CN211890819U - Installation device, laser sensing device assembly and wall climbing robot - Google Patents

Abstract

The utility model relates to an intelligent welding technical field of robot, a mounting device is disclosed, laser sensing device assembly and wall climbing robot, mounting device includes the mount pad, support wall subassembly and locking Assembly, the mount pad is used for fixing mutually with the automobile body, the one end of supporting wall subassembly is used for installing laser sensing device, the other end and the mount pad of supporting arm subassembly rotate to be connected, supporting arm Assembly can be in the first position that makes laser sensing device be located the front end of automobile body and make laser sensing device be located the second position of the rear end of automobile body and switch over, locking Assembly is configured to lock mount pad and supporting arm Assembly mutually. The supporting arm assembly of the mounting device can be switched between a first position enabling the laser sensing device to be located at the front end of the vehicle body and a second position enabling the laser sensing device to be located at the rear end of the vehicle body, and the mounting seat and the supporting arm assembly are locked through the locking assembly, so that the laser sensing device can observe a weld joint when the wall climbing robot moves forwards or backwards.

Description

Installation device, laser sensing device assembly and wall climbing robot

Technical Field

The utility model relates to an intelligent welding technical field of robot especially relates to an installation device, laser sensing device assembly and wall climbing robot.

Background

With the development of welding automation, more and more large welding structures need to realize automatic welding. The guiderail-free all-position wall-climbing robot has unique competitive advantages, and the appearance makes the automatic welding of large structural members possible. In the welding process of the wall-climbing robot, the welding seam forming quality is easily influenced by external conditions and welding seam self factors, the real-time monitoring and intelligent control of the welding process of the wall-climbing robot are very necessary for improving the welding automation level and reducing welding defects, and the laser sensing device plays an important role in the welding intelligence of the wall-climbing robot.

Existing laser sensing devices include a camera and one or two semiconductor lasers. The semiconductor laser is used as a structural light source, and laser stripes are projected to the welding seam position of the workpiece surface at the lower part of the sensor at a preset angle. The camera can allow laser to pass through an optical filter inside the camera, and laser stripes and welding seams can be observed.

The existing wall climbing robot is generally provided with a group of laser sensing devices at the front end and the rear end of a vehicle body, so that the robot can observe the condition of a welding seam when advancing or retreating and other different scenes, but only one group of laser sensing devices works when the wall climbing robot advances forwards or retreats backwards, and the other group of laser sensing devices is in an idle state, so that the waste of resources is caused, and the cost for arranging the two groups of laser sensing devices is higher; if only set up a set of laser sensing device at the front end of automobile body or rear end, set up the position of laser sensing device according to the demand, though saved the cost, when the automobile body changes the advancing direction then need adjust the position of laser sensing device, be about to the laser sensing device is dismantled another position of installing the automobile body again from the automobile body on, and the operation is comparatively loaded down with trivial details.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an installation device, realized that laser sensing device's the first position that is located the front end of automobile body and the second position that is located the rear end of automobile body switch between to laser sensing device can observe the welding seam when making wall climbing robot advance or retreat.

Another object of the present invention is to provide a laser sensor assembly, which can be switched between different positions to adapt to different application scenarios.

Another object of the utility model is to provide a wall climbing robot can realize the observation of the welding seam under the different scenes.

To achieve the purpose, the utility model adopts the following technical proposal:

the utility model provides an installation device, include:

the mounting seat is used for being fixed with the vehicle body;

the supporting arm assembly is used for mounting a laser sensing device, the other end of the supporting arm assembly is rotatably connected with the mounting seat, and the supporting arm assembly can be switched between a first position enabling the laser sensing device to be located at the front end of the vehicle body and a second position enabling the laser sensing device to be located at the rear end of the vehicle body; and

a locking assembly configured to lock the mount with the support arm assembly.

