Three-dimensional inertial gyroscope surveying and mapping positioning device

Abstract

The utility model belongs to the technical field of surveying and mapping instruments, and discloses a three-dimensional inertial gyroscope surveying and mapping positioning device which comprises a main body, a fixed seat, a mounting rod, a fixed ring, a pull ring, a sliding ring, a first mounting seat, a second mounting seat, a first connecting rod and a second connecting rod. A rotating handle is arranged at the upper end of the rotating shaft; a gear is vertically and slidably arranged on the rotating shaft; a plurality of raised lines are arranged on the rotating shaft; a groove is formed in the gear; the two racks are both meshed with the gear, one end of each rack is provided with a connecting piece, and the connecting pieces are connected with the corresponding sliding rings. The first compression spring pushes the sliding ring to make the roller contact with the inner wall of the pipeline, the position of the roller does not need to be adjusted according to the diameter of the pipeline, and more convenience is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of surveying and mapping instruments, in particular to a three-dimensional inertial gyroscope surveying and mapping positioning device. Background Art

[0002] Inertial gyro positioning technology is a new pipeline measurement technology that has emerged in recent years. It combines gyroscopic orientation, inertial navigation, and computer 3D calculation techniques. By dragging an inertial gyro positioner through the pipeline under test, it automatically tracks and records its motion within the pipeline, generating a 3D coordinate and position map of the pipeline's central axis. Measurements are minimally affected by pipeline material, depth, surrounding environment, and geology. As long as the inertial gyro positioner can pass through the power pipeline under test, highly accurate pipeline measurements can be achieved.

[0003] A Chinese utility model patent with publication number CN219284284U discloses a three-dimensional inertial gyroscope digital mapping and positioning device, including a positioning structure and a traveling assembly. The positioning structure includes a protective box, a gyroscope positioner and a gear assembly. The gyroscope positioner is installed in the protective box. The gear assembly is located on one side of the gyroscope positioner and is fixedly installed in the protective box; the traveling assembly includes two screw assemblies, two fixed brackets, two first hinge seats, two second hinge seats, multiple rotating rods, multiple connecting rods, multiple hinge blocks, multiple driving wheels and multiple driven wheels, which can facilitate automatic adjustment of the extended diameters of the multiple driving wheels and multiple driven wheels according to the size of the pipeline diameter, so as to facilitate stopping on the inner wall of the pipeline.

[0004] Regarding the above-mentioned related technologies, the inventors believe that the following defects exist: the above-mentioned device needs to adjust the positions of the driving wheel and the driven wheel according to the inner diameter of the pipeline, which is relatively inconvenient, and the positions of the driving wheel and the driven wheel are fixed after adjustment. When there is a protrusion at the connection point of the pipeline, causing the inner diameter of the pipeline to become smaller, the above-mentioned device will not be able to continue to move forward in the pipeline. Utility Model Content

[0005] In order to solve the above problems, the utility model provides a three-dimensional inertial gyroscope surveying and positioning device.

[0006] The above technical purpose of the present invention is achieved through the following technical solutions: a three-dimensional inertial gyroscope mapping and positioning device, including a main body, fixed seats are provided at both ends of the main body, a mounting rod is provided on the fixed seat along the length direction of the main body, a fixing ring and a pull ring are provided on the end of the mounting rod away from the main body, a plurality of first mounting seats are provided on the fixed ring at circumferential intervals, a sliding ring is provided on the mounting rod for sliding, a plurality of second mounting seats are provided on the sliding ring at circumferential intervals, the number of the first mounting seats is the same as that of the second mounting seats, a first connecting rod is hingedly provided on the first mounting seat, a second connecting rod is hingedly provided on the second mounting seat, a roller is provided on the second connecting rod end for rotating together with the first connecting rod end, and the mounting The mounting rod is located between the sliding ring and the fixed seat and is sleeved with a first compression spring, one end of the first compression spring is connected to the fixed seat and the other end is connected to the sliding ring, a mounting bracket is provided in the middle of the main body, a rotating shaft is provided on the mounting bracket for vertical rotation, a rotating handle is provided on the upper end of the rotating shaft, a gear is provided on the rotating shaft for vertical sliding, a plurality of convex strips arranged along the length direction of the rotating shaft are circumferentially arranged on the rotating shaft, a groove for matching with the convex strips is provided on the gear, an adjusting component for adjusting the position of the gear is provided on the main body, racks are provided on both sides of the main body for sliding along the length direction of the main body, both racks are meshed with the gear, a connecting piece is provided at one end of the rack, and the connecting piece is connected to the corresponding sliding ring.

