A mobile three-dimensional laser scanning device

Abstract

The present application relates to the technical field of track monitoring, and discloses a mobile three-dimensional laser scanning device, which comprises two parallel tracks and a walking frame moving on the tracks, and further comprises a bearing main beam arranged between two main shafts, and an auxiliary cross beam connected with the bearing main beam and arranged between the two main shafts; a table plate is arranged on the bearing main beam in a liftable manner, an angle adjusting frame is arranged on the top of the table plate, and a total station is arranged on the top of the angle adjusting frame; a three-stage damping system is formed by a third arc-shaped plate member, a side auxiliary beam rubber buffer and a damping auxiliary frame elastic shock absorption, so that vibration forces are gradually offset; the vibration force transmitted by the walking wheel is first absorbed by the extension deformation of the third arc-shaped plate member, residual vibration is secondly buffered by the elastic deformation of the side auxiliary beam rubber strip, and lateral vibration is thirdly offset by the cooperative deformation of the arc-shaped plate member and the spring of the damping auxiliary frame, so that the vibration transmission path is blocked from all directions of the walking end, the connecting end and the bearing end.

Description

Technical Field

[0001] This invention relates to the field of track monitoring technology, specifically a mobile three-dimensional laser scanning device. Background Technology

[0002] With the widespread application of 3D laser scanning technology in fields such as architectural surveying, industrial inspection, cultural relic preservation, and large component installation, higher requirements have been placed on the mobility, stability, and scanning accuracy of scanning equipment. Mobile 3D laser scanning devices, due to their ability to continuously scan along a preset path, significantly improve work efficiency and have become the preferred equipment for large-area, long-distance scanning scenarios.

[0003] In practical applications, existing mobile 3D laser scanning devices generate vibrations when traveling along the track due to friction between the wheels and the track, track unevenness, and centrifugal force during turns. These vibrations are directly transmitted to the core scanning components (such as total stations) through the chassis structure. Existing devices often employ a single damping structure (such as simple spring damping), which cannot achieve progressive cancellation of vibrations. This leads to instability in the posture of the core scanning components, resulting in offset and blurry 3D data, affecting measurement accuracy. Furthermore, different scanning scenarios have varying requirements for scanning height and angle. Existing devices typically use fixed-position platform adjustments, lacking precise linear adjustment capabilities. Moreover, scanning angle adjustment relies solely on the overall movement of the chassis, failing to enable independent horizontal fine-tuning and 360° rotation of the core scanning components. This makes it difficult to adapt to complex spaces and multi-angle scanning needs, limiting the scanning coverage. Additionally, the existing devices' walking structures often rely solely on a single wheel engaging with the track, lacking lateral restraint mechanisms. This makes them prone to lateral deviation at turns or on uneven tracks, even posing a risk of derailment. Simultaneously, the inability to effectively buffer lateral vibrations further exacerbates the instability of the chassis posture. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a mobile 3D laser scanning device that solves the problem of unstable scanning in existing mobile 3D laser scanning devices.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a mobile three-dimensional laser scanning device, comprising two parallel tracks and a traveling frame that moves on the tracks. The traveling frame includes two main shafts and traveling wheels disposed at both ends of the main shafts and rolledly connected to the outer side wall of the top of the tracks. It also includes a supporting main beam disposed between the two main shafts, and an auxiliary crossbeam connected to the supporting main beam connected between the two main shafts. The supporting main beam has a through hole through which the auxiliary crossbeam can pass. A platform is provided on the supporting main beam that can be raised and lowered. An angle adjustment frame is provided on the top of the platform, and a total station is provided on the top of the angle adjustment frame.

[0006] Both sides of the bottom of the main beam are equipped with shock-absorbing auxiliary frames. The bottom of the shock-absorbing auxiliary frame is rotatably connected to an inner auxiliary wheel, which is rolled on the inner side wall of the top of the track.

[0007] Preferably, a cavity is formed downward at the center of the main beam, and a second electric telescopic rod capable of driving the platform to rise and fall is provided in the cavity; a limiting cavity is formed downward at the top of the main beam, and guide rods that can be inserted into the limiting cavity are provided at the bottom of both ends of the platform, and an annular disc that can be passed through is provided in the limiting cavity.