The mounting seat of the mounting device is used for being fixed with a vehicle body, the laser sensing device is mounted at one end of the supporting arm component, the other end of the supporting arm component is rotatably connected with the mounting seat, the supporting arm component can be switched between a first position enabling the laser sensing device to be located at the front end of the vehicle body and a second position enabling the laser sensing device to be located at the rear end of the vehicle body, and the mounting seat and the supporting arm component are locked through the locking component, so that the laser sensing device can observe a welding seam when the wall climbing robot moves forwards or backwards.

As a preferable aspect of the above mounting device, the locking assembly includes:

the two first elastic limiting parts are arranged in the mounting seat and are distributed along the front and back direction of the vehicle body, and the first elastic limiting parts can elastically stretch and retract along the vertical direction; and

the two first elastic limiting parts can be selectively inserted into the limiting holes, so that the support arm assembly is locked with the mounting seat at the first position or the second position.

Through two first elasticity spacing portions along the fore-and-aft direction of automobile body in the mount pad, two spacing downtheholes of the selective grafting on support arm assembly of first elasticity to make support arm assembly lock mutually with the mount pad in primary importance or second place, this locking Assembly simple structure, convenient operation.

As a preferable aspect of the above mounting device, the locking assembly further includes:

the second elastic limiting part is arranged in the mounting seat and can elastically stretch out and draw back along the vertical direction, and when the second elastic limiting part is inserted in the limiting hole, the supporting arm assembly is locked with the mounting seat at a third position.

The second elastic limiting part can be locked with the mounting seat at the third position, so that the laser sensing device can be locked at multiple positions, and the application range is wider.

As a preferable scheme of the mounting device, the second elastic limiting portion and the two first elastic limiting portions are arranged at intervals around the circumferential direction of the mounting seat.

Spacing portion of second elasticity and the spacing portion of first elasticity are arranged around the circumference interval of mount pad, and the supporting arm subassembly can realize the spacing portion of first elasticity or the spacing portion of second elasticity and spacing hole's cooperation, convenient operation through rotating.

As a preferable aspect of the above mounting device, the first elastic limiting portion and the second elastic limiting portion each include:

the positioning sleeve is arranged on the mounting seat;

the spring is arranged inside the positioning sleeve; and

the ball is arranged at the opening of the positioning sleeve, one end of the spring is abutted against the ball, and the other end of the spring is abutted against the positioning sleeve.

The first elastic limiting part and the second elastic limiting part of the structure realize that the ball extends into or is separated from the limiting hole to realize locking or unlocking through the elastic action of the spring by arranging the ball at the opening of the positioning sleeve, wherein one end of the spring is abutted against the ball, and the other end of the spring is abutted against the positioning sleeve; and the support arm component is in rolling contact with the ball in the rotation process, so that the sliding friction between the support arm component and the elastic limiting part is reduced, and the abrasion to the support arm is reduced.

As a preferable aspect of the above-described mounting device, the support arm assembly includes:

the supporting arm is rotatably connected with the mounting seat;

the height adjusting mechanism is used for driving the laser sensing device to move along the vertical direction; and

an angle adjustment mechanism disposed between the height adjustment mechanism and the support arm, the angle adjustment mechanism configured to cause the height adjustment mechanism to present a predetermined included angle with the support arm.

The supporting arm of the mounting device is rotatably arranged on the mounting seat, the rotating angle of the laser sensing device can be adjusted through the rotation of the supporting arm, the laser sensing device is respectively preset in height and included angles through the height adjusting mechanism and the angle adjusting mechanism, and the mounting device is flexible in adjustment of the laser sensing device, so that the mounting device can be applied to more extensive application scenes.

As a preferable aspect of the above-described mounting device, the angle adjustment mechanism includes:

the first connecting piece is arranged on the supporting arm;

the second connecting piece is arranged on the height adjusting mechanism and is rotatably arranged with the first connecting piece; and

and the first connecting piece is connected with the second connecting piece through the damping mechanism.

The first connecting piece and the second connecting piece of the angle adjusting mechanism rotate relatively, and the first connecting piece is connected with the second connecting piece through the damping mechanism, so that the first connecting piece and the second connecting piece can be kept in a relatively static state.