[0007] By adopting the above technical solution, a main body, a fixing seat, a mounting rod, a fixing ring, a sliding ring, a gear, a rack, and an adjustment component are provided. When pipeline mapping and positioning is required, the rotating handle is first turned to drive the rotating shaft and the convex strip to rotate, thereby driving the gear to rotate, and then driving the rack to slide, so that the sliding rings on both sides slide toward the main body, thereby making the roller approach the mounting rod, and then one end of the main body is placed in the pipeline, and then the rotating handle is released; during the sliding process of the sliding ring, the first compression spring is compressed. When the handle is released, the first compression spring loses its restriction and releases the elastic force, so that the roller in the pipeline contacts the inner wall of the pipeline. Since both racks are engaged with the gear, the distance between the roller outside the pipe and the mounting rod is consistent with the distance between the roller inside the pipe and the mounting rod. There is no need to adjust the position of the roller according to the pipe diameter, which is more convenient. The main body is then pushed into the pipe until all rollers are in contact with the inner wall of the pipe. The gear is then pushed up by the adjustment component to separate from the two racks. Since there may be protrusions at the connection point in the pipe, when the roller touches the protrusion, it will move closer to the mounting rod, and the gear will separate from the two racks, thereby preventing the movement of the roller on one side of the main body from driving the movement of the roller on the other side of the main body, thereby affecting the accuracy of the measurement.

[0008] Furthermore, the mounting frame includes a base plate arranged on the main body, vertical plates are arranged at both ends of the bottom plate, and a top plate is jointly provided on the top of the two vertical plates, the lower end of the rotating shaft is rotatably connected to the bottom plate, and the upper end is rotatably connected to the top plate and passes through the top plate, and the adjusting assembly includes a second compression spring arranged on a rod body between the rotating shaft and the top plate, the lower end of the second compression spring abuts the gear, and the upper end abuts the ground of the top plate, and an abutment ring is concentrically provided on the lower side of the gear, and a sliding frame is provided on the main body for sliding along the length direction of the main body, and wedge blocks are provided on both sides of the sliding frame in the width direction of the main body, and the oblique surface of the wedge block is arranged close to the abutment ring, and the oblique surface of the wedge block is inclined from bottom to top from the side adjacent to the abutment ring to the side away from the abutment ring, and a sliding plate is provided on one side of the sliding frame, and a fixing unit and a traction handle are provided on the sliding plate.

[0009] By adopting the above technical solution, a bottom plate, a vertical plate, a top plate, a second compression spring, an abutment ring, a sliding frame, a wedge block, a sliding plate, a fixing unit, and a traction handle are provided. When the gear needs to be separated from the rack, the traction handle is pulled to drive the sliding plate and the sliding frame to slide, thereby driving the wedge block to move toward the abutment ring, lifting the abutment ring, so that the gear is separated from the rack. The sliding plate can be fixed by the fixing assembly before or after adjustment, thereby ensuring the stability of the gear position.

[0010] Furthermore, the fixing unit includes two fixing holes spaced apart on the sliding plate, the main body is provided with screw holes, and a bolt passes through one of the fixing holes and is screwed into the screw hole to fix the sliding plate.

