213 is disposed above the circumferential rail 211, the sliding wheel 212 is rotatably connected to a bottom wall of the moving platform 213, the sliding wheel 212 is clamped to the circumferential rail 211, the sliding wheel 212 and the circumferential rail 211 are in rolling connection, the laser probe 214 is disposed on the moving platform 213, one end of the flexible connection block 215 is connected to the moving platform 213, the other end of the flexible connection block 215 is connected to the transmission belt 216, the transmission belt 216 is sleeved on the transmission wheel 217, a shaft portion of the transmission wheel 217 is rotatably connected to the support base plate 120, the driving wheels 217 are arranged at two ends of the supporting base plate 120, the driving wheels 217 at each end are distributed in a semicircular shape, the output end of the annular driving motor 218 is rotatably connected with the single driving wheel 217 at one end, the annular driving motor 218 is arranged in a motor placing groove 219, and the motor placing groove 219 is arranged on the supporting base plate 120.
As shown in fig. 7-9, the rainwater dust collecting and protecting device 22 includes a supporting base 220, a circumferential collecting plate 221, a first collecting pipe 222, a second collecting pipe 223 and a downcomer 224, the supporting base 220 is disposed on the supporting base 120, the circumferential collecting plate 221 is disposed on the supporting base 220 in a surrounding manner, the circumferential collecting plate 221 is located right above the laser probe 214, the first collecting pipe 222 and the second collecting pipe 223 are disposed in the supporting base 220, the first collecting pipe 222 is perpendicular to the second collecting pipe 223, the first collecting pipe 222 and the second collecting pipe 223 are communicated with each other, the top end of the downcomer 224 is connected to the intersection of the first collecting pipe 222 and the second collecting pipe 223, the bottom of the downcomer 224 penetrates through the supporting base 220, the supporting base 120 and the hanging base 122, and two ends of the first collecting pipe 222 and the second collecting pipe 223 are exposed on the circumferential collecting plate 221.
As shown in fig. 10 to 12, the folding storage type measuring apparatus 31 includes a measuring platform 310, a folding storage box 311, an internal slide rail 312, a sliding rack plate 313, a bottom gear 314, a folding driving arm 315, a folding driven arm 316, a top support plate 317, a diamond-shaped connecting plate 318, a driving plate 319, a hydraulic cylinder 3110, a mounting block 3111, an opening 3112, a rotating platform 3113, a measuring instrument 3114, a gear tooth 3115, a rotating gear 3116, a rotating driving motor 3117, a hanging motor rack 3118 and a telescopic platform 3119, the measuring platform 310 is disposed on a support base 220, the folding storage box 311 is disposed on the measuring platform 310, the internal slide rails 312 are symmetrically disposed on an inner wall of the folding storage box 311 in a staggered manner, the sliding rack plate 313 is slidably coupled in the internal slide rail 312, a shaft portion of the bottom gear 314 is rotatably coupled to the inner wall of the folding storage box 311, the bottom gear 314 is engaged with the sliding rack plate 313, the bottom of the folding driving arm 315 is fixedly connected with the shaft part of the bottom gear 314, the top of the folding driving arm 315 is rotatably connected with the bottom of the folding driven arm 316, the top of the folding driven arm 316 is rotatably connected with the top supporting plate 317, the top supporting plate 317 is arranged on the bottom wall of the telescopic platform 3119, the side wall of the telescopic platform 3119 is slidably connected with the inner wall of the folding containing box 311, the sliding rack plates 313 on the upper side and the lower side are connected through a rhombic connecting plate 318, an opening 3112 is arranged on the side wall of the folding containing box 311, a driving plate 319 passes through the opening 3112, one end of the driving plate 319 is connected with the rhombic connecting plate 318, the other end of the driving plate 319 is connected with a first hydraulic cylinder 3110, the first hydraulic cylinder 3110 is arranged on the mounting block 3111, the mounting block 3111 is arranged on the side wall of the folding containing box 311, the rotating platform 3113 is rotatably connected with the top wall of the telescopic platform 3119, gear teeth 3115 are arranged on the rotating platform 3113, the rotating gear 3116 is located one side of rotating platform 3113, and rotating gear 3116 keeps meshing with teeth of a cogwheel 3115 to be connected, hangs on motor frame 3118 locates the diapire of flexible platform 3119, and rotary driving motor 3117 locates on hanging motor frame 3118, and rotary driving motor 3117's output keeps rotating with rotating gear 3116 to be connected, and measuring apparatu 3114 locates on rotating platform 3113.