As a preferable aspect of the above-described mounting device, the second connecting member includes:

the two connecting plates are arranged at intervals, and the first connecting piece is arranged between the two connecting plates;

the rotating shaft penetrates through the first connecting piece and the second connecting piece; and

the first locking piece is connected with the rotating shaft so as to fix the rotating shaft on the connecting plate, and the damping mechanism is arranged between the rotating shaft and the first connecting piece.

The second connecting piece of the structure is simple in structure and easy to prepare.

As a preferable aspect of the above mounting device, the height adjusting mechanism includes:

a housing;

the screw rod is rotatably arranged in the shell;

the sliding block is sleeved on the screw rod and is in threaded connection with the screw rod, and the sliding block is connected with the laser sensing device; and

and the driving mechanism is in transmission connection with the screw rod.

The height adjusting structure of the structure drives the screw rod to rotate through the driving mechanism, so that the sliding block moves along the axial direction of the screw rod, the height of the laser sensing device is adjusted, and the height adjusting structure is simple in structure and easy to prepare.

As a preferable mode of the above mounting device, the driving mechanism is a rotary handle or a motor.

The driving mechanism is a rotating handle, and can drive the screw rod to rotate in a manual operation mode so as to realize the height adjustment of the laser sensing device and facilitate the operation; the driving mechanism is a motor, and the motor drives the screw rod to rotate, so that the automation of the height adjustment of the laser sensing device is realized.

The utility model also provides a laser sensing device assembly, include foretell installation device and set up the laser sensing device on it.

The laser sensing device assembly can realize the switching of different positions of the laser sensing device so as to adapt to different application scenes.

The utility model also provides a wall climbing robot, including the automobile body and set up on the automobile body as above-mentioned laser sensing device assembly.

The welding machine wall-climbing robot can monitor welding seams in different scenes by adjusting the laser sensing device.

The utility model has the advantages that:

the utility model provides a mounting device, the mount pad is used for fixing mutually with the automobile body, the one end installation laser sensing device of support arm subassembly, the other end rotates with the mount pad to be connected, support arm component can be in the first position that makes laser sensing device be located the front end of automobile body and make laser sensing device be located the second position of the rear end of automobile body and switch between, and lock the mount pad with support arm component mutually through locking Assembly, so that when climbing wall robot gos forward or retreats laser sensing device can observe the welding seam.

Drawings

Fig. 1 is a schematic structural diagram of a laser sensing device assembly provided by the present invention;

fig. 2 is a schematic structural view of the supporting arm and the mounting seat to be assembled according to the present invention;

fig. 3 is a schematic structural view of the mounting seat and the locking assembly provided by the present invention;

fig. 4 is a schematic structural view of the first elastic limiting portion provided by the present invention;

fig. 5 is a cross-sectional view of the first elastic limiting portion provided by the present invention.

Fig. 6 is a schematic structural view of a support arm and a first connecting member provided by the present invention;

fig. 7 is a schematic structural diagram of the height adjusting mechanism, the laser sensing device and a portion of the second connecting member according to the present invention;

fig. 8 is a top view of the laser sensing device assembly provided by the present invention;

FIG. 9 is a cross-sectional view taken along line B-B of FIG. 8;

FIG. 10 is an enlarged partial schematic view at C of FIG. 9;

fig. 11 is a schematic structural diagram of the height adjusting mechanism and the laser sensing device provided by the present invention.

In the figure:

1. a mounting seat;

2. a support arm assembly; 21. a support arm; 211. mounting holes;

22. a height adjustment mechanism; 221. a housing; 222. a screw rod; 223. a slider; 224. a drive mechanism;

23. an angle adjusting mechanism; 231. a first connecting member; 2311. a connecting body; 2312. a second connecting portion; 2313. a second locking member; 232. a second connecting member; 2321. a connecting plate; 2322. a rotating shaft; 23221. a threaded hole; 2323. a first locking member; 23231. a limiting part; 23232. a screw; 233. a damping mechanism;

3. a locking assembly; 31. a first elastic limiting part; 311. a first positioning sleeve; 312. a first spring; 313. a first ball bearing; 32. a second elastic limiting part;

4. a bearing; 41. a fixed shaft; 42. rotating the shaft sleeve;

100. a laser sensing device; 101. a camera; 102. a laser.