[0008] Preferably, the two ends of the platform are connected to the two ends of the supporting main beam via side auxiliary beams. The side auxiliary beams include a first plate hinged to the platform and a second plate hinged to the supporting main beam. The first plate has an insertion cavity inside, and the insertion cavity is open in the direction of the second plate, so that the second plate can be inserted into the insertion cavity in the first plate along the opening. The outer wall surface of the part of the second plate inserted into the insertion cavity is provided with a plurality of rubber strips, and the outer edge of the rubber strips abuts against the inner wall surface of the insertion cavity.

[0009] Preferably, the angle adjustment frame includes a lower adjustment platform fixed to the platform, and an upper adjustment platform is connected to the top of the lower adjustment platform through a plurality of first electric telescopic rods. The plurality of first electric telescopic rods are located between the upper adjustment platform and the lower adjustment platform and are arranged circumferentially at equal intervals in an inclined manner.

[0010] Preferably, the upper adjustment platform has a hollow center, and the hollow center is rotatably connected to a turntable via a rotating ring; a side frame is fixed to the bottom of the upper adjustment platform, a motor is fixed to the side frame, the output end of the motor is fixedly connected to the turntable, and the total station is mounted on the turntable.

[0011] Preferably, the shock-absorbing auxiliary frame includes an elastic support member, and the bottom of the elastic support member is provided with a first L-shaped plate and a second L-shaped plate. The short side of the first L-shaped plate is connected to the elastic support member, the short side of the second L-shaped plate is fixedly connected to the long side of the first L-shaped plate, and the inner auxiliary wheel is rotatably connected to the long side of the second L-shaped plate.

[0012] Preferably, the elastic support includes a first arc-shaped plate and a second arc-shaped plate arranged in an alternating manner. The top ends of the first arc-shaped plate and the second arc-shaped plate are respectively provided with a first mounting foot and a second mounting foot that are fixedly connected to the main beam. There is a gap between the ends of the alternating portions of the first arc-shaped plate and the main beam, and the alternating portions are connected by a sleeve.

[0013] Preferably, the ends of the intersecting portions of the first and second arc-shaped plates are respectively provided with a first mounting foot and a second mounting foot. The first mounting foot abuts against the inner wall surface of the second arc-shaped plate, and the second mounting foot abuts against the outer wall surface of the first arc-shaped plate. A clamping cavity is formed between the intersecting portions of the first and second arc-shaped plates. A spring is provided in the clamping cavity, and the two ends of the spring are connected to the first mounting foot and the second mounting foot.

[0014] Preferably, assembly blocks are fixedly provided at both ends of the auxiliary crossbeam, and the main shaft passes through the assembly blocks and is rotatably connected to the assembly blocks; an internal elastic support is provided at the top of the portion of the auxiliary crossbeam located within the through hole, the internal elastic support includes a third arc-shaped plate, and a platform assembly plate fixed to the main beam is provided at the top of the third arc-shaped plate; strip grooves are opened at both ends of the third arc-shaped plate, and connecting bolts fixed to the auxiliary crossbeam are passed through the strip grooves.

[0015] The beneficial effects of the present invention are as follows: By using the mobile three-dimensional laser scanning device provided by the present invention, the following technical effects are achieved: 1. Through a three-stage vibration damping system consisting of the third arc-shaped plate for vibration damping, the side auxiliary beam rubber buffer, and the vibration damping auxiliary frame for elastic shock absorption, the vibration force is gradually canceled out: the vibration force transmitted by the traveling wheel is first absorbed by the extension deformation of the third arc-shaped plate, the residual vibration is buffered a second time by the elastic deformation of the side auxiliary beam rubber strip, and the lateral vibration is canceled out a third time by the coordinated deformation of the arc-shaped plate and spring of the vibration damping auxiliary frame. The vibration transmission path is blocked from all directions from the traveling end, the connecting end, and the bearing end, ensuring that the total station is always in a stable posture, reducing the offset of the scanning data, and significantly improving the spatial positioning accuracy.

