Contour scanning device and scanning method thereof

Abstract

The invention discloses a contour scanning device and a scanning method thereof, and relates to the field of contour scanning, the contour scanning device comprises a vehicle body and a mechanical arm, the top end of a tray is rotatably connected with a rotating disc, one end of a connecting arm is fixedly connected with the contour scanning device, and an auxiliary assembly is installed at the top end of a supporting frame. By arranging the auxiliary assembly, a first electric push rod begins to extend to drive a clamping block to move until the clamping block enters a mounting groove, so that the compensation workbench is connected with the first electric push rod, and the first electric push rod is connected with the first electric push rod; and then the first electric push rod is used for driving the compensation workbench to continue to move, so that the contour scanning device continues to conduct detection operation, the situation that after the telescopic lifting rod breaks down, the contour scanning device cannot continue to conduct movement detection is avoided, and the using effect of the device is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of contour scanning. Specifically, it relates to a contour scanning device and a scanning method thereof. Background Art

[0003] Currently, when adjusting the height through a telescopic lifting rod, if the telescopic lifting rod fails, the contour scanning device cannot continue to detect different height positions. It is necessary to repair the telescopic lifting rod before continuing the detection, which is a cumbersome process and affects the detection. In addition, when detecting a higher position, if the staff is affected by external factors, resulting in the vehicle body moving off course, and when the telescopic lifting rod fails, the contour scanning device will hit the coal pile, causing damage and affecting the normal detection progress. Moreover, when the coal pile is placed outdoors at the port, during the process of detecting a high position, in case of strong wind weather, the contour scanning device lacks a stabilizing device and will shake, affecting the normal detection.

[0004] Therefore, we propose a contour scanning device and a scanning method thereof to solve the above-mentioned problems. Summary of the Invention

[0005] Aiming at the problems existing in the prior art that if the telescopic lifting rod fails, the contour scanning device will be affected. In addition, the contour scanning device hits the coal pile, causing damage. Moreover, in strong wind weather, the contour scanning device lacks a stabilizing device and will shake. The purpose of the present invention is to provide a contour scanning device and a scanning method thereof.

[0006] To solve the above problems, the technical solution adopted by the present invention is as follows: A contour scanning device includes a vehicle body and a robotic arm. A lithium battery system is installed inside the vehicle body. A central control panel is installed inside the vehicle body. A tray is fixedly installed at the front end of the vehicle body. A turntable is rotatably connected to the top of the tray. A support frame is fixedly connected to the top of the turntable. A telescopic lifting rod is rotatably connected to the support frame. The movable end of the telescopic lifting rod is fixedly connected to a compensation workbench. A linear slide rail is fixedly connected to the top of the compensation workbench. The robotic arm includes a first rotating arm. The first rotating arm is slidably installed inside the linear slide rail. One end of the first rotating arm is rotatably connected to a second rotating arm. One end of the second rotating arm is rotatably connected to a connecting arm. One end of the connecting arm is fixedly connected to a contour scanning device. An auxiliary component is installed at the top of the support frame. A protection component is installed on the side wall of the connecting arm. A stabilizing component is installed on the side wall of the compensation workbench.

[0007] Further, the auxiliary component includes two first electric push rods, each of the first electric push rods is fixedly connected to the top end of the support frame, the movable end of the first electric push rod is fixedly connected with a clamping block, inclined surfaces are symmetrically arranged on the side wall of the clamping block, and installation grooves are symmetrically arranged at the bottom end of the compensation workbench. The installation groove is of an inverted convex shape structure.

[0008] Further, the inner side walls of each of the installation grooves are symmetrically and fixedly connected with first springs, two of the first springs on each side are jointly fixedly connected with a wedge-shaped block, the inner side walls of the installation grooves are symmetrically fixedly connected with first electromagnets, and first permanent magnets are fixedly connected to the side walls of each of the wedge-shaped blocks.

[0009] Further, the protection component includes two rotating shafts, the two rotating shafts symmetrically penetrate and are rotatably connected to the side wall of the connecting arm, a protection box is fixedly connected to the side wall of each of the rotating shafts, arc-shaped rods are symmetrically fixedly connected to the side wall of the connecting arm, and each arc-shaped rod is slidably connected through the adjacent protection box.

