Structural object displacement laser measurement robot

Abstract

The utility model relates to a structure displacement laser measurement robot, which comprises a laser transceiver and a robot mechanism used for carrying the laser transceiver, the robot mechanism is used for being in positioning connection with a positioning substrate arranged at a reference point, and the robot mechanism comprises a shell, a driving part arranged in the shell and a positioning plate, and a damping sliding structure is arranged between the driving part and the positioning plate. According to the utility model, the movable robot mechanism is arranged to carry the laser transmitting and receiving device to go to each reference point, the reference point is provided with the positioning substrate, and the positioning substrate does not need to be maintained, so that the device cost and the maintenance cost are saved; and when the robot mechanism gets close to the positioning base plate, pre-positioning is carried out, so that the butt joint block can enter the positioning hole for butt joint.

Description

TECHNICAL FIELD

[0001] The utility model belongs to building structure monitoring technical field, concretely relates to a structure displacement laser measuring robot. BACKGROUND

[0002] The structure displacement measuring system is a kind of non-contact monitoring technology, for example, laser measuring system, it utilizes laser beam to irradiate the surface of the building to be measured and receives reflected light, and the displacement change of building is accurately measured by calculating optical path difference or angle change, generally, multiple laser targets are arranged on the surface of building as reflecting surface, and the area with stable geological structure is selected around building to establish reference point, and laser transceiver device is set up at the reference point.

[0003] In prior art, since the address structure around building is not completely stable, the settlement of reference point itself can cause reflected laser deviation, therefore, multiple reference points can be set to compare reflected data horizontally, and for laser transceiver device, independent servo system is needed to drive steering to aim at different laser targets, so the outdoor construction cost and maintenance cost of multiple laser transceiver device reference points are higher. UTILITY MODEL CONTENTS

[0004] The utility model discloses a structure displacement laser measuring robot to solve the above-mentioned problems.

[0005] The utility model discloses a structure displacement laser measuring robot to solve the above-mentioned problems.

[0006] A structure displacement laser measuring robot, comprising a laser transceiver device and a robot mechanism for carrying the laser transceiver device, the robot mechanism is used to be positioned and connected with the positioning base plate arranged at the reference point, and the robot mechanism comprises a shell, a driving part arranged in the shell and a positioning plate, a damping sliding structure is arranged between the driving part and the positioning plate, wherein the positioning base plate is further provided with a support plate, and a pre-pressing mechanism is further arranged in the shell, the pre-pressing mechanism comprises a rotating sleeve arranged in the shell, a lever and a pressing rod arranged on the rotating sleeve, the lever is supported by the support plate to drive the pressing rod to pre-press the positioning plate on the positioning base plate.

[0007] As a further optimization scheme of the utility model, the surface of the shell is provided with a mounting table, the mounting table is provided with two-axis rotating device, and the laser transceiver device is arranged on the two-axis rotating device, and the two-axis rotating device can meet the adjustment of laser transceiver device to large angle range.

[0008] As a further optimization scheme of the utility model, the bottom of the shell is further provided with a moving device, which has a driving device for advancing along a track, the track does not need to cover the whole path and can be built together with the positioning base plate at the reference point, and the robot mechanism enters the track and approaches the positioning base plate under remote control of the moving device.

[0009] As a further optimization scheme of the utility model, the damping sliding structure comprises a damping sliding block arranged at the output end of the driving part and a damping sliding sleeve arranged on the positioning plate, the damping sliding block is in damping sliding connection with the damping sliding sleeve, and a guide part is further arranged between the positioning plate and the shell.

[0010] As a further optimization scheme of the utility model, the output end surface of the driving part is sleeved with a compression ring, a spring is arranged between the compression ring and the damping sliding sleeve, and a pressing strip for pressing the compression ring is arranged on the compression rod, in the scheme, the compression ring and the spring are arranged for pre-pressing the positioning plate, the pre-pressing function is to press the positioning plate on the positioning base plate first, and the abutting block is automatically pressed to pre-abut when the robot mechanism moves along the track and the abutting block is aligned with the positioning hole.

[0011] As a further optimization scheme of the utility model, a torsion spring is arranged on the rotating sleeve for resetting the pre-pressing mechanism in the direction away from the compression ring, after the laser transceiver completes a measurement, the pre-pressing mechanism is reset, and the pre-pressing function is conveniently exercised again when going to the next reference point.

[0012] As a further optimization scheme of the utility model, the bottom of the positioning plate is provided with an abutting block, and the positioning base plate is provided with a positioning hole corresponding to the abutting block for accurate positioning and fixing.

[0013] The utility model has the advantages that:

[0014] The utility model sets the movable robot mechanism to carry the laser transceiver to each reference point, the positioning base plate is arranged at the reference point, the positioning base plate does not need to be maintained, device cost and maintenance cost are saved, the pre-pressing mechanism is arranged in the robot mechanism, the abutting block is first arranged in the positioning hole for abutting when the robot mechanism approaches the positioning base plate. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the overall structure schematic view of the utility model.

[0016] Figure 2 It is the overall structure schematic view of the utility model. Figure 1 A-A direction schematic view in the utility model.