[0016] 2. The second electric telescopic rod drives the platform to achieve precise linear lifting and lowering. Combined with the vertical guidance of the guide rod and the ring disk, the scanning height can be flexibly adjusted according to the scanning distance and space height requirements. It can adapt to different scenarios such as low spaces and high-altitude components without moving the track. The angle adjustment frame achieves multi-dimensional horizontal fine adjustment of the upper adjustment platform through the circumferentially arranged inclined first electric telescopic rod. Even if there is a slight slope in the track, a processing error in the installation surface, or slight bumps during the equipment's movement, the total station can be quickly adjusted to a horizontal state, avoiding measurement errors caused by tilting. The motor-driven turntable rotates 360° without dead angles. Combined with height and horizontal angle adjustment, the total station can cover the entire scanning range without relying on the overall movement of the carriage. It is especially suitable for scenarios such as large building spaces and ring components that require omnidirectional and complete scanning, greatly improving operational flexibility.

[0017] 3. The vertically arranged traveling wheels and the horizontally arranged inner auxiliary wheels form a two-way wrapping and clamping structure for the track, which effectively limits the offset of the frame in the track width direction and completely solves the risk of derailment when turning or on uneven tracks; the elastic support of the shock-absorbing auxiliary frame can not only buffer lateral vibration, but also absorb the centrifugal force of turning through the coordinated deformation of the arc plate and spring, so that the frame can still maintain a stable posture in complex track environments and reduce the amplitude of posture fluctuation during travel. Attached Figure Description

[0018] Figure 1 This is an isometric view of the present invention; Figure 2 This is the front view of the present invention; Figure 3 This is a schematic diagram of the three-dimensional structure of the side auxiliary beam of the present invention; Figure 4 This is a front view of the side auxiliary beam of the present invention; Figure 5 This is a schematic diagram of the shock-absorbing auxiliary frame structure of the present invention; Figure 6 This is a schematic diagram of the three-dimensional connection structure between the first arc-shaped plate and the second arc-shaped plate of the present invention; Figure 7 This is a schematic diagram of the connection structure between the turntable and the upper adjustment platform of the present invention; Figure 8 This is a schematic diagram of the internal elastic support structure of the present invention.

[0019] Explanation of reference numerals in the diagram: 1. Track; 2. Traveling wheel; 3. Main shaft; 4. Main supporting beam; 5. Through hole; 6. Auxiliary crossbeam; 7. Side auxiliary beam; 71. First plate; 72. Second plate; 73. Insertion cavity; 74. Rubber strip; 8. Angle adjustment frame; 81. Lower adjustment platform; 82. First electric telescopic rod; 83. Upper adjustment platform; 9. Total station; 10. Vibration damping auxiliary frame; 101. First arc-shaped plate; 102. First mounting foot; 103. First assembly foot; 104. Second arc-shaped plate Components; 105. Second mounting foot; 106. Second assembly foot; 107. Sleeve; 108. Spring; 109. First L-shaped plate; 1010. Second L-shaped plate; 11. Inner auxiliary wheel; 12. Limiting cavity; 13. Guide rod; 14. Annular disc; 15. Second electric telescopic rod; 16. Platform; 17. Turntable; 18. Rotary ring; 19. Motor; 20. Side frame; 21. Assembly block; 22. Third arc-shaped plate; 23. Platform assembly plate; 24. Connecting bolt; 25. Strip groove. Detailed Implementation

[0020] To better explain and facilitate understanding of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Various changes can be made to the implementation schemes as long as the function of the present invention can be brought into play.

[0022] Those skilled in the art can connect the components in this case sequentially. The specific connection and operation sequence should refer to the working principle described below. The detailed connection methods are well-known technologies in the art. The following mainly introduces the working principle and process.