[0010] Further, the side wall of the connecting arm is symmetrically fixedly connected with second springs, one end of each of the second springs is fixedly connected to the side wall of the adjacent protection box, the second spring is sleeved on the side wall of the adjacent arc-shaped rod, the center of each arc-shaped rod corresponds concentrically to the adjacent rotating shaft, and a cylindrical gear is fixedly connected to the side wall of one end of each rotating shaft.

[0011] Further, a fixing plate is fixedly connected to the top end of the connecting arm, a second electric push rod is fixedly connected through the side wall of the fixing plate, a rack plate is fixedly connected to the movable end of the second electric push rod, and each cylindrical gear is meshed with the rack plate.

[0012] Further, the stabilizing component includes two third electric push rods, each of the third electric push rods is fixedly connected to the top end of the compensation workbench, support plates are symmetrically fixedly connected to the bottom end of the compensation workbench, insertion rods are symmetrically embedded and slidably connected to the side wall of the compensation workbench, and fixing blocks are symmetrically fixedly connected to the side wall of the compensation workbench.

[0013] Further, an installation plate is fixedly connected to the side wall of one end of each of the insertion rods, the installation plate is of an inverted L-shaped structure, a third spring is fixedly connected to the side wall of each of the fixing blocks, one end of the third spring is fixedly connected to the side wall of the adjacent installation plate, the movable end of each of the third electric push rods and the adjacent installation plate are located in the same vertical plane, and a limiting groove is opened at the bottom end of each of the insertion rods.

[0014] Further, each of the limiting grooves is in the same vertical plane as the adjacent support plate. At the top of each support plate, support springs are symmetrically and fixedly connected. The two support springs are commonly and fixedly connected to a limiting block, which is slidably connected inside the limiting groove. A second electromagnet is fixedly connected to the top of the support plate, and a second permanent magnet is fixedly connected to the bottom of the limiting block.

[0015] A scanning method applied to a contour scanning device includes the following steps: S1: The first electric push rod starts to extend, driving the clamping block to move until the clamping block enters the installation groove, so that the compensation workbench is connected to the first electric push rod. Subsequently, the first electric push rod is used to drive the compensation workbench to continue moving, so that the contour scanning device continues to perform detection operations. S2: The movable end of the second electric push rod starts to contract, driving the rack plate to move synchronously. By using the meshing effect between the rack plate and the cylindrical gear, the cylindrical gear is driven to rotate, so that the rotating shaft drives the protective box to compress the second spring. At this time, the second spring is in a compressed state, but not in the compression limit state and can still be compressed for a certain distance. As the rack plate continuously moves until it leaves between the two cylindrical gears, at this time, under the elastic action of the second spring, the two protective boxes will be driven to rotate, so that the two protective boxes move along the arc-shaped rod until they are closed. S3: The second electromagnet is energized. After the second electromagnet is energized, the magnetic attraction force generated between it and the second permanent magnet causes the limiting block to compress the support spring and leave the limiting groove, releasing the limit on the insertion rod. Under the elastic action of the third spring, the insertion rod is pulled towards the coal pile, so that the two insertion rods are inserted into the coal pile.