As shown in fig. 10, 13 and 14, the cover flip guard 32 includes a motor mount 320, a flip drive motor 321, a drive gear 322, driven gear 323, upset arm 324, top covering plate 325, sliding plate 326 and roof slide 327, motor mount 320 is located on the lateral wall of measuring platform 310, upset driving motor 321 is located on motor mount 320, the axial region of drive gear 322 keeps rotating with the output of upset driving motor 321 and is connected, driven gear 323 rotates to be connected and locates on the lateral wall of folding containing box 311, driven gear 323 keeps meshing with drive gear 322 and is connected, the one end of upset arm 324 keeps fixed connection with the axial region of driven gear 323, the other end of upset arm 324 keeps rotating with the lateral wall of top covering plate 325 and is connected, roof slide 327 is located on top covering plate 325, sliding plate 326 sliding connection locates in the roof slide 327, the bottom of sliding plate 326 keeps articulating with the lateral wall top of folding containing box 311.
As shown in fig. 15 and 16, the crank arm driving device 41 includes a base support frame 410, a front arm bending driving motor 411, a rear arm bending driving motor 412, a bending driving arm 413, a rear driven arm one 414, a front driven arm one 415, a suspension plate 416, a fixed connection arm 417, a front driven arm two 418, a triangular connection plate 419, a rear driven arm two 4110 and a driving frame 4111, the base support frame 410 is disposed on the support base 220, the front arm bending driving motor 411 is disposed on a side wall of the base support frame 410, one end of the bending driving arm 413 is rotatably connected to the front arm bending driving motor 411, the other end of the bending driving arm 413 is rotatably connected to a bottom end of the rear driven arm one 414, one end of the front driven arm one 415 is rotatably connected to a top end of the rear driven arm one 414, the other end of the front driven arm one 415 is rotatably connected to the suspension plate 416, a fixed connection arm 417 is fixedly connected to one side of the suspension plate 416, the rear arm bending driving motor 412 is arranged on the side wall of the bottom supporting frame 410, the bottom end of the driving frame 4111 is rotatably connected with the rear arm bending driving motor 412, one end of a triangular connecting plate 419 is rotatably connected with the top of the driving frame 4111, the bottom ends of the rear driven arms 4110 are rotatably connected with the side wall of the bottom supporting frame 410, the top end of the rear driven arm 4110 is rotatably connected with one end of the triangular connecting plate 419, two groups of front driven arms 418 are arranged, the upper front driven arm 418 is rotatably connected with the fixed connecting arm 417 and the triangular connecting plate 419 respectively, the lower front driven arm 418 is rotatably connected with the suspension plate 416 and the triangular connecting plate 419 respectively, and the middle section of the front driven arm 415 is rotatably connected with the top of the driving frame 4111.
As shown in fig. 17, the petal-like obstacle clearing sampling device 42 includes a hanging mounting column 420, a second hydraulic cylinder 421 and an arc-shaped grabbing petal 422, the hanging mounting column 420 is disposed on the hanging plate 416, the top end of the arc-shaped grabbing petal 422 is rotatably connected to the bottom of the hanging mounting column 420, the arc-shaped grabbing petal 422 is arranged around the hanging mounting column 420, one end of the second hydraulic cylinder 421 is rotatably connected to the top of the hanging mounting column 420, and the other end of the second hydraulic cylinder 421 is rotatably connected to the middle section of the arc-shaped grabbing petal 422.
Preferably, four sets of travel drive motors 125 are provided, and each travel drive motor 125 is individually connected to the travel wheel 124.
Preferably, a central controller is arranged on the support base plate 120 to assist in achieving functions of measurement, protection and the like of the measurement vehicle, and the model of the central controller is STC12C 6082.