[0023] like Figures 1-8 As shown, this embodiment discloses a mobile three-dimensional laser scanning device, including two parallel tracks 1 and a traveling frame that moves on the tracks 1. The traveling frame includes two main shafts 3 and traveling wheels 2 set at both ends of the main shafts 3 and rolledly connected to the outer side wall of the top of the track 1. The tracks 1 provide a fixed travel trajectory for the traveling frame, ensuring the accuracy of the device's movement path. The rolling cooperation between the traveling wheels 2 and the tracks 1 can reduce movement resistance and improve the smoothness of the device's movement. It also includes a supporting main beam 4 arranged parallel between the two main shafts 3. An auxiliary crossbeam 6 connected to the supporting main beam 4 is connected between the two main shafts 3. The supporting main beam 4 is set on the main shafts 3 through the auxiliary crossbeam 6. The auxiliary crossbeam 6 is perpendicular to the supporting main beam 4 and the main shafts 3. The supporting main beam 4 has a through hole 5 through which the auxiliary crossbeam 6 can pass. The auxiliary crossbeam 6 serves as the connecting medium between the main shafts 3 and the supporting main beam 4, realizing the rigid positioning and force transmission between the two. The through hole 5 ensures the vertical assembly accuracy of the auxiliary crossbeam 6 and the supporting main beam 4, providing a spatial foundation for the subsequent installation of the vibration damping structure.

[0024] In this embodiment, to enhance the connection effect between the auxiliary crossbeam 6 and the supporting main beam 4, assembly blocks 21 are fixedly installed at both ends of the auxiliary crossbeam 6. The main shaft 3 passes through the assembly blocks 21 and is rotatably connected to them. The assembly blocks 21 not only achieve a fixed connection between the auxiliary crossbeam 6 and the main shaft 3, but their rotational cooperation with the main shaft 3 can also adapt to the angle changes when the vehicle frame turns, avoiding structural stress concentration. An internal elastic support is provided on the top of the portion of the auxiliary crossbeam 6 located within the through hole 5. The internal elastic support includes a third arc-shaped plate 22, and a platform assembly plate 23 fixed to the supporting main beam 4 is provided on the top of the third arc-shaped plate 22. The platform assembly plate 23 increases the contact area between the third arc-shaped plate 22 and the supporting main beam 4, improving connection stability. Strip grooves 25 are opened at both ends of the third arc-shaped plate 22, and connecting bolts 24 fixed to the auxiliary crossbeam 6 are installed through the strip grooves 25. 25 provides room for the deformation of the third arc-shaped plate 22. The connecting bolt 24 not only fixes the third arc-shaped plate 22 to the auxiliary crossbeam 6, but also does not restrict its elastic deformation. During the movement, the vibration force generated by the traveling wheel 2 is transmitted to the supporting main beam 4 through the main shaft 3 and the auxiliary crossbeam 6. At this time, the third arc-shaped plate 22 is affected by the vibration force and extends and deforms. The elastic characteristics of the arc structure are used to efficiently absorb the vibration energy and reduce the transmission of the vibration force to the supporting main beam 4. This reduces the interference of vibration on the upper scanning structure from the source and reduces the transmission of the vibration force to the supporting main beam 4. When the third arc-shaped plate 22 extends and deforms, the strip grooves 25 at both ends move on the connecting bolt 24 to adapt to the extension deformation of the third arc-shaped plate 22, avoid the third arc-shaped plate 22 being damaged due to rigid constraint due to deformation, and ensure the sustainable operation of the vibration damping structure.

[0025] In this embodiment, a platform 16 is provided on the main beam 4, which can be raised and lowered. A cavity is opened downward at the center of the main beam 4, and a second electric telescopic rod 15 is provided in the cavity to drive the platform 16 to rise and fall. The platform 16 is raised and lowered by the telescopic operation of the second electric telescopic rod 15. The second electric telescopic rod 15 provides a precise linear driving force and can flexibly adjust the height of the platform 16 according to the scanning scene requirements, so that the total station 9 can adapt to the operation requirements of different scanning distances and different scanning heights. For example, when scanning low spaces or high-altitude components, the height can be adapted without moving the track.