[0016] Compared with the prior art, the beneficial effects of the present invention are: By setting up the auxiliary component, when the first electric push rod starts to extend, it drives the clamping block to move until the clamping block enters the installation groove, connecting the compensation workbench with the first electric push rod. Subsequently, the first electric push rod is used to drive the compensation workbench to continue moving, enabling the contour scanning device to continue the detection operation. This avoids the situation where the contour scanning device cannot continue to move and detect after a failure of the telescopic lifting rod, improving the usage effect of the device. By setting up the protection component, when the second electric push rod is started, the movable end of the second electric push rod begins to contract, driving the rack plate to move synchronously. Utilizing the meshing effect between the rack plate and the cylindrical gear, the cylindrical gear is driven to rotate, causing the rotating shaft to drive the protection box to compress the second spring. At this time, the second spring is in a compressed state, but not at the compression limit state and can still be compressed for a certain distance. As the rack plate continues to move until it leaves between the two cylindrical gears, at this time, under the elastic action of the second spring, the two protection boxes will be driven to rotate, causing the two protection boxes to move along the arc-shaped rod until they close. Thus, the contour scanning device is protected by the two closed protection boxes to prevent it from colliding with the coal pile and being damaged, affecting normal use. By setting up the stabilizing component, when the second electromagnet is energized, the magnetic attraction generated between the energized second electromagnet and the second permanent magnet causes the limiting block to compress the support spring and leave the limiting groove, releasing the limit on the insertion rod. Under the elastic action of the third spring, the insertion rod is pulled to move towards the coal pile, causing the two insertion rods to insert into the coal pile. The two insertion rods are long enough so that after they can insert into the coal pile, they are stable enough. Thus, the two insertion rods provide a supporting force for the compensation workbench, enabling the contour scanning device to provide sufficient stability even when performing detection operations at a high altitude in windy weather, without shaking and being able to continue the detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is the overall structural schematic diagram of the present invention; Figure 2 is the side view of the present invention; Figure 3 is the structural schematic diagram of the vehicle body in the present invention; Figure 4 is the structural schematic diagram of the auxiliary component, protection component and stabilizing component in the present invention; Figure 5 is the partial structural schematic diagram of the auxiliary component in the present invention; Figure 6 is the cross-sectional view of the auxiliary component in the present invention; Figure 7 is Figure 6 the partial enlarged schematic diagram of part A in Figure 8 is the rest of the structural schematic diagram of the auxiliary component in the present invention; Figure 9 It is the bottom view of the compensation workbench in the present invention; Figure 10 It is the structural schematic diagram of the protection component in the present invention; Figure 11 It is the partial structural schematic diagram of the protection component in the present invention; Figure 12 is Figure 11 the partial enlarged schematic diagram of part B in; Figure 13 It is the partial structural schematic diagram in the present invention; Figure 14 is Figure 10 the partial enlarged schematic diagram of part C in; Figure 15 It is the cross-sectional view of the stabilizing component in the present invention; Figure 16 is Figure 15 the partial enlarged schematic diagram of part D in.

[0018] In the figure: 1, vehicle body; 11, lithium battery system; 12, central control panel; 13, tray; 14, turntable; 15, support frame; 16, telescopic lifting rod; 17, compensation workbench; 18, linear slide rail; 2, robotic arm; 21, first rotating arm; 22, second rotating arm; 23, connecting arm; 3, contour scanning device; 4, auxiliary component; 41, first electric push rod; 42, clamping block; 43, inclined surface; 44, installation groove; 45, first spring; 46, wedge-shaped block; 47, first electromagnet; 48, first permanent magnet; 5, protection component; 51, rotating shaft; 52, protection box; 53, cylindrical gear; 54, fixing plate; 55, second electric push rod; 56, rack plate; 57, arc rod; 58, second spring; 6, stabilizing component; 61, third electric push rod; 62, inserting rod; 63, fixing block; 64, mounting plate; 65, third spring; 66, limiting groove; 67, limiting block; 68, supporting spring; 69, supporting plate; 610, second electromagnet; 611, second permanent magnet. Specific embodiments

[0019] The present invention will be further described below in conjunction with specific embodiments.