[0011] By adopting the above technical solution, fixing holes and screw holes are set, and bolts are passed through different fixing holes and screwed into the screw holes to fix the position of the sliding plate when the gear and rack are separated or when the gear and rack are engaged.

[0012] Furthermore, one-way bearings are provided on both the top plate and the bottom plate, and the outer rings of the two one-way bearings are connected to the top plate and the bottom plate respectively, and the inner rings are connected to the upper and lower ends of the rotating shaft respectively.

[0013] By adopting the above technical solution, one-way bearings are provided on both the top plate and the bottom plate, so that the gear can only drive the sliding ring to move toward the main body, which is convenient for staff to operate.

[0014] Furthermore, the upper rotation is provided with a first connecting seat and a second connecting seat, the first connecting rod is connected to the first connecting seat, and the second connecting rod is connected to the second connecting seat.

[0015] By adopting the above technical solution, the roller is connected to the first connecting rod and the second connecting rod through the first connecting seat and the second connecting seat, thereby ensuring the stability of the roller rotation.

[0016] Furthermore, two mounting blocks are spaced apart on the main body, and their length direction is consistent with that of the main body. A first sliding groove is opened on the mounting block along its length direction, and the notches of the two first sliding grooves are opposite to each other, and the rack is slidably connected to the first sliding groove.

[0017] By adopting the above technical solution, the mounting block and the first sliding groove are provided to ensure the sliding stability of the rack.

[0018] Furthermore, a second sliding groove is provided on the mounting block along its length direction, the notches of the two second sliding grooves are opposite to each other, and a connecting plate connected to the sliding frame is slidably provided in the second sliding groove.

[0019] By adopting the above technical solution, the second sliding groove and the connecting plate are provided to ensure the sliding stability of the sliding frame.

[0020] In summary, the utility model has the following beneficial effects: a main body, a fixing seat, a mounting rod, a fixing ring, a sliding ring, a gear, a rack, and an adjustment component are provided. When pipeline surveying and positioning is required, the rotating handle is first rotated to drive the rotating shaft and the convex strip to rotate, thereby driving the gear to rotate, and then driving the rack to slide, so that the sliding rings on both sides slide toward the main body, thereby making the roller approach the mounting rod, and then one end of the main body is placed in the pipeline, and then the rotating handle is released; the first compression spring is compressed during the sliding process of the sliding ring, and when the handle is released, the first compression spring loses its restriction and releases the elastic force, so that the roller in the pipeline and the inner part of the pipeline are aligned. Wall contact, since the two racks are engaged with the gear, the distance between the roller outside the pipe and the mounting rod is consistent with the distance between the roller inside the pipe and the mounting rod, there is no need to adjust the position of the roller according to the pipe diameter, which is more convenient; then push the main body into the pipe until all the rollers are in contact with the inner wall of the pipe, and then push the gear up through the adjustment component to separate from the two racks. Since there may be protrusions at the connection point in the pipe, when the roller touches the protrusion, it will move closer to the mounting rod, and the gear will separate from the two racks, avoiding the movement of the roller on one side of the main body driving the movement of the roller on the other side of the main body, thereby affecting the accuracy of the measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the utility model;

[0022] Figure 2 yes Figure 1 A magnified view of part A;

[0023] Figure 3 yes Figure 1 A magnified view of part B;

[0024] Figure 4 yes Figure 1 Magnified view of part C;

[0025] Figure 5 It is a structural diagram of the main body, sliding frame and mounting frame of an embodiment of the utility model.