When the measuring vehicle is used specifically, a user firstly starts the traveling driving motor 125, the traveling driving motor 125 drives the traveling wheel 124 to rotate, the traveling crawler 128 starts to rotate under the matching of the auxiliary wheel 126 and the tensioning wheel 127, so that the measuring vehicle can move forwards and backwards, and when the steering is needed, the rotating speeds of the traveling driving motors 125 on the two sides are adjusted, so that the rotating speeds of the traveling crawler 128 on the two sides are inconsistent, and the measuring vehicle is steered; when the measuring vehicle accidentally collides with a front or rear obstacle during movement, impact force generated by the collision is firstly transmitted to the arc-shaped protection plate 110, then the impact force drives the forward extension and retraction column 111 to move towards the forward extension sleeve 112, the piston 113 on the forward extension and retraction column 111 extrudes the magnetic fluid and the return spring 1118 in the pressure bearing cavity 116, a part of the magnetic fluid in the pressure bearing cavity 116 flows into the buffer cavity 117, in the process, when the magnetic fluid passes through the permanent magnet 114, a magnetic field generated by the permanent magnet 114 generates resistance on the magnetic fluid to offset a part of the impact force, when the impact force is continuously transmitted to the buffer plate 118, the impact force enables the load reduction damper 1110 to move back and forth in the damping cavity 119, a part of the impact force is continuously offset by using damping action, when the impact force is continuously transmitted backwards, the top support and retraction column 1111 is driven to move towards the interior of the top support sleeve 1112, the coil bobbin 1113 extrudes the magnetic fluid 1116 in the pressure bearing chamber, the magnetofluid pushes the movable sealing plug 1115 to extrude the gas in the compression chamber 1117, when the magnetofluid flows through a gap between the coil bobbin 1113 and the inner wall of the top support sleeve 1112, the magnetic field generated by the magnetic induction coil 1114 can generate resistance to the magnetofluid, so as to offset a part of impact force, after the three steps of load reduction and shock absorption, the impact force transmitted to the support base plate 120 is greatly reduced, and the change of the magnetic field can be controlled by the magnetic induction coil 1114, so that the viscosity of the magnetofluid flowing through the gap of the coil bobbin 1113 is adjusted, and the resistance is further changed; when the surrounding land needs to be scanned in an omnibearing manner, the annular driving motor 218 is started, the annular driving motor 218 drives the driving wheel 217 connected with the annular driving motor to rotate, the driving wheel 217 drives the driving belt 216 to rotate, the driving belt 216 enables the mobile platform 213 to move along the annular track 211, when the mobile platform 213 moves, the sliding wheel 212 at the bottom can rotate, and the sliding wheel 212 is clamped on the annular track 211, so that the motion track and the motion height of the mobile platform 213 can be limited, and during the movement of the mobile platform 213, the laser probe 214 can scan and observe the surrounding land in an omnibearing manner; when the weather is rainy, the annular collecting plate 221 above the laser probe 214 can play a role in collecting rainwater, so that the rainwater is prevented from directly falling on the laser probe 214, and the rainwater on the annular collecting plate 221 can flow into the first collecting pipe 222 and the second collecting pipe 223 and finally flows to the ground through the sewer pipe 224; when the direction of the measuring instrument 3114 needs to be adjusted, the rotation driving motor 3117 is started, the rotation driving motor 3117 drives the rotation gear 3116 to rotate, and the rotation gear 3116 drives the rotation platform 3113 to rotate under the matching of the gear teeth 3115, so that the direction of the measuring instrument 3114 is adjusted, and the measuring vehicle can conveniently measure the surrounding soil in situ; when the measuring instrument 3114 needs to be stored in rainy and snowy weather, the first hydraulic cylinder 3110 extends, the first hydraulic cylinder 3110 drives the sliding rack plate 313 to slide in the built-in sliding rail 312 in a direction away from the mounting block 3111 through the driving plate 319 and the rhombic connecting plate 318, at this time, the sliding rack plate 313 drives the bottom gear 314 to rotate clockwise, the bottom gear 314 drives the folding driving arm 315 to rotate in the same direction, the folding driving arm 315 drives the folding driven arm 316 to rotate counterclockwise, while the folding driving arm 315 and the folding driven arm 316 rotate, the distance