[0020] To solve the problem that when the height is adjusted by the telescopic lifting rod 16, if the telescopic lifting rod 16 fails, resulting in the contour scanning device 3 being unable to continue the detection work at different height positions, it is necessary to repair the telescopic lifting rod 16 before continuing the detection, which is a cumbersome process and affects the detection, as Figure 1 - Figure 8 shown: A contour scanning device includes a vehicle body 1 and a robotic arm 2. Inside the vehicle body 1, a lithium battery system 11 is installed, and the lithium battery system 11 is used to provide power for the vehicle body 1 to drive. Inside the vehicle body 1, a central control panel 12 is installed. The auxiliary component 4, the protection component 5, and the stabilization component 6 are all controlled by the central control panel 12. At the front end of the vehicle body 1, a tray 13 is fixedly installed. At the top of the tray 13, a turntable 14 is rotatably connected. At the top of the turntable 14, a support frame 15 is fixedly connected. The support frame 15 is rotatably connected with a telescopic lifting rod 16. The telescopic lifting rod 16 is used to adjust the height of the compensation workbench 17 and the contour scanning device 3 for easy detection. The movable end of the telescopic lifting rod 16 is fixedly connected with the compensation workbench 17. At the top of the compensation workbench 17, a linear slide rail 18 is fixedly connected. The robotic arm 2 includes a first rotating arm 21. The first rotating arm 21 is slidably installed inside the linear slide rail 18. One end of the first rotating arm 21 is rotatably connected with a second rotating arm 22. One end of the second rotating arm 22 is rotatably connected with a connecting arm 23. One end of the connecting arm 23 is fixedly connected with a contour scanning device 3. The contour scanning device 3 is used to perform detection.

[0021] At the top of the support frame 15, an auxiliary component 4 is installed. By setting the auxiliary component 4, when the first electric push rod 41 starts to extend, it drives the block 42 to move until the block 42 enters the installation groove 44, so that the compensation workbench 17 is connected to the first electric push rod 41. Then, the first electric push rod 41 is used to drive the compensation workbench 17 to continue moving, so that the contour scanning device 3 can continue to perform detection operations. This avoids the situation where the contour scanning device 3 cannot continue to move and detect after the telescopic lifting rod 16 fails, and improves the use effect of the device.

[0022] On the side wall of the connecting arm 23, a protection component 5 is installed. By setting the protection component 5, when the second electric push rod 55 is started, the movable end of the second electric push rod 55 starts to contract, driving the rack plate 56 to move synchronously. Using the meshing effect between the rack plate 56 and the cylindrical gear 53, the cylindrical gear 53 is driven to rotate, so that the rotating shaft 51 drives the protection box 52 to compress the second spring 58. At this time, the second spring 58 is in a compressed state, but it is not in the compressed limit state and can still be compressed for a certain distance. As the rack plate 56 continues to move until the rack plate 56 leaves between the two cylindrical gears 53, at this time, under the elastic action of the second spring 58, the two protection boxes 52 will be driven to rotate, so that the two protection boxes 52 move along the arc-shaped rod 57 until they close. Thus, the contour scanning device 3 is protected by the two closed protection boxes 52 to prevent it from colliding with the coal pile and being damaged, affecting normal use.

[0023] A stabilizing component 6 is installed on the side wall of the compensation workbench 17. By setting up the stabilizing component 6, when the second electromagnet 610 is energized, the magnetic suction force generated between the energized second electromagnet 610 and the second permanent magnet 611 causes the limit block 67 to compress the support spring 68 and leave the limit groove 66, releasing the limit on the insertion rod 62. Under the elastic action of the third spring 65, the insertion rod 62 is pulled to move towards the coal pile, so that the two insertion rods 62 are inserted into the coal pile. The two insertion rods 62 are long enough, so that after the insertion rods 62 are inserted into the coal pile, they are stable enough. Thus, the two insertion rods 62 provide a supporting force for the compensation workbench 17, enabling the contour scanning device 3 to provide sufficient stability even when performing detection operations at high altitudes and encountering strong winds, without shaking and can continue the detection.

[0024] The auxiliary component 4 includes two first electric push rods 41. Each first electric push rod 41 is fixedly connected to the top end of the support frame 15. The movable end of the first electric push rod 41 is fixedly connected with a clamping block 42. The side wall of the clamping block 42 is symmetrically provided with inclined surfaces 43. The bottom end of the compensation workbench 17 is symmetrically provided with installation grooves 44, and the installation grooves 44 are of an inverted convex shape structure.

[0025] The inner side walls of each installation groove 44 are symmetrically and fixedly connected with first springs 45. The two first springs 45 on each side are jointly fixedly connected with a wedge-shaped block 46. The inner side walls of the installation grooves 44 are symmetrically and fixedly connected with first electromagnets 47. The side wall of each wedge-shaped block 46 is fixedly connected with a first permanent magnet 48.