Detailed Description

In order to make the technical problems, technical solutions and technical effects achieved by the present invention more clear, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments, not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The utility model provides a wall climbing robot, include the automobile body and set up the laser sensing device assembly on the automobile body. As shown in fig. 1, the laser sensing device assembly includes a mounting device and a laser sensing device 100 mounted on the mounting device, wherein the laser sensing device 100 is mounted on the vehicle body of the wall-climbing robot through the mounting device for observing the welding seam. The laser sensing device assembly can realize the switching of the laser sensing device 100 between a first position located at the front end of the vehicle body and a second position located at the rear end of the vehicle body, so that the laser sensing device 100 can observe a welding seam when the vehicle body moves forwards or backwards.

As shown in fig. 1, the laser sensing device 100 includes a camera 101 and a laser 102, and the camera 101 is mounted on a mounting device. Two lasers 102 are provided, the two lasers 102 are mounted on the body of the camera 101 through a bracket, laser stripes are irradiated onto the weld seam through the two lasers 102 with different inclination angles, and the laser stripes and the weld seam are observed through the camera 101.

As shown in fig. 1, the mounting device includes a mounting base 1, a supporting arm assembly 2 and a locking assembly 3, the mounting base 1 is used for being fixed to a vehicle body, and the specific connection mode of the mounting base 1 and the vehicle body includes, but is not limited to, welding, fixing of a fixing member, clamping of a clamping member, and plugging of a plug member. In order to realize the convenient maintenance of the mounting device, the mounting seat 1 and the vehicle body can be detachably mounted. One end of the support arm component 2 is used for installing the laser sensing device 100, the other end of the support arm component 2 is rotatably connected with the installation base 1, the support arm component 2 can be switched between a first position enabling the laser sensing device 100 to be located at the front end of the vehicle body and a second position enabling the laser sensing device 100 to be located at the rear end of the vehicle body, and the locking component 3 is used for locking the installation base 1 and the support arm component 2 so that the laser sensing device 100 can observe a weld seam when the vehicle body moves forwards or backwards.

Specifically, when the vehicle body advances, the support arm assembly 2 rotates relative to the mounting base 1 to drive the laser sensing device 100 to rotate to a first position at the front end of the vehicle body, so that the laser sensing device 100 can observe the weld. When the vehicle body backs up backwards, the support arm assembly 2 rotates relative to the mounting seat 1 to drive the laser sensing device 100 to rotate from the first position to the second position at the rear end of the vehicle body, so that the laser sensing device 100 can observe a welding seam.

As shown in fig. 2 and 3, the locking assembly 3 includes two first elastic limiting portions 31 and two limiting holes (not shown in the figures), the two first elastic limiting portions 31 are disposed in the mounting seat 1 and are arranged along the front and rear direction of the vehicle body, the first elastic limiting portions 31 can elastically extend and retract along the vertical direction, the limiting holes are opened on the support arm assembly 2, the two first elastic limiting portions 31 can be selectively inserted into the limiting holes so as to lock the support arm assembly 2 with the mounting seat 1 at the first position or the second position, the locking assembly 3 has a simple structure and is convenient to operate, the first elastic limiting portions 31 and the limiting holes are matched to extend out along the vertical direction and are inserted into the limiting holes through the first elastic limiting portions 31 so as to lock the support arm assembly 2 with the mounting seat 1 at the first position or the second position, the first elastic limiting portions 31 retract along the vertical direction and are separated from the limiting holes, to unlock the support arm assembly 2.