[0026] In the figure: 10, main body; 11, fixing seat; 12, mounting rod; 13, pull ring; 14, first compression spring; 20, fixing ring; 21, first mounting seat; 22, first connecting rod; 30, sliding ring; 31, second mounting seat; 32, second connecting rod; 40, roller; 41, first connecting seat; 42, second connecting seat; 50, mounting frame; 501, bottom plate; 502, vertical plate; 503, top plate; 51, rotating shaft ; 52. Rotating handle; 53. Gear; 54. Raised strip; 55. Second compression spring; 56. Abutment ring; 57. One-way bearing; 60. Adjustment assembly; 61. Sliding frame; 62. Wedge block; 63. Pull handle; 64. Sliding plate; 70. Rack; 71. Connector; 80. Fixing unit; 81. Fixing hole; 82. Screw hole; 90. Mounting block; 91. First slide groove; 92. Second slide groove; 93. Connecting plate. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application; it is obvious that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0028] like Figure 1-5As shown, the embodiment of the present application discloses a three-dimensional inertial gyroscope mapping and positioning device, including a main body 10, a fixed seat 11, a fixed ring 20, a sliding ring 30, and an adjustment assembly 60. There are two fixed seats 11, each arranged at both ends of the main body 10. A mounting rod 12 is provided on the fixed seat 11 along the length direction of the main body 10. A fixed ring 20 and a pull ring 13 are provided at one end of the mounting rod 12 away from the main body 10. The pull ring 13 is used to connect with the connecting rope. A plurality of first mounting seats 21 are provided at circumferential intervals on the fixed ring 20, a sliding ring 30 is provided on the mounting rod 12 for sliding, and a plurality of second mounting seats 31 are provided at circumferential intervals on the sliding ring 30. The number of the first mounting seats 21 and the second mounting seats 31 is the same, so that the first mounting seats 21 and the second mounting seats 31 correspond one to one. A first connecting rod 22 is hingedly provided on the first mounting seat 21, and a second connecting rod 32 is hingedly provided on the second mounting seat 31. A roller 40 is provided for rotating together with the end of the second connecting rod 32 and the first connecting rod 22. A first compression spring 14 is sleeved on the rod body of the mounting rod 12 located between the sliding ring 30 and the fixed seat 11. One end of the first compression spring 14 is connected to the fixed seat 11 and the other end is connected to the sliding ring 30. The first compression spring 14 pushes the sliding ring 30 to make the roller 40 contact with the inner wall of the pipe to ensure the stability of the position of the main body 10.

[0029] Specifically, a mounting frame 50 is provided in the middle of the main body 10. The mounting frame 50 includes a bottom plate 501 mounted on the main body 10, with vertical plates 502 disposed at both ends of the bottom plate 501, and a top plate 503 disposed on top of the two vertical plates 502. A rotating shaft 51 is provided on the mounting frame 50 for vertical rotation. The lower end of the rotating shaft 51 is rotatably connected to the bottom plate 501, and the upper end of the rotating shaft 51 is rotatably connected to the top plate 503. The rotating shaft 51 passes through the top plate 503 and is provided with a rotating handle 52. A gear 53 is provided on the rotating shaft 51 for vertical sliding. The shaft 51 is located between the top plate 503 and the bottom plate 501 and is provided with a plurality of ridges 54 arranged along the length of the rotating shaft 51 at circumferential intervals. The gear 53 is provided with grooves that cooperate with the ridges 54, allowing the gear 53 to rotate synchronously with the rotating shaft 51 while also being able to slide up and down on the rotating shaft 51. Racks 70 are provided on both sides of the main body 10 for sliding along the length direction of the main body 10. Both racks 70 are engaged with the gear 53. A connector 71 is provided at one end of the rack 70. The connector 71 is connected to the corresponding sliding ring 30. When pipeline surveying and positioning is required, the rotating handle 52 is first rotated to drive the rotating shaft 51 and the convex strip 54 to rotate, thereby driving the gear 53 to rotate, and then driving the rack 70 to slide, so that the sliding rings 30 on both sides slide toward the main body 10, thereby making the roller 40 close to the mounting rod 12, and then the main body 10 is moved. One end of the sliding ring 30 is placed into the pipe, and then the rotating handle 52 is released. During the sliding process of the sliding ring 30, the first compression spring 14 is compressed. When the handle is released, the first compression spring 14 loses its restriction and releases the elastic force, so that the roller 40 in the pipe contacts the inner wall of the pipe. Since the two racks 70 are engaged with the gear 53, the distance between the roller 40 outside the pipe and the mounting rod 12 is consistent with the distance between the roller 40 inside the pipe and the mounting rod 12. There is no need to adjust the position of the roller 40 according to the pipe diameter, which is more convenient.