[0026] In this solution: when the telescopic lifting rod 16 fails and causes the compensation workbench 17 and the contour scanning device 3 to stop moving, at this time, the first electric push rod 41 is immediately started. The first electric push rod 41 starts to extend, driving the clamping block 42 to move until the clamping block 42 enters the installation groove 44. During the process of the clamping block 42 entering the installation groove 44, by the mutual cooperation between the inclined surface 43 of the clamping block 42 and the wedge-shaped block 46, the two wedge-shaped blocks 46 are compressed to move away from each other while compressing the first spring 45. After the clamping block 42 leaves the wedge-shaped block 46, under the elastic action of the first spring 45, the two wedge-shaped blocks 46 are pushed to move back to their original positions, so that the two wedge-shaped blocks 46 limit the clamping block 42, thus connecting the compensation workbench 17 with the first electric push rod 41. The height of the clamping block 42 is the same as the height between the wedge-shaped block 46 and the inner top wall of the installation groove 44. Thus, after the wedge-shaped block 46 is reset, it can contact the bottom wall of the clamping block 42. And the installation groove 44 is of an inverted convex shape structure, and the wedge-shaped block 46 is embedded and slides on the inner wall of the installation groove 44, so that an effective limiting effect can be achieved. Subsequently, the first electric push rod 41 is used to drive the compensation workbench 17 to continue moving, enabling the contour scanning device 3 to continue the detection operation, avoiding the situation that the contour scanning device 3 cannot continue to move and detect after the telescopic lifting rod 16 fails, and improving the use effect of the device; After the detection is completed, the staff repairs the telescopic lifting rod 16. Then, by energizing the first electromagnet 47, using the magnetic attraction force generated by the first electromagnet 47 on the first permanent magnet 48, the two wedge-shaped blocks 46 are pulled away from each other, and the first electric push rod 41 drives the clamping block 42 to contract, so that it leaves the inside of the installation groove 44. Then, the first electromagnet 47 is powered off for subsequent continuous use.

[0027] To solve the problems that when detecting a higher position, if the staff is affected by external factors, resulting in the deviation of the movement of the vehicle body 1, and when the telescopic lifting rod 16 fails, the profile scanning device 3 hits the coal pile, causing damage and affecting the normal detection progress, as Figure 9 - Figure 14 shown in: The protection component 5 includes two rotating shafts 51, and the two rotating shafts 51 symmetrically penetrate and are rotatably connected to the side wall of the connecting arm 23. A protection box 52 is fixedly connected to the side wall of each rotating shaft 51. Arc-shaped rods 57 are symmetrically and fixedly connected to the side wall of the connecting arm 23, and each arc-shaped rod 57 is slidably connected through the adjacent protection box 52.

[0028] Arc-shaped rods 57 are symmetrically and fixedly connected to the side wall of the connecting arm 23. One end of each second spring 58 is fixedly connected to the side wall of the adjacent protection box 52. The second spring 58 is sleeved on the side wall of the adjacent arc-shaped rod 57. The center of each arc-shaped rod 57 corresponds concentrically to the adjacent rotating shaft 51. A cylindrical gear 53 is fixedly connected to the side wall of one end of each rotating shaft 51.

[0029] A fixing plate 54 is fixedly connected to the top end of the connecting arm 23. A second electric push rod 55 penetrates and is fixedly connected to the side wall of the fixing plate 54. A rack plate 56 is fixedly connected to the movable end of the second electric push rod 55. Each cylindrical gear 53 is meshed with the rack plate 56.