Further, as shown in fig. 4 and 5, the first elastic limiting portion 31 includes a first positioning sleeve 311, a first spring 312 and a first ball 313, wherein the first positioning sleeve 311 is disposed on the mounting base 1, the first spring 312 is disposed inside the first positioning sleeve 311, the first ball 313 is disposed at an opening of the first positioning sleeve 311, one end of the first spring 312 abuts against the first ball 313, and the other end of the first spring 312 abuts against the first positioning sleeve 311. The first elastic limiting part 31 of the structure is characterized in that the first ball 313 is arranged at the opening of the first positioning sleeve 311, one end of the first spring 312 is propped against the first ball 313, the other end of the first spring 312 is propped against the first positioning sleeve 311, the first ball 313 extends into or separates from the limiting hole through the elastic action of the first spring 312 to lock or unlock the support arm component 2, and the locking component 3 of the structure is convenient to operate; and the support arm component 2 is in rolling contact with the first ball 313 in the rotating process, so that the sliding friction between the support arm component 2 and the first elastic limiting part 31 is reduced, and the abrasion to the support arm component 2 is reduced.

In order to observe the weld seam at a position different from the first position and the second position of the laser sensing device 100, as shown in fig. 2 and fig. 3, the locking assembly 3 further includes a second elastic limiting portion 32, the second elastic limiting portion 32 is disposed in the mounting base 1, the second elastic limiting portion 32 can elastically extend and retract along the vertical direction, and when the second elastic limiting portion 32 is inserted into the limiting hole, the support arm assembly 2 is locked with the mounting base 1 at the third position. The third position is different from the first position and the second position, and when the second elastic limiting portion 32 is provided in plurality, the third position may be a plurality of different positions, and is different from the first position and the second position. The support arm assembly 2 can be locked with the mounting seat 1 at a third position different from the first position and the second position through the arrangement of the second elastic limiting part 32, so that the application range of the laser sensing device 100 is wider.

Optionally, the second elastic limiting part 32 and the two first elastic limiting parts 31 are arranged at intervals around the circumferential direction of the mounting seat 1, and the support arm assembly 2 can be matched with the first elastic limiting part 31 or the second elastic limiting part 32 and the limiting hole through rotation, so that the operation is convenient.

Preferably, the second elastic limiting part 32 is arranged between the two first elastic limiting parts 31 at equal intervals around the central line of the mounting seat 1, each first elastic limiting part 31 and each second elastic limiting part 32 correspond to one limiting hole respectively, and further the supporting arm assembly 2 can rotate, the supporting arm assembly 2 is more uniformly supported by the first elastic limiting part 31 and the second elastic limiting part 32, so that the supporting arm assembly 2 can run more stably, and the supporting arm assembly 2 rotates at a certain angle every time the supporting arm assembly 2 rotates, so that the first elastic limiting part 31 or the second elastic limiting part 32 can be matched with the limiting holes, and an operator has better operation experience. The structure of the second elastic limiting portion 32 may be the same as or different from that of the first elastic limiting portion 31, and in this embodiment, the second elastic limiting portion 32 and the first elastic limiting portion 31 have the same structure, so as to reduce the manufacturing process and reduce the production cost.

As shown in fig. 3, in the present embodiment, six elastic limiting portions are mounted on the mounting seat 1, and correspondingly, six limiting holes are provided on the support arm assembly 2, wherein the elastic limiting portions arranged in the front-back direction of the vehicle body are first elastic limiting portions 31, two second elastic limiting portions 32 are respectively provided at equal intervals on two sides of the first elastic limiting portions 31, that is, the six elastic limiting portions are provided at equal intervals along the central line of the mounting seat 1, and the support arm assembly 2 can be locked or unlocked with the mounting seat 1 at six positions, so as to lock or unlock the laser sensing device 100 at six different positions.