[0017] Figure 3 is the structure of the utility model Figure 2 B-B direction schematic view.

[0018] Figure 4 is the structure of the utility model Figure 1 C-C direction schematic view.

[0019] Figure 5 is the structure of the utility model Figure 3 D part structure enlarged view.

[0020] Figure 6 is the structure of the utility model Figure 4 Pre-pressing process schematic view.

[0021] In the figure: 1, laser transceiver device;2, robot mechanism;21, shell;22, side groove;23, moving device;24, drive part;25, damping slide block;26, damping slide sleeve;27, compression ring;28, spring;29, positioning plate;210, butt block;211, guide part;3, positioning base plate;31, positioning hole;4, support plate;5, pre-pressing mechanism;51, rotating sleeve;52, lever;53, torsional spring;54, compression rod;55, compression strip;6, laser target. Specific implementation

[0022] The following further detailed description of the present application is combined with the drawings, it is necessary to point out that the following specific embodiments are only used to further illustrate the present application, and can not be understood as limiting the scope of the present application, the skilled in the art can make some non-essential improvements and adjustments to the present application according to the above application content.

[0023] Example 1

[0024] As shown in Figures 1-6 A structure displacement laser measurement robot, comprising laser transceiver device 1 and robot mechanism 2 for carrying laser transceiver device 1, robot mechanism 2 is used for positioning connection with the positioning base plate 3 arranged at the reference point, robot mechanism 2 includes shell 21, drive part 24 arranged in shell 21 and positioning plate 29, damping sliding structure is arranged between drive part 24 and positioning plate 29, wherein, the positioning base plate 3 is further provided with support plate 4, the shell 21 is further provided with pre-pressing mechanism 5, the pre-pressing mechanism 5 includes rotating sleeve 51 arranged in shell 21, lever 52 and compression rod 54 arranged on rotating sleeve 51, lever 52 is supported by support plate 4 to drive compression rod 54 to pre-press positioning plate 29 on positioning base plate 3.

[0025] The scheme sets the mobile robot mechanism 2 to carry the laser transceiver device 1 to each reference point, sets the positioning base plate 3, and the positioning base plate 3 does not need to be maintained, thereby saving the device cost and the maintenance cost, and the pre-pressing mechanism 5 is arranged in the robot mechanism 2, the pre-positioning is performed when the robot mechanism 2 approaches the positioning base plate 3, and the butt joint block 210 is conveniently first inserted into the positioning hole 31 to perform butt joint.

[0026] The surface of the shell 21 is provided with a mounting table, the mounting table is provided with a two-axis rotating device, the laser transceiver device 1 is arranged on the two-axis rotating device, and the two-axis rotating device can satisfy the adjustment of the laser transceiver device 1 to a large angle range.

[0027] The bottom of the shell 21 is further provided with a moving device 23, which has a driving device for advancing along a track, the track does not need to cover the whole path, and can be built together with the positioning base plate 3 at the reference point, the robot mechanism 2 enters the track and approaches the positioning base plate 3 under the remote control of the moving device 23, the side groove 22 is arranged on the shell 21, and the shell 21 is moved to the side groove 22 to facilitate the positioning of the positioning base plate 3 when the shell 21 is butt jointed with the positioning base plate 3.

[0028] The damping sliding structure includes a damping sliding block 25 arranged at the output end of the driving part 24 and a damping sliding sleeve 26 arranged on the positioning plate 29, the damping sliding block 25 is in damping sliding connection with the damping sliding sleeve 26, and a guide part 211 is further arranged between the positioning plate 29 and the shell 21.

[0029] The output end surface of the driving part 24 is sleeved with a pressing ring 27, a spring 28 is arranged between the pressing ring 27 and the damping sliding sleeve 26, and a pressing strip 55 for pressing the pressing ring 27 is arranged on the pressing rod 54.

[0030] A torsion spring 53 is provided on the rotating sleeve 51 to reset the pre-compression mechanism 5 in the direction away from the pressure ring 27. After the laser transceiver 1 completes a measurement, resetting the pre-compression mechanism 5 makes it convenient to exercise the pre-compression function again when moving to the next reference point.

[0031] The bottom of the positioning plate 29 is provided with a docking block 210, and the positioning base plate 3 is provided with a positioning hole 31 corresponding to the docking block 210.

[0032] The specific implementation method is as follows: Since the robot mechanism 2 can be moved to the vicinity of the positioning base plate 3 via remote control, in order to further precisely dock with the positioning base plate 3, a small number of tracks are set to allow the robot mechanism 2 to enter, and then the side groove 22 covers the positioning base plate 3, such as... Figure 4 As shown, robot mechanism 2 moves to the left. When lever 52 contacts support plate 4, rotating sleeve 51 rotates counterclockwise, driving pressure lever 54 and pressure strip 55 to press down pressure ring 27. Pressure ring 27 acts on damping sleeve 26 through spring 28, causing docking block 210 on the surface of positioning plate 29 to descend and contact positioning base plate 3. As robot mechanism 2 continues to move forward, docking block 210 aligns with positioning hole 31 and is pressed down by spring