between the centers of the two is continuously reduced, so that the folding driving arm 315 and the folding driven arm 316 are folded, the measuring instrument 3114 is stored in the folding storage box 311, meanwhile, the overturning driving motor 321 drives the driving gear 322 to rotate, the driving gear 322 drives the driven gear 323 to rotate in the opposite direction, and the driven gear 323 drives the overturning arm 324 to rotate upwards, the turning arm 324 drives the top cover plate 325 to rotate upwards together, when the top cover plate 325 rotates, the sliding plate 326 starts to slide along the top plate slideway 327, and because the bottom of the sliding plate 326 is hinged on the folding containing box 311, the sliding plate 326 rotates under the action of thrust, so that the direction of the top cover plate 325 is changed, the top cover plate 325 moves upwards while gradually coinciding with the top end of the folding containing box 311, thereby covering the folding containing box 311 and protecting the measuring instrument 3114; when a front obstacle needs to be cleaned or a front land needs to be sampled, a front arm bending driving motor 411 is started, the front arm bending driving motor 411 drives a bending driving arm 413 to rotate, the bending driving arm 413 drives a rear driven arm 414 to rotate, the rear driven arm 414 drives a front driven arm 415 to rotate, the front driven arm 415 can change the front and rear positions of a suspension plate 416 when rotating, so that the front and rear positions of an arc-shaped grabbing flap 422 are adjusted, a rear arm bending driving motor 412 is started, the rear arm bending driving motor 412 drives a driving frame 4111 to rotate, when the driving frame 4111 rotates, due to the limitation of a triangular connecting plate 419, a rear driven arm two 4110 is always parallel to the driving frame 4111, an upper front driven arm two 418 and a lower front driven arm two 418 are also always parallel, so that when the driving frame 4111 rotates forwards, the rear driven arm two 4110 rotates forwards together and drives the triangular connecting plate 419 to move downwards along with the front, therefore, the front driven arm II 418 is bent downwards, the position of the arc-shaped grabbing flap 422 is changed, when the arc-shaped grabbing flap 422 moves to a proper position, the hydraulic cylinder II 421 gradually extends from a contraction state, the arc-shaped grabbing flaps 422 on the periphery gradually approach to each other, and therefore obstacles or soil in front are grabbed.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings are only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a multistage magnetic current body damping falls carries all-round land survey car of shock-proof type which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the magnetofluid damping load-reducing shock-absorbing type protective walking assembly (1) comprises a magnetofluid damping load-reducing shock-absorbing protection device (11) and a crawler walking device (12), wherein the magnetofluid damping load-reducing shock-absorbing protection device (11) is arranged on two sides of the crawler walking device (12);
the device comprises an omnibearing hoop laser scanning protection collection assembly (2), wherein the omnibearing hoop laser scanning protection collection assembly (2) is arranged on a crawler walking device (12), the omnibearing hoop laser scanning protection collection assembly (2) comprises an omnibearing hoop laser scanning device (21) and a rainwater dust collection protection device (22), and the rainwater dust collection protection device (22) is arranged above the omnibearing hoop laser scanning device (21);
the rainwater and dust collecting and protecting device comprises a folding and accommodating protective measuring component (3), wherein the folding and accommodating protective measuring component (3) is arranged on a rainwater and dust collecting and protecting device (22), the folding and accommodating protective measuring component (3) comprises a folding and accommodating measuring device (31) and a top cover overturning protecting device (32), and the top cover overturning protecting device (32) is arranged on the side wall of the folding and accommodating measuring device (31); and the number of the first and second groups,
imitative petal formula crank arm drive type sample assembly (4) of removing obstacles, one side of folding protection type measuring component (3) of accomodating is located in imitative petal formula crank arm drive type sample assembly (4) of removing obstacles, imitative petal formula crank arm drive type sample assembly (4) of removing obstacles is including cranking arm drive arrangement (41) and imitative petal formula sample device (42) of removing obstacles, imitative petal formula sample device (42) of removing obstacles is located and is cranked on arm drive arrangement (41).