In order to realize that the laser sensing device 100 can better observe the weld joint at different positions, as shown in fig. 1, the support arm assembly 2 comprises a support arm 21, a height adjusting mechanism 22 and an angle adjusting mechanism 23, the support arm 21 is rotatably connected with the mounting base 1, the laser sensing device 100 is installed on the height adjusting mechanism 22, the height adjusting mechanism 22 is used for driving the laser sensing device 100 to move along the vertical direction, the angle adjusting mechanism 23 is arranged between the height adjusting mechanism 22 and the support arm 21, and the angle adjusting mechanism 23 is used for enabling the height adjusting mechanism 22 and the support arm 21 to form a preset included angle. Support arm 21 rotates and sets up on mount pad 1, can adjust the turned angle of laser sensing device 100 through the rotation of support arm 21 to make laser sensing device 100 be respectively through high adjustment mechanism 22 and angle adjustment mechanism 23 and predetermine the height and predetermine the contained angle, this installation device is comparatively nimble to laser sensing device 100's regulation, so that laser sensing device 100 adapts to more extensive application scene.

Specifically, as shown in fig. 1 and fig. 2, the support arm 21 is rotatably connected with the mount pad 1 through the bearing 4, the bearing 4 includes a fixed shaft 41, a rotating shaft sleeve 42 and beads, the rotating shaft sleeve 42 is sleeved on the outer side of the fixed shaft 41 and forms a gap for accommodating the beads with the fixed shaft 41, the fixed shaft 41 is connected with the mount pad 1, the rotating shaft sleeve 42 is connected with the support arm 21, thereby realizing the rotatable connection between the support arm 21 and the mount pad 1, and the manner of the rotatable connection between the support arm 21 and the mount pad 1 through the bearing 4 is simpler and easier to realize.

Specifically, as shown in fig. 6, one end of the support arm 21 is provided with a mounting hole 211, the rotating shaft sleeve 42 is inserted into the mounting hole 211 and connected to the rotating shaft sleeve 42, the rotating shaft sleeve 42 is driven to rotate together by the rotation of the support arm 21, and the mounting hole 211 can be conveniently connected to the rotating shaft sleeve 42.

As shown in fig. 2, 6 and 7, the angle adjusting mechanism 23 includes a first link 231, a second link 232 and a damping mechanism 233, wherein the first link 231 is disposed on the support arm 21, the second link 232 is disposed on the height adjusting mechanism 22, the second link 232 is rotatably disposed with the first link 231, and the first link 231 is connected with the second link 232 through the damping mechanism 233 so that the first link 231 and the second link 232 are maintained in a relatively stationary state.

Specifically, the second connecting member 232 includes two connecting plates 2321, a rotating shaft 2322 and a first locking member 2323, the two connecting plates 2321 are disposed at an interval, the first connecting member 231 is disposed between the two connecting plates 2321, the rotating shaft 2322 is disposed through the first connecting member 231 and the connecting plates 2321, the first locking member 2323 is connected to the rotating shaft 2322 to fix the rotating shaft 2322 on the connecting plate 2321, and the damping mechanism 233 is disposed between the rotating shaft 2322 and the first connecting member 231.

As shown in fig. 7-10, the first locking member 2323 includes a limiting portion 23231 and a first connecting portion, the first connecting portion is connected to the limiting portion 23231, a screw 23232 is disposed on the first connecting portion, a threaded hole 23221 is formed in the rotating shaft 2322, the limiting portion 23231 of the first locking member 2323 is located outside one of the connecting plates 2321, the screw 23232 of the first connecting portion passes through the connecting plate 2321 to be threadedly connected to the threaded hole 23221 of the rotating shaft 2322, so that the limiting portion 23231 and the rotating shaft 2322 clamp the connecting plate 2321, and the first locking member 2323, the rotating shaft 2322 and the connecting plate 2321 are connected to form an integral structure. Optionally, a limiting groove is formed in the connecting plate 2321 provided with the first locking member 2323, an end of the rotating shaft 2322 extends into the limiting groove, the limiting groove is used for limiting the rotating shaft 2322, and a distance that the rotating shaft 2322 moves towards the limiting part 23231 along the axial direction is limited, so that the first locking member 2323 and the rotating shaft 2322 can clamp the connecting plate 2321.