[0026] Furthermore, to increase the stability of the platform 16 during lifting and lowering, a limiting cavity 12 is opened downward at the top of the main beam 4. Guide rods 13 that can be inserted into the limiting cavity 12 are provided at the bottom of both ends of the platform 16. An annular disk 14 that can pass through the limiting cavity 12 is provided inside the limiting cavity 12. The cooperation between the guide rod 13 and the limiting cavity 12 forms a vertical guiding structure. The annular disk 14 further restricts the radial displacement of the guide rod 13, ensuring that the platform 16 always moves in the vertical direction during lifting and lowering, avoiding tilting or offset, and ensuring the stability of the scanning core component's posture. When the platform 16 is lifted and lowered, it drives the guide rod 13 to move in the limiting cavity 12, and the annular disk 14 ensures that the guide rod 13 always lifts and lowers vertically along the axial direction.

[0027] Furthermore, to further increase the stability of the platform 16 during lifting and lowering, side auxiliary beams 7 are connected to the two ends of the main supporting beam 4 at both ends of the platform 16. The side auxiliary beams 7 support the two sides of the platform 16, so that the vibration force of the platform 16 during the movement of the frame is reduced and buffered by the side auxiliary beams 7. For example, in this embodiment, the side auxiliary beams 7 include a first plate 71 hinged to the platform 16 and a second plate 72 hinged to the main supporting beam 4. The first plate 71 has a cavity 73 inside, and the cavity 73 is open in the direction of the second plate 72, so that the second plate 72 can be inserted into the cavity 73 in the first plate 71 through the opening. The outer wall surface of the part of the second plate 72 inserted into the cavity 73 is provided with several rubber strips 74, and the outer edge of the rubber strips 74 abuts against the cavity 73. On the inner wall surface, the side auxiliary beam 7, through hinged connection and plug-in rubber buffer structure, not only achieves dynamic support during the lifting and lowering of the platform 16, preventing the platform 16 from tilting or swaying due to unilateral force, but also efficiently absorbs the vibration force of the platform 16 through the elastic deformation of the rubber strip 74 when the frame is moving, keeping the platform 16 in a stable state at all times. This ensures that the angle adjustment frame 8 and total station 9 installed on the platform 16 are not affected by vibration, guaranteeing the accuracy of scanning data acquisition. When the platform 16 is lifted or lowered, it drives the tilt angle of the first plate 71 and the second plate 72 to change, and the second plate 72 inserts into or disengages from the insertion cavity 73 of the first plate 71. When the frame is moving, the vibration force of the platform 16 acts on the rubber strip 74 through the first plate 71, and the rubber strip 74 buffers the vibration force.

[0028] Furthermore, in this embodiment, an angle adjustment frame 8 is provided on the top of the platform 16, and a total station 9 is provided on the top of the angle adjustment frame 8. Specifically, the angle adjustment frame 8 includes a lower adjustment platform 81 fixed to the platform 16, and an upper adjustment platform 83 is connected to the top of the lower adjustment platform 81 through a plurality of first electric telescopic rods 82. The plurality of first electric telescopic rods 82 are located between the upper adjustment platform 83 and the lower adjustment platform 81 and are arranged equidistantly in an inclined circumferential manner. The angle adjustment frame 8, through the circumferentially arranged inclined first electric telescopic rods 82, can realize multi-dimensional fine adjustment of the tilt angle of the upper adjustment platform 83, regardless of the track. Whether there is a slight slope in track 1, slight bumps when the frame is moving, or processing errors in the mounting surface, the upper adjustment platform 83 can be quickly adjusted to a horizontal state by individually controlling the extension and retraction of the first electric telescopic rod 82 at different positions. This ensures that the total station 9 always maintains the optimal measurement posture, effectively avoiding problems such as scanning data offset and increased measurement errors caused by the non-horizontal mounting surface, and significantly improving the spatial positioning accuracy of three-dimensional laser scanning. The tilt angle of the upper adjustment platform 83 can be adjusted by extending and retracting the first electric telescopic rod 82, so that the total station 9 on top can be in a horizontal state.