[0030] An adjustment assembly 60 is provided on the main body 10 for adjusting the position of the gear 53. The main body 10 is pushed into the pipe until all rollers 40 contact the inner wall of the pipe. The adjustment assembly 60 then pushes the gear 53 upward and separates it from the two racks 70. Because there may be protrusions at the connection point within the pipe, when the rollers 40 contact the protrusions, they will move closer to the mounting rod 12, separating the gear 53 from the two racks 70. This prevents the movement of the rollers 40 on one side of the main body 10 from causing the movement of the rollers 40 on the other side of the main body 10, thereby affecting the accuracy of the measurement. The adjustment assembly 60 includes a second compression spring 55 disposed on the shaft of the rotating shaft 51 between the gear 53 and the top plate 503. The lower end of the second compression spring 55 abuts the gear 53, and the upper end abuts the bottom surface of the top plate 503. An abutment ring 56 is concentrically mounted on the underside of the gear 53. A sliding frame 61 is mounted on the main body 10, sliding along its length. Wedge blocks 62 are mounted on either side of the sliding frame 61, located along the width of the main body 10. The inclined surfaces of the wedge blocks 62 are positioned adjacent to the abutment ring 56. When the sliding frame 61 slides, it drives the wedge blocks 62 to move, thereby lifting the abutment ring 56 and, in turn, the gear 53. The inclined surfaces of the wedge blocks 62 slope from the side adjacent to the abutment ring 56 to the side away from the abutment ring 56. A sliding plate 64 is mounted on one side of the sliding frame 61, and a traction handle 63 is mounted on the sliding plate 64. When it is necessary to separate the gear 53 from the rack 70, the traction handle 63 is pulled to slide the sliding plate 64 and the sliding frame 61, thereby driving the wedge block 62 toward the abutment ring 56, which lifts the abutment ring 56 and separates the gear 53 from the rack 70. After completing the surveying task, the traction handle 63 is pushed to reset the sliding plate 64, the sliding frame 61, and the wedge block 62. During the upward movement of the gear 53, the second compression spring 55 is compressed. When the wedge block 62 is reset, the second compression spring 55 is no longer restricted, pushing the gear 53 and the abutment ring 56 back to their original position. Before resetting, it is necessary to ensure that the distance between the sliding ring 30 and the corresponding fixed seat 11 is consistent, thereby ensuring that the distance between the roller 40 and the mounting rod 12 is consistent. During resetting, if the gear 53 cannot engage with the rack 70, simply slowly turn the rotating handle 52 to offset the teeth of the gear 53 from the rack 70, and the gear 53 will descend and engage with the rack 70.

[0031] During setting, a fixing unit 80 is provided on the sliding plate 64. The sliding plate 64 can be fixed by the fixing assembly before or after adjustment, thereby ensuring the stability of the position of the gear 53. The fixing unit 80 includes two fixing holes 81 spaced apart on the sliding plate 64, and a screw hole 82 is provided on the main body 10. When the sliding frame 61 is in the initial position, one of the fixing holes 81 is concentric with the screw hole 82. When the wedge block 62 completely lifts the abutment ring 56, the other fixing hole 81 is concentric with the screw hole 82. Bolts pass through different fixing holes 81 and are screwed into the screw holes 82 to fix the position of the sliding plate 64 when the gear 53 is separated from the rack 70 or when the gear 53 is engaged with the rack 70.