Specifically, as shown in fig. 2 and fig. 6, the first connecting member 231 includes a connecting body 2311, a second connecting portion 2312 and a second locking member 2313, the connecting body 2311 is an annular structure with a fracture, the rotating shaft 2322 is arranged in the annular structure in a penetrating manner, the damping mechanism 233 is arranged on the rotating shaft 2322 and arranged in the annular structure in a penetrating manner, the second connecting portions 2312 are arranged on two sides of the fracture of the connecting body 2311, the two second connecting portions 2312 are arranged oppositely, fixing holes are arranged on the two second connecting portions 2312, the second locking member 2313 penetrates through the two fixing holes to connect the two second connecting portions 2312, and the damping mechanism 233 is clamped outside the rotating shaft 2322 through the connecting body 2311.

As shown in fig. 11, the height adjustment mechanism 22 includes a housing 221, a lead screw 222, a slider 223 and a driving mechanism 224, wherein an opening structure is disposed on one side of the housing 221, the opening structure is disposed toward the laser sensing device 100, the lead screw 222 is rotatably disposed in the housing 221, the slider 223 is sleeved on the lead screw 222 and is in threaded connection with the lead screw 222, the slider 223 extends out of the opening structure to be connected with the laser sensing device 100, and the driving mechanism 224 is in transmission connection with the lead screw 222. The height adjusting mechanism with the structure drives the screw rod 222 to rotate through the driving mechanism 224, so that the sliding block 223 moves along the axial direction of the screw rod 222, the height of the laser sensing device 100 is further adjusted, and the height adjusting mechanism 22 is simple in structure and easy to prepare. The slider 223 is prevented from rotating synchronously with the lead screw 222 by the stopper action of the housing 221.

Further, the driving mechanism 224 may be a rotary handle, and drives the lead screw 222 to rotate in a manual operation manner, so as to adjust the height of the laser sensing device 100, and facilitate the operation. In addition, the driving mechanism 224 can also be a motor, and the motor drives the lead screw 222 to rotate, so that the automation of the height adjustment of the laser sensing device 100 is realized.

The laser sensing device assembly is installed on a vehicle body, a welding seam is observed through the laser sensing device 100, and the supporting arm 21 is rotated to drive the laser sensing device 100 to adapt to different scenes. The method specifically comprises the following steps: when the wall climbing robot advances forward, the laser sensing device 100 is rotated to the front end of the vehicle body and locked by the first elastic limiting part 31, and then the pitch angle and the height of the laser sensing device 100 are adjusted by the angle adjusting mechanism 23 and the height adjusting mechanism 22, so that the weld can be better observed by the laser sensing device 100. When the wall climbing robot backs up, the laser sensing device 100 is rotated to the rear end of the vehicle body by rotating the rotating arm 21, and is locked by the first elastic limiting part 31, and then the pitch angle and the height of the laser sensing device 100 are adjusted by the angle adjusting mechanism 23 and the height adjusting mechanism 22, so that the welding seam is observed by the laser sensing device 100.

When the walking track of the vehicle body does not coincide with the track of the welding seam, the welding seams at different positions are adapted through the rotation of the supporting arm 21 and the matching of the second elastic limiting part 32 and the limiting hole. Under different scenes, the height, the rotation angle and the inclination angle of the laser sensing device 100 are adjusted by the mounting device to adapt to the observation of the welding seam in different application scenes.

In the description herein, it is to be understood that the terms "upper", "lower", "right", and the like are used in a descriptive sense or positional relationship based on the orientation or positional relationship shown in the drawings for convenience of description and simplicity of operation, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning.

In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.

In addition, the foregoing is only the preferred embodiment of the present invention and the technical principles applied thereto. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims (12)

1. A mounting device, comprising:

the mounting seat (1) is used for being fixed with a vehicle body;

the supporting arm assembly (2), one end of the supporting arm assembly (2) is used for mounting the laser sensing device (100), the other end of the supporting arm assembly (2) is rotatably connected with the mounting seat (1), and the supporting arm assembly (2) can be switched between a first position enabling the laser sensing device (100) to be located at the front end of the vehicle body and a second position enabling the laser sensing device (100) to be located at the rear end of the vehicle body; and

a locking assembly (3) configured to lock the mount (1) with the support arm assembly (2).