2. The multi-stage magnetofluid damping load-reducing and shock-absorbing type omnibearing land measuring vehicle according to claim 1, characterized in that: the magnetic fluid damping load-reducing shock-absorbing protection device (11) comprises an arc protection plate (110), a forward extension telescopic column (111), a forward extension sleeve (112), a piston (113), a permanent magnet (114), a partition plate (115), a pressure-bearing cavity (116), a buffer cavity (117), a buffer plate (118), a damping cavity (119), a load-reducing damping (1110), a top support telescopic column (1111), a top support sleeve (1112), a coil bobbin (1113), a magnetic induction coil (1114), a movable sealing plug (1115), a pressure-bearing chamber (1116), a compression chamber (1117) and a return spring (1118), wherein the arc protection plate (110) is arranged on the forward extension telescopic column (111), the forward extension telescopic column (111) extends out of the forward extension sleeve (112), the piston (113) is arranged at one end of the forward extension telescopic column (111), one end of the return spring (1118) is connected with the piston (113), and the other end of the return spring (1118) is connected with the inner wall of the forward extension sleeve (112), the baffle (115) is arranged in the forward extending sleeve (112), one end of the baffle (115) is fixedly connected with the inner wall of the forward extending sleeve (112), a gap is reserved between the other end of the baffle (115) and the inner wall of the forward extending sleeve (112), the piston (113) and the baffle (115) are attached, the permanent magnet (114) is arranged in the forward extending sleeve (112), the permanent magnet (114) is arranged right opposite to the baffle (115), the pressure bearing cavity (116) is arranged below the baffle (115), the buffer cavity (117) is arranged above the baffle (115), the forward extending sleeve (112) is arranged on the buffer plate (118), the damping cavity (119) is arranged in the buffer plate (118), the load reducing damper (1110) is arranged in the damping cavity (119), the load reducing damper (1110) can freely slide in the damping cavity (119), one end of the top supporting telescopic column (1111) is hinged with the side wall of the buffer plate (118), the other end of shore telescopic column (1111) stretches into in shore sleeve (1112), coil bobbin (1113) are located shore telescopic column (1111), magnetism coil (1114) winding is on coil bobbin (1113), leave the clearance between the inner wall of coil bobbin (1113) and shore sleeve (1112), activity sealing plug (1115) are located in shore sleeve (1112), pressure-bearing chamber (1116) are located between the below wall of movable sealing plug (1115) and shore sleeve (1112), compression chamber (1117) are located between the top wall of movable sealing plug (1115) and shore sleeve (1112), activity sealing plug (1115) can freely slide along shore sleeve (1112).
3. The multi-stage magnetofluid damping load-reducing and shock-absorbing type omnibearing land measuring vehicle according to claim 2, characterized in that: the crawler traveling device (12) comprises a supporting base plate (120), a supporting vertical plate (121), a hanging base plate (122), a side mounting plate (123), a traveling wheel (124), a traveling driving motor (125), an auxiliary wheel (126), a tension wheel (127) and a traveling crawler (128), wherein the supporting base plate (120) is arranged on the supporting vertical plate (121), the hanging base plate (122) is arranged on the bottom wall of the supporting vertical plate (121), the side mounting plate (123) is arranged on the side wall of the supporting vertical plate (121), the traveling driving motor (125) is arranged on the hanging base plate (122), the traveling wheel (124) is rotatably connected to two ends of the side mounting plate (123), the auxiliary wheel (126) is rotatably connected to the upper part of the side mounting plate (123), the tension wheel (127) is rotatably connected to the lower part of the side mounting plate (123), and the traveling crawler (128) is sleeved on the traveling wheel (124), The output end of the travel driving motor (125) is rotationally connected with the travel wheel (124) on the auxiliary wheel (126) and the tension wheel (127).
4. The multi-stage magnetofluid damping load-reducing and shock-absorbing type omnibearing land measuring vehicle according to claim 3, characterized in that: the omnibearing circular laser scanning device (21) comprises a track supporting platform (210), a circular track (211), a sliding wheel (212), a moving platform (213), a laser probe (214), a flexible connecting block (215), a transmission belt (216), a transmission wheel (217), a circular driving motor (218) and a motor placing groove (219), wherein the track supporting platform (210) is arranged on a supporting base plate (120), the circular track (211) is arranged on the track supporting platform (210), the moving platform (213) is arranged above the circular track (211), the sliding wheel (212) is rotatably connected and arranged on the bottom wall of the moving platform (213), the sliding wheel (212) is clamped and arranged on the circular track (211), the sliding wheel (212) and the circular track (211) are in rolling connection, and the laser probe (214) is arranged on the moving platform (213), one end of the flexible connecting block (215) is connected with the moving platform (213), the other end of the flexible connecting block (215) is connected with a transmission belt (216), the transmission belt (216) is sleeved on a transmission wheel (217), the shaft part of the transmission wheel (217) is rotatably connected with the supporting base plate (120), the transmission wheel (217) is arranged at two ends of the supporting base plate (120), the transmission wheel (217) at each end is integrally distributed in a semicircular shape, the output end of the annular driving motor (218) is rotatably connected with a single transmission wheel (217) at one end, the annular driving motor (218) is arranged in a motor placing groove (219), and the motor placing groove (219) is arranged on the supporting base plate (120).