[0030] In this solution: When it is detected that the contour scanning device 3 starts to approach the coal pile, it is necessary to immediately protect the contour scanning device 3 to prevent it from being damaged. At this time, the second electric push rod 55 is immediately activated, and the movable end of the second electric push rod 55 starts to contract, driving the rack plate 56 to move synchronously. Utilizing the meshing effect between the rack plate 56 and the cylindrical gear 53, the cylindrical gear 53 is driven to rotate, causing the rotating shaft 51 to drive the protective box 52 to compress the second spring 58. At this time, the second spring 58 is in a compressed state, but not in the compressed limit state, and can still be compressed for a certain distance. As the rack plate 56 continues to move until the rack plate 56 leaves between the two cylindrical gears 53, at this time, under the elastic action of the second spring 58, the two protective boxes 52 will be driven to rotate, causing the two protective boxes 52 to move along the arc-shaped rod 57 until they close, thereby protecting the contour scanning device 3 through the closed two protective boxes 52 to prevent it from colliding with the coal pile and being damaged, affecting normal use. Among them, the rotating shaft 51 and the arc-shaped rod 57 are concentrically arranged, so that during the rotation of the protective box 52, the arc-shaped rod 57 will not cause a limiting effect; After the protection is completed, the second electric push rod 55 can be extended, thereby driving the rack plate 56 to extend until the rack plate 56 meshes with the two cylindrical gears 53 again. At this time, continue to move, and utilize the meshing effect between the rack plate 56 and the cylindrical gear 53 to drive the cylindrical gear 53 and the rotating shaft 51 to rotate in the reverse direction, causing the two protective boxes 52 to open again, enabling the contour scanning device 3 to continue the detection.

[0031] To solve the problem that when the coal pile is placed outdoors at the port and during the high-altitude detection process, in case of strong wind weather, the contour scanning device 3 lacks a stabilizing device and will shake, affecting normal detection, as Figure 13 - Figure 16 shown: The stabilizing assembly 6 includes two third electric push rods 61. Each third electric push rod 61 is fixedly connected to the top end of the compensation workbench 17. Symmetrically fixed to the bottom end of the compensation workbench 17 are support plates 69. Symmetrically embedded and slidably connected to the side wall of the compensation workbench 17 are insertion rods 62. Symmetrically fixedly connected to the side wall of the compensation workbench 17 are fixed blocks 63.

[0032] Fixedly connected to the side wall of one end of each insertion rod 62 is a mounting plate 64. The mounting plate 64 is of an inverted L-shaped structure. Fixedly connected to the side wall of each fixed block 63 is a third spring 65. One end of the third spring 65 is fixedly connected to the side wall of the adjacent mounting plate 64. The movable end of each third electric push rod 61 and the adjacent mounting plate 64 are in the same vertical plane. A limit groove 66 is provided at the bottom end of each insertion rod 62.

[0033] Each limiting groove 66 is in the same vertical plane as the adjacent support plate 69. At the top of each support plate 69, a support spring 68 is symmetrically and fixedly connected. The two support springs 68 are jointly and fixedly connected to a limiting block 67. The limiting block 67 is slidably connected inside the limiting groove 66. At the top of the support plate 69, a second electromagnet 610 is fixedly connected. At the bottom of the limiting block 67, a second permanent magnet 611 is fixedly connected.

[0034] In this solution: When the contour scanning device 3 is located at a high place for detection and encounters strong wind weather, causing shaking and affecting detection, at this time, the second electromagnet 610 is energized. After the second electromagnet 610 is energized, the magnetic attraction force generated between it and the second permanent magnet 611 is used to make the limiting block 67 compress the support spring 68 and leave the limiting groove 66, releasing the limit on the insertion rod 62. Under the elastic action of the third spring 65, the insertion rod 62 is pulled to move towards the coal pile, so that the two insertion rods 62 are inserted into the coal pile. The two insertion rods 62 are long enough, so that after the insertion rods 62 are inserted into the coal pile, they are stable enough. Thus, the two insertion rods 62 provide a supporting force for the compensation workbench 17, so that the contour scanning device 3 can provide sufficient stability even when performing detection operations at a high place and encountering strong wind weather, without shaking and can continue to perform detection; when the insertion rods 62 are inserted into the coal pile, the limiting block 67 is still located at the bottom of the insertion rods 62 and will not detach, so as to facilitate subsequent resetting and limiting the insertion rods 62. When the detection is completed and the position needs to be changed, the third electric push rod 61 works. By extending the third electric push rod 61, the mounting plate 64 is pushed, stretching the third spring 65 and driving the insertion rod 62 to leave the coal pile until the limiting block 67 is pushed into the limiting groove 66 under the elastic action of the support spring 68 to limit the insertion rod 62. Subsequently, the third electric push rod 61 moves to the original position for subsequent continued use.