2. The mounting arrangement, as set forth in claim 1, characterized in that the locking assembly (3) comprises:

the two first elastic limiting parts (31) are arranged in the mounting seat (1) and are distributed along the front and rear direction of the vehicle body, and the first elastic limiting parts (31) can elastically stretch along the vertical direction; and

the limiting holes are formed in the support arm assembly (2), and the two first elastic limiting parts (31) can be selectively inserted into the limiting holes so that the support arm assembly (2) can be locked with the mounting seat (1) at the first position or the second position.

3. The mounting arrangement, as set forth in claim 2, characterized in that the locking assembly (3) further comprises:

the second elastic limiting part (32) is arranged in the mounting seat (1), the second elastic limiting part (32) can elastically stretch out and draw back along the vertical direction, and when the second elastic limiting part (32) is inserted into the limiting hole, the support arm assembly (2) is locked with the mounting seat (1) at the third position.

4. The mounting arrangement, as set forth in claim 3, characterized in that the second elastic limiting portion (32) and the two first elastic limiting portions (31) are arranged at intervals around the circumference of the mounting socket (1).

5. The mounting arrangement, as set forth in claim 4, characterized in that the first elastic limiting portion (31) and the second elastic limiting portion (32) each comprise:

the positioning sleeve is arranged on the mounting seat (1);

the spring is arranged inside the positioning sleeve; and

the ball is arranged at the opening of the positioning sleeve, one end of the spring is abutted against the ball, and the other end of the spring is abutted against the positioning sleeve.

6. A mounting arrangement according to any one of claims 1-5, characterised in that the support arm assembly (2) comprises:

the supporting arm (21) is rotatably connected with the mounting base (1);

the height adjusting mechanism (22), the laser sensing device (100) is installed on the height adjusting mechanism (22), and the height adjusting mechanism (22) is configured to drive the laser sensing device (100) to move along the vertical direction; and

an angle adjustment mechanism (23) disposed between the height adjustment mechanism (22) and the support arm (21), the angle adjustment mechanism (23) being configured to cause the height adjustment mechanism (22) to be at a predetermined included angle with the support arm (21).

7. The mounting arrangement, as set forth in claim 6, characterized in that the angular adjustment mechanism (23) comprises:

a first connector (231) provided on the support arm (21);

the second connecting piece (232) is arranged on the height adjusting mechanism (22), and the second connecting piece (232) and the first connecting piece (231) are arranged in a rotating mode; and

a damping mechanism (233), the first connector (231) being connected to the second connector (232) through the damping mechanism (233).

8. The mounting arrangement, as set forth in claim 7, characterized in that the second connector (232) comprises:

two connecting plates (2321) which are arranged at intervals, wherein the first connecting piece (231) is arranged between the two connecting plates (2321);

the rotating shaft (2322), the rotating shaft (2322) penetrates through the first connecting piece (231) and the connecting plate (2321); and

the first locking piece (2323) is connected with the rotating shaft (2322) to fix the rotating shaft (2322) on the connecting plate (2321), and the damping mechanism (233) is arranged between the rotating shaft (2322) and the first connecting piece (231).

9. The mounting arrangement, as set forth in claim 6, characterized in that the height adjustment mechanism (22) comprises:

a housing (221);

a screw (222) rotatably disposed in the housing (221);

the sliding block (223) is sleeved on the screw rod (222) and is in threaded connection with the screw rod (222), and the sliding block (223) is connected with the laser sensing device (100); and

and the driving mechanism (224) is in transmission connection with the screw rod (222).

10. The mounting device of claim 9, wherein the drive mechanism (224) is a rotary handle or a motor.

11. A laser sensor assembly, comprising a mounting device according to any of claims 1-10 and a laser sensor device (100) arranged thereon.

12. A wall climbing robot comprising a vehicle body and a laser sensing device assembly as claimed in claim 11 disposed on the vehicle body.

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