5. The multi-stage magnetofluid damping load-reducing and shock-absorbing type omnibearing land measuring vehicle according to claim 4, characterized in that: the rainwater and dust collecting and protecting device (22) comprises a supporting base (220), a circumferential collecting plate (221), a first collecting pipe (222), a second collecting pipe (223) and a sewer pipe (224), wherein the supporting base (220) is arranged on the supporting base plate (120), the circumferential collecting plate (221) is arranged on the supporting base (220) in a surrounding mode, the circumferential collecting plate (221) is located right above a laser probe (214), the first collecting pipe (222) and the second collecting pipe (223) are arranged in the supporting base (220), the first collecting pipe (222) is perpendicular to the second collecting pipe (223), the first collecting pipe (222) and the second collecting pipe (223) are communicated with each other, the top end of the sewer pipe (224) is connected with the intersection of the first collecting pipe (222) and the second collecting pipe (223), and the bottom of the sewer pipe (224) penetrates through the supporting base (220), the supporting base plate (120) and a hanging base plate (122), two ends of the first collecting pipe (222) and the second collecting pipe (223) are exposed on the annular collecting plate (221).
6. The multi-stage magnetofluid damping load-reducing and shock-absorbing type omnibearing land measuring vehicle according to claim 5, characterized in that: the folding storage type measuring device (31) comprises a measuring platform (310), a folding storage box (311), an internal slide rail (312), a sliding rack plate (313), a bottom gear (314), a folding driving arm (315), a folding driven arm (316), a top supporting plate (317), a diamond-shaped connecting plate (318), a driving plate (319), a hydraulic cylinder I (3110), a mounting block (3111), an opening (3112), a rotating platform (3113), a measuring instrument (3114), gear teeth (3115), a rotating gear (3116), a rotary driving motor (3117), a hanging motor rack (3118) and a telescopic platform (3119), wherein the measuring platform (310) is arranged on a supporting base (220), the folding storage box (311) is arranged on the measuring platform (310), the internal slide rails (312) are symmetrically arranged on the inner wall of the folding storage box (311) in a staggered manner, the sliding rack plate (313) is arranged in the internal slide rail (312) in a sliding manner, the shaft part of the bottom gear (314) is rotatably connected with the inner wall of the folding containing box (311), the bottom gear (314) is engaged with the sliding rack plate (313), the bottom of the folding driving arm (315) is fixedly connected with the shaft part of the bottom gear (314), the top of the folding driving arm (315) is rotatably connected with the bottom of the folding driven arm (316), the top of the folding driven arm (316) is rotatably connected with the top support plate (317), the top support plate (317) is arranged on the bottom wall of the telescopic platform (3119), the side wall of the telescopic platform (3119) is slidably connected with the inner wall of the folding containing box (311), the sliding rack plates (313) on the upper side and the lower side are connected through a rhombic connecting plate (311318), the opening (2) is arranged on the side wall of the folding containing box (311), the driving plate (319) passes through the opening (3112), one end of the driving plate (319) is connected with the rhombic connecting plate (318), the other end of the driving plate (319) is connected with a first hydraulic cylinder (3110), the first hydraulic cylinder (3110) is arranged on the installation block (3111), the installation block (3111) is arranged on the side wall of the folding storage box (311), the rotating platform (3113) is rotatably connected with the top wall of the telescopic platform (3119), the gear teeth (3115) are arranged on the rotating platform (3113) in a surrounding manner, the rotating gear (3116) is arranged on one side of the rotating platform (3113), the rotating gear (3116) is meshed with the gear teeth (3115), the hanging motor rack (3118) is arranged on the bottom wall of the telescopic platform (3119), the rotating driving motor (3117) is arranged on the hanging motor rack (3118), the output end of the rotating driving motor (3117) is rotatably connected with the rotating gear (3116), the measuring instrument (3114) is arranged on the rotating platform (3113).