[0035] A scanning method for a contour scanning device is as follows: S1: The first electric push rod 41 starts to extend, driving the clamping block 42 to move until the clamping block 42 enters the installation groove 44, so that the compensation workbench 17 is connected to the first electric push rod 41. Subsequently, the first electric push rod 41 is used to drive the compensation workbench 17 to continue to move, so that the contour scanning device 3 continues to perform detection operations. S2: The movable end of the second electric push rod 55 starts to contract, driving the rack plate 56 to move synchronously. By means of the meshing effect between the rack plate 56 and the cylindrical gear 53, the cylindrical gear 53 is driven to rotate, causing the rotating shaft 51 to drive the protective box 52 to compress the second spring 58. At this time, the second spring 58 is in a compressed state, but not at the compression limit state and can still be compressed for a certain distance. As the rack plate 56 continues to move until it leaves between the two cylindrical gears 53, at this time, under the elastic action of the second spring 58, the two protective boxes 52 will be driven to rotate, causing the two protective boxes 52 to move along the arc-shaped rod 57 until they are closed. S3: By energizing the second electromagnet 610, using the magnetic attraction force generated between the second electromagnet 610 and the second permanent magnet 611 after energization, the limit block 67 compresses the support spring 68 and leaves the limit groove 66, releasing the limit on the insertion rod 62. Under the elastic action of the third spring 65, the insertion rod 62 is pulled towards the coal pile, causing the two insertion rods 62 to insert into the interior of the coal pile.

[0036] The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0037] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A contour scanning device, comprising a vehicle body (1) and a mechanical arm (2), characterized in that: The vehicle body (1) is internally installed with a lithium battery system (11), the vehicle body (1) is internally installed with a central control panel (12), the front end of the vehicle body (1) is fixedly installed with a tray (13), the top end of the tray (13) is rotatably connected to a turntable (14), the top end of the turntable (14) is fixedly connected to a support frame (15), the support frame (15) is rotatably connected to a telescopic lifting rod (16), the movable end of the telescopic lifting rod (16) is fixedly connected to a compensation workbench (17), the top end of the compensation workbench (17) is fixedly connected to a linear slide rail (18), the The robot arm (2) comprises a first rotating arm (21), the first rotating arm (21) is slidably mounted inside a linear slide rail (18), one end of the first rotating arm (21) is rotatably connected to a second rotating arm (22), one end of the second rotating arm (22) is rotatably connected to a connecting arm (23), one end of the connecting arm (23) is fixedly connected to a contour scanning device (3), an auxiliary component (4) is mounted on the top of the support frame (15), a protective component (5) is mounted on the side wall of the connecting arm (23), and a stabilizing component (6) is mounted on the side wall of the compensation workbench (17).

2. A contour scanning device according to claim 1, characterized in that: The auxiliary component (4) comprises two first electric push rods (41), each of the first electric push rods (41) is fixedly connected to the top of the support frame (15), a clamping block (42) is fixedly connected to the movable end of the first electric push rod (41), and the side walls of the clamping block (42) are symmetrically provided with inclined surfaces (43), and the bottom end of the compensation workbench (17) is symmetrically provided with mounting grooves (44), and the mounting grooves (44) are in the shape of an inverted convex letter.

3. A contour scanning device according to claim 2, characterized in that: The inner side wall of each installation groove (44) is symmetrically fixedly connected to a first spring (45), the two first springs (45) on each side are commonly fixedly connected to a wedge block (46), the inner side wall of the installation groove (44) is symmetrically fixedly connected to a first electromagnet (47), and the side wall of each wedge block (46) is fixedly connected to a first permanent magnet (48).

4. A contour scanning device according to claim 3, characterized in that: The protection assembly (5) comprises two rotating shafts (51), the two rotating shafts (51) symmetrically passing through and rotatably connected to the side walls of the connecting arms (23), each side wall of the rotating shaft (51) being fixedly connected to a protection box (52), the side walls of the connecting arms (23) being symmetrically fixedly connected to an arc-shaped rod (57), and each arc-shaped rod (57) passing through and slidably connected to an adjacent protection box (52).