[0032] One-way bearings 57 are installed on both the top plate 503 and the bottom plate 501. The outer rings of the two one-way bearings 57 are connected to the top plate 503 and the bottom plate 501, respectively, and the inner rings are connected to the upper and lower ends of the rotating shaft 51, respectively. This allows the gear 53 to only drive the sliding ring 30 to move toward the main body 10. After the staff member turns the rotating handle 52, there is no need to maintain the position of the rotating handle 52, which facilitates the staff member's operation. A first connecting seat 41 and a second connecting seat 42 are rotatably installed on the axle of the roller 40. The first connecting rod 22 is connected to the first connecting seat 41, and the second connecting rod 32 is connected to the second connecting seat 42. The roller 40 is connected to the first connecting rod 22 and the second connecting rod 32 through the first connecting seat 41 and the second connecting seat 42, ensuring the stability of the roller 40's rotation.

[0033] In specific configuration, two mounting blocks 90 are spaced apart on the main body 10, their length aligned with the main body 10. A first chute 91 is defined along the mounting block 90's length, with the notches of the two first chute 91 facing each other. The rack 70 is slidably connected to the first chute 91, ensuring the stability of the sliding of the rack 70. A second chute 92 is defined on the mounting block 90, located below the first chute 91 and along its length, with the notches of the two second chute 92 facing each other. A connecting plate 93 connected to the sliding frame 61 is slidably disposed within the second chute 92, ensuring the stability of the sliding of the sliding frame 61.

[0034] The operating principle of a three-dimensional inertial gyroscope surveying and positioning device in this embodiment is as follows: when pipeline surveying and positioning is required, the rotating handle 52 is first rotated to drive the rotating shaft 51 and the protruding strip 54 to rotate, thereby driving the gear 53 to rotate, and then driving the rack 70 to slide, so that the sliding rings 30 on both sides slide toward the main body 10, thereby making the roller 40 approach the mounting rod 12, and then one end of the main body 10 is placed in the pipeline, and then the rotating handle 52 is released. During the sliding process of the sliding ring 30, the first compression spring 14 is compressed. When the handle is released, the first compression spring 14 loses its restriction and releases the elastic force, causing the rollers 40 in the pipe to contact the inner wall of the pipe. Then, the main body 10 is pushed into the pipe until all the rollers 40 are in contact with the inner wall of the pipe. Then, the traction handle 63 is pulled to drive the sliding plate 64 and the sliding frame 61 to slide, thereby driving the wedge block 62 to move toward the abutment ring 56, lifting the abutment ring 56, so that the gear 53 is separated from the rack 70, and finally, the bolt is passed through the fixing hole 81 and screwed into the screw hole 82 to fix the sliding plate 64, thereby fixing the position of the gear 53.

[0035] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, certain improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A three-dimensional inertial gyroscope mapping and positioning device, comprising a main body (10), characterized in that: Both ends of the main body (10) are provided with a fixing seat (11), a mounting rod (12) is provided on the fixing seat (11) along the length direction of the main body (10), a fixing ring (20) and a pull ring (13) are provided on the end of the mounting rod (12) away from the main body (10), a plurality of first mounting seats (21) are provided on the fixing ring (20) at intervals in the circumference, a sliding ring (30) is provided on the mounting rod (12) for sliding, and a plurality of second mounting seats are provided on the sliding ring (30) at intervals in the circumference. (31), the number of the first mounting seat (21) and the second mounting seat (31) is the same, the first mounting seat (21) is hingedly provided with a first connecting rod (22), the second mounting seat (31) is hingedly provided with a second connecting rod (32), the second connecting rod (32) and the end of the first connecting rod (22) are rotated together with a roller (40), the mounting rod (12) is located between the sliding ring (30) and the fixed seat (11) and is sleeved with a first compression spring (1 4), one end of the first compression spring (14) is connected to the fixed seat (11), and the other end is connected to the sliding ring (30), a mounting frame (50) is provided in the middle of the main body (10), a rotating shaft (51) is provided on the mounting frame (50) for vertical rotation, a rotating handle (52) is provided on the upper end of the rotating shaft (51), a gear (53) is provided on the rotating shaft (51) for vertical sliding, and a plurality of gears (53) are provided on the rotating shaft (51) at intervals along the length direction of the rotating shaft (51) The main body (10) is provided with an adjusting assembly (60) for adjusting the position of the gear (53), and racks (70) are provided on both sides of the main body (10) for sliding along the length direction of the main body (10). Both of the racks (70) are meshed with the gear (53), and one end of the rack (70) is provided with a connecting piece (71), and the connecting piece (71) is connected to the corresponding sliding ring (30).