7. The multi-stage magnetofluid damping load-reducing and shock-absorbing type omnibearing land measuring vehicle according to claim 6, characterized in that: the top cover turnover type protection device (32) comprises a motor mounting seat (320), a turnover driving motor (321), a driving gear (322), a driven gear (323), a turnover arm (324), a top cover plate (325), a sliding plate (326) and a top plate slide way (327), wherein the motor mounting seat (320) is arranged on the side wall of the measuring platform (310), the turnover driving motor (321) is arranged on the motor mounting seat (320), the shaft part of the driving gear (322) is rotatably connected with the output end of the turnover driving motor (321), the driven gear (323) is rotatably connected with the side wall of the folding storage box (311), the driven gear (323) is meshed with the driving gear (322), one end of the turnover arm (324) is fixedly connected with the shaft part of the driven gear (323), and the other end of the turnover arm (324) is rotatably connected with the side wall of the top cover plate (325), the top plate slide way (327) is arranged on the top covering plate (325), the sliding plate (326) is arranged in the top plate slide way (327) in a sliding connection mode, and the bottom end of the sliding plate (326) is hinged to the top end of the side wall of the folding containing box (311).
8. The multi-stage magnetofluid damping load-reducing and shock-absorbing type omnibearing land measuring vehicle according to claim 7, characterized in that: the crank arm driving device (41) comprises a bottom supporting frame (410), a front arm bending driving motor (411), a rear arm bending driving motor (412), a bending driving arm (413), a rear driven arm I (414), a front driven arm I (415), a suspension plate (416), a fixed connecting arm (417), a front driven arm II (418), a triangular connecting plate (419), a rear driven arm II (4110) and a driving frame (4111), wherein the bottom supporting frame (410) is arranged on a supporting base (220), the front arm bending driving motor (411) is arranged on the side wall of the bottom supporting frame (410), one end of the bending driving arm (413) is rotatably connected with the front arm bending driving motor (411), the other end of the bending driving arm (413) is rotatably connected with the bottom end of the rear driven arm I (414), one end of the front driven arm I (415) is rotatably connected with the top end of the rear driven arm I (414), the other end of the front driven arm I (415) is rotationally connected with a suspension plate (416), the fixed connecting arm (417) is fixedly connected to one side of the suspension plate (416), the rear arm bending driving motor (412) is arranged on the side wall of the bottom supporting frame (410), the bottom end of the driving frame (4111) is rotationally connected with the rear arm bending driving motor (412), one end of a triangular connecting plate (419) is rotationally connected with the top of the driving frame (4111), the bottom end of the rear driven arm II (4110) is rotationally connected with the side wall of the bottom supporting frame (410), the top end of the rear driven arm II (4110) is rotationally connected with one end of a triangular connecting plate (419), two groups of connecting plates are arranged on the front driven arm II (418), and the front arm II (418) above is rotationally connected with the fixed connecting arm (417) and the triangular connecting plate (419) respectively, the lower front driven arm II (418) is respectively and rotatably connected with the suspension plate (416) and the triangular connecting plate (419), and the middle section of the front driven arm I (415) is rotatably connected with the top of the driving frame (4111).
9. The multi-stage magnetofluid damping load-reducing and shock-absorbing type omnibearing land surveying vehicle according to claim 8, characterized in that: imitative petal formula sampling device that clears obstacles (42) snatchs lamella (422) including hanging erection column (420), pneumatic cylinder two (421) and arc, hang erection column (420) and locate on hanging board (416), the arc snatchs the top of lamella (422) and rotates to be connected and locates the bottom of hanging erection column (420), the arc snatchs lamella (422) and encircles and arrange in hanging erection column (420), the one end of pneumatic cylinder two (421) keeps rotating with the top of hanging erection column (420) to be connected, the other end of pneumatic cylinder two (421) keeps rotating with the interlude that the lamella (422) was snatched to the arc and is connected.
10. The multi-stage magnetofluid damping load-reducing and shock-absorbing type omnibearing land measuring vehicle according to claim 9, characterized in that: the traveling driving motors (125) are provided with four groups, and each traveling driving motor (125) is independently connected with a traveling wheel (124).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210611147.9A CN114684286A (en) | 2022-06-01 | 2022-06-01 | Multistage magnetofluid damping load-reducing and shock-absorbing type all-dimensional land surveying vehicle |
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|---|---|---|---|
| CN202210611147.9A CN114684286A (en) | 2022-06-01 | 2022-06-01 | Multistage magnetofluid damping load-reducing and shock-absorbing type all-dimensional land surveying vehicle |
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| CN114684286A true CN114684286A (en) | 2022-07-01 |
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Application publication date: 20220701 |
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