[0029] Furthermore, the upper adjustment platform 83 is hollow in the middle, and the hollow part of the upper adjustment platform 83 is rotatably connected to the turntable 17 through the rotating ring 18; a side frame 20 is fixed to the bottom of the upper adjustment platform 83, and a motor 19 is fixed on the side frame 20. The output end of the motor 19 is fixedly connected to the turntable 17, and the total station 9 is set on the turntable 17; the turntable 17 is driven by the motor 19 to achieve 360° rotation without dead angles. Combined with the horizontal adjustment function of the angle adjustment frame 8, the total station 9 can perform scanning operations at any height and any horizontal angle, covering a larger scanning range without moving the entire traveling frame, significantly improving the efficiency of scanning operations; at the same time, the motor 19 driving method can achieve precise speed control and angle positioning of the turntable 17, ensuring that the total station 9 will not have positioning deviations during rotation, meeting the requirements of high-precision 3D modeling for the accuracy of scanning points, especially suitable for scenarios such as large components and architectural spaces that require all-round, no-omission scanning; the turntable 17 is rotated by the motor 19 to adjust the orientation of the total station 9.

[0030] In this embodiment, as Figure 1 and Figure 2 as well as Figure 5 and Figure 6As shown, shock-absorbing auxiliary frames 10 are provided on both sides of the bottom of the main beam 4. The bottom of the shock-absorbing auxiliary frame 10 is rotatably connected to an inner auxiliary wheel 11, which is rolled on the inner side wall of the top of the track 1. The shock-absorbing auxiliary frame 10 forms a two-way wrapping and clamping structure for the track 1 through the horizontally arranged inner auxiliary wheel 11 and the vertically arranged traveling wheel 2. This not only effectively limits the offset of the traveling frame in the width direction of the track 1, avoiding the risk of derailment when turning or when the track 1 is uneven, but also greatly improves the safety and reliability of the equipment. Furthermore, through the coordinated deformation of the arc-shaped plate of the elastic support member and the spring, the lateral pressure and vibration energy borne by the inner auxiliary wheel 11 can be quickly buffered and offset, further blocking the transmission of vibration generated by the centrifugal force of the track 1 unevenness or turning to the main beam 4. The cooperation between the inner auxiliary wheel 11 and the traveling wheel 2 forms a wrapping around both sides of the track 1, increasing the safety of the traveling frame when it travels on the track 1.

[0031] The shock-absorbing auxiliary frame 10 in this embodiment includes an elastic support member. A first L-shaped plate 109 and a second L-shaped plate 1010 are provided at the bottom of the elastic support member. The short side of the first L-shaped plate 109 is connected to the elastic support member, and the short side of the second L-shaped plate 1010 is fixedly connected to the long side of the first L-shaped plate 109. The inner auxiliary wheel 11 is rotatably connected to the long side of the second L-shaped plate 1010. The combined structure of the first L-shaped plate 109 and the second L-shaped plate 1010 realizes a stable connection between the elastic support member and the inner auxiliary wheel 11. Moreover, the L-shaped structure has good load-bearing strength and can effectively disperse the pressure transmitted by the inner auxiliary wheel 11, avoiding damage to the local structure due to excessive force.

[0032] It should be noted that the traveling wheels 2 are set vertically, while the inner auxiliary wheels 11 are set horizontally. The traveling wheels 2 mainly bear the vertical gravity of the equipment and provide the driving force, while the inner auxiliary wheels 11 mainly bear the lateral force and limit the lateral displacement. The vertical arrangement of the two achieves all-round constraint on the track 1, ensuring the stability of the movement.

[0033] The elastic support in this embodiment includes a first arc-shaped plate 101 and a second arc-shaped plate 104 arranged in an interlocking manner. The top ends of the first arc-shaped plate 101 and the second arc-shaped plate 104 are respectively provided with a first mounting foot 102 and a second mounting foot 105 that are fixedly connected to the supporting main beam 4. The first mounting foot 102 and the second mounting foot 105 increase the connection area between the arc-shaped plate and the supporting main beam 4, improve the connection firmness, and ensure that the force of the elastic support can be stably transmitted. There is a gap between the end of the interlocking part of the first arc-shaped plate 101 and the second arc-shaped plate 104 and the supporting main beam 4, and the interlocking part is connected by a sleeve 107. The gap provides sufficient space for the deformation of the arc-shaped plate, and the sleeve 107 ensures the stability of the interlocking structure of the first arc-shaped plate 101 and the second arc-shaped plate 104 and avoids relative displacement.