2. The three-dimensional inertial gyroscope mapping and positioning device according to claim 1, characterized in that: The mounting frame (50) includes a bottom plate (501) provided on the main body (10), vertical plates (502) are provided at both ends of the bottom plate (501), and a top plate (503) is provided on the top of the two vertical plates (502). The lower end of the rotating shaft (51) is rotatably connected to the bottom plate (501), and the upper end is rotatably connected to the top plate (503) and passes through the top plate (503). The adjusting component (60) includes a second compression spring (55) provided on a rod of the rotating shaft (51) between the gear (53) and the top plate (503), the lower end of the second compression spring (55) is in contact with the gear (53), and the upper end is in contact with the top plate (503). The gear (53) is provided with an abutment ring (56) concentrically on the lower side thereof. A sliding frame (61) is provided on the main body (10) so as to slide along the length direction of the main body (10). Wedge blocks (62) are provided on both sides of the sliding frame (61) in the width direction of the main body (10). The inclined surfaces of the wedge blocks (62) are arranged close to the abutment ring (56). The inclined surfaces of the wedge blocks (62) are inclined from bottom to top from the side close to the abutment ring (56) to the side away from the abutment ring (56). A sliding plate (64) is provided on one side of the sliding frame (61). A fixing unit (80) and a traction handle (63) are provided on the sliding plate (64).

3. The three-dimensional inertial gyroscope mapping and positioning device according to claim 2, characterized in that: The fixing unit (80) includes two fixing holes (81) spaced apart on the sliding plate (64), and a screw hole (82) is provided on the main body (10). A bolt passes through one of the fixing holes (81) and is screwed into the screw hole (82) to fix the sliding plate (64).

4. The three-dimensional inertial gyroscope mapping and positioning device according to claim 2, characterized in that: One-way bearings (57) are provided on both the top plate (503) and the bottom plate (501). The outer rings of the two one-way bearings (57) are connected to the top plate (503) and the bottom plate (501) respectively, and the inner rings are connected to the upper and lower ends of the rotating shaft (51) respectively.

5. The three-dimensional inertial gyroscope mapping and positioning device according to claim 1, characterized in that: A first connecting seat (41) and a second connecting seat (42) are rotatably provided on the axle of the roller (40); the first connecting rod (22) is connected to the first connecting seat (41); and the second connecting rod (32) is connected to the second connecting seat (42).

6. The three-dimensional inertial gyroscope mapping and positioning device according to claim 1, characterized in that: Two mounting blocks (90) are arranged on the main body (10) at intervals, and their length directions are consistent with the length direction of the main body (10). A first sliding groove (91) is opened on the mounting block (90) along its length direction. The notches of the two first sliding grooves (91) are opposite to each other, and the rack (70) is slidably connected to the first sliding groove (91).

7. The three-dimensional inertial gyroscope mapping and positioning device according to claim 6, characterized in that: The mounting block (90) is provided with a second sliding groove (92) along its length direction, the notches of the two second sliding grooves (92) are opposite to each other, and a connecting plate (93) connected to the sliding frame (61) is slidably provided in the second sliding groove (92).

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