5. A contour scanning device according to claim 4, characterized in that: The side wall of the connecting arm (23) is symmetrically fixedly connected with a second spring (58), one end of each of the second springs (58) is fixedly connected to the side wall of the adjacent protection box (52), the second spring (58) is sleeved on the side wall of the adjacent arc-shaped rod (57), the center of each arc-shaped rod (57) is concentrically arranged with the adjacent rotating shaft (51), and the side wall of one end of each rotating shaft (51) is fixedly connected with a cylindrical gear (53).

6. A contour scanning device according to claim 5, characterized in that: A fixing plate (54) is fixedly connected to the top of the connecting arm (23); a second electric push rod (55) is fixedly connected through the side wall of the fixing plate (54); a movable end of the second electric push rod (55) is fixedly connected to a rack plate (56); and each cylindrical gear (53) is meshingly connected to the rack plate (56).

7. A contour scanning device according to claim 6, characterized in that: The stabilizing component (6) comprises two third electric push rods (61), each of the third electric push rods (61) is fixedly connected to the top of the compensation workbench (17), the bottom of the compensation workbench (17) is symmetrically fixedly connected to a support plate (69), the side wall of the compensation workbench (17) is symmetrically embedded with an insertion rod (62) in a sliding connection, and the side wall of the compensation workbench (17) is symmetrically fixedly connected to a fixing block (63).

8. A contour scanning device according to claim 7, characterized in that: One end side wall of each of the insertion rods (62) is fixedly connected to a mounting plate (64), and the mounting plate (64) is an inverted L-shaped structure. Each of the fixing blocks (63) is fixedly connected to a third spring (65) on its side wall, and one end of the third spring (65) is fixedly connected to the adjacent side wall of the mounting plate (64). The movable end of each of the third electric push rods (61) is located in the same vertical plane as the adjacent mounting plate (64), and a limiting groove (66) is provided at the bottom end of each of the insertion rods (62).

9. A contour scanning device according to claim 8, characterized in that: Each of the limit slots (66) is located in the same vertical plane as the adjacent support plate (69); a support spring (68) is symmetrically fixedly connected to the top of each support plate (69); two support springs (68) are commonly fixedly connected to a limit block (67); the limit block (67) is slidably connected to the inside of the limit slot (66); a second electromagnet (610) is fixedly connected to the top of the support plate (69); and a second permanent magnet (611) is fixedly connected to the bottom of the limit block (67).

10. A scanning method of a contour scanning device according to claims 1-9, characterized in that: The following steps are involved: S1: the first electric push rod (41) begins to extend, driving the clamping block (42) to move until the clamping block (42) enters the interior of the mounting groove (44), so that the compensation workbench (17) is connected to the first electric push rod (41), and then the first electric push rod (41) drives the compensation workbench (17) to continue to move, so that the contour scanning device (3) continues to perform the detection operation; S2: The active end of the second electric push rod (55) starts to contract, driving the rack plate (56) to move synchronously, and utilizing the meshing action between the rack plate (56) and the cylindrical gear (53) to drive the cylindrical gear (53) to rotate, so that the rotating shaft (51) drives the protection box (52) to compress the second spring (58), wherein the second spring (58) is in a compressed state at this time, but is not in a compression limit state, and can still be compressed for a certain distance, and the rack plate (56) continues to move until the rack plate (56) leaves between the two cylindrical gears (53). At this time, under the elastic action of the second spring (58), the two protection boxes (52) are driven to rotate, so that the two protection boxes (52) move along the arc rod (57) until they are closed; S3: By energizing the second electromagnet (610), the magnetic attraction force generated between the second electromagnet (610) and the second permanent magnet (611) is utilized to cause the limit block (67) to compress the support spring (68) and leave the limit groove (66), thereby releasing the limit on the insertion rod (62). Under the elastic action of the third spring (65), the insertion rod (62) is pulled to move toward the coal pile, so that the two insertion rods (62) are inserted into the coal pile.

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