[0034] Furthermore, the ends of the intersecting portions of the first arc-shaped plate 101 and the second arc-shaped plate 104 are respectively provided with a first mounting foot 103 and a second mounting foot 106. The first mounting foot 103 abuts against the inner wall surface of the second arc-shaped plate 104. The mutual abutment design of the first mounting foot 103 and the second mounting foot 106 ensures the synchronous deformation of the first arc-shaped plate 101 and the second arc-shaped plate 104, avoids excessive deformation of a single plate leading to structural damage, and extends the service life of the shock-absorbing auxiliary frame 10; the second mounting foot 103... The mounting foot 106 abuts against the outer wall surface of the first arc-shaped plate 101. A cavity is formed between the intersecting parts of the first arc-shaped plate 101 and the second arc-shaped plate 104. A spring 108 is installed in the cavity, and the two ends of the spring 108 are connected to the first mounting foot 103 and the second mounting foot 106. The spring 108 and the arc-shaped plate form a cooperative damping structure. The elastic deformation of the arc-shaped plate and the expansion and contraction deformation of the spring 108 work together to greatly improve the damping effect, especially to absorb high-frequency vibrations.

[0035] When the traveling frame moves on track 1 to a turn or deviates, the traveling frame generates centrifugal force, which causes the inner auxiliary wheel 11 at the force-bearing end to bear force. At this time, the displacement of the inner auxiliary wheel 11 transmits the pressure it bears to the elastic support. When the elastic support is deformed by the compressive force, the first arc-shaped plate 101 and the second arc-shaped plate 104 deform simultaneously to reduce the pressure. During deformation, the spring 108 is stretched or compressed to increase the pressure reduction effect. Through the deformation energy absorption of the double elastic structure, the lateral pressure and vibration energy are quickly dissipated, preventing the vibration from being transmitted to the upper scanning structure. The setting of the first mounting foot 103 and the second mounting foot 106 allows the first arc-shaped plate 101 and the second arc-shaped plate 104 to fit together as one. During deformation, it can ensure that the first arc-shaped plate 101 and the second arc-shaped plate 104 bend and deform simultaneously, ensuring the stability of the shock absorption structure and the consistency of the shock absorption effect.

[0036] In the description of this invention, each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other; as for the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method section.

[0037] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A mobile three-dimensional laser scanning device, comprising two parallel tracks (1) and a traveling frame that moves on the tracks (1), the traveling frame comprising two main shafts (3) and traveling wheels (2) disposed at both ends of the main shafts (3) and rolledly connected to the outer wall of the top of the track (1), characterized in that: It also includes a supporting main beam (4) located between the two main shafts (3), and an auxiliary crossbeam (6) connected to the supporting main beam (4) between the two main shafts (3). The supporting main beam (4) has a through hole (5) through which the auxiliary crossbeam (6) can pass. A platform (16) is provided on the supporting main beam (4) and can be raised and lowered. An angle adjustment frame (8) is provided on the top of the platform (16), and a total station (9) is provided on the top of the angle adjustment frame (8). Both sides of the bottom of the main beam (4) are provided with shock-absorbing auxiliary frames (10), and the bottom of the shock-absorbing auxiliary frame (10) is rotatably connected with an inner auxiliary wheel (11). The inner auxiliary wheel (11) is rolled on the inner side wall of the top of the track (1). The shock-absorbing auxiliary frame (10) includes an elastic support member. The bottom of the elastic support member is provided with a first L-shaped plate (109) and a second L-shaped plate (1010). The short side of the first L-shaped plate (109) is connected to the elastic support member. The short side of the second L-shaped plate (1010) is fixedly connected to the long side of the first L-shaped plate (109). The inner auxiliary wheel (11) is rotatably connected to the long side of the second L-shaped plate (1010). The elastic support includes a first arc-shaped plate (101) and a second arc-shaped plate (104) arranged in an interlocking manner. The top ends of the first arc-shaped plate (101) and the second arc-shaped plate (104) are respectively provided with a first mounting foot (102) and a second mounting foot (105) that are fixedly connected to the supporting main beam (4). The ends of the interlocking parts of the first arc-shaped plate (101) and the second arc-shaped plate (104) have a gap with the supporting main beam (4), and the interlocking parts are connected by a sleeve (107). The ends of the overlapping portions of the first arc-shaped plate (101) and the second arc-shaped plate (104) are respectively provided with a first mounting foot (103) and a second mounting foot (106). The first mounting foot (103) abuts against the inner wall surface of the second arc-shaped plate (104), and the second mounting foot (106) abuts against the outer wall surface of the first arc-shaped plate (101). A clamping cavity is formed between the overlapping portions of the first arc-shaped plate (101) and the second arc-shaped plate (104). A spring (108) is provided in the clamping cavity, and the two ends of the spring (108) are connected to the first mounting foot (103) and the second mounting foot (106).

2. The mobile three-dimensional laser scanning device according to claim 1, characterized in that: The main beam (4) has a cavity at its center, and a second electric telescopic rod (15) is provided in the cavity to drive the platform (16) to rise and fall. The top of the main beam (4) has a limiting cavity (12) opening downwards. The bottom of both ends of the platform (16) is provided with guide rods (13) that can be inserted into the limiting cavity (12). The limiting cavity (12) is provided with an annular disk (14) through which the guide rods (13) can pass.

3. The mobile three-dimensional laser scanning device according to claim 2, characterized in that: The two ends of the platform (16) are connected to the two ends of the supporting main beam (4) through the side auxiliary beam (7). The side auxiliary beam (7) includes a first plate (71) hinged to the platform (16) and a second plate (72) hinged to the supporting main beam (4). The first plate (71) has a cavity (73) inside. The cavity (73) is open in the direction of the second plate (72), so that the second plate (72) can be inserted into the cavity (73) in the first plate (71) along the opening. The outer wall of the part of the second plate (72) inserted into the cavity (73) is provided with several rubber strips (74). The rubber strips (74) abut against the inner wall of the cavity (73).

4. The mobile three-dimensional laser scanning device according to claim 1, characterized in that: The angle adjustment frame (8) includes a lower adjustment platform (81) fixed to the platform (16). The top of the lower adjustment platform (81) is connected to an upper adjustment platform (83) by a plurality of first electric telescopic rods (82). The plurality of first electric telescopic rods (82) are located between the upper adjustment platform (83) and the lower adjustment platform (81) and are arranged circumferentially at equal intervals in an inclined manner.

5. A mobile three-dimensional laser scanning device according to claim 4, characterized in that: The upper adjustment platform (83) is hollow in the middle, and the hollow part of the upper adjustment platform (83) is rotatably connected to the turntable (17) through the rotating ring (18); the bottom of the upper adjustment platform (83) is fixed with a side frame (20), and a motor (19) is fixed on the side frame (20). The output end of the motor (19) is fixedly connected to the turntable (17), and the total station (9) is set on the turntable (17).

6. A mobile three-dimensional laser scanning device according to claim 1, characterized in that: The auxiliary crossbeam (6) has assembly blocks (21) fixedly installed at both ends. The main shaft (3) passes through the assembly blocks (21) and is rotatably connected to the assembly blocks (21). The part of the auxiliary crossbeam (6) located in the through hole (5) is provided with an internal elastic support member. The internal elastic support member includes a third arc-shaped plate (22). The top of the third arc-shaped plate (22) is provided with a platform assembly plate (23) that is fixed to the main beam (4). The third arc-shaped plate (22) has strip grooves (25) at both ends. The strip grooves (25) are provided with connecting bolts (24) that are fixed to the auxiliary crossbeam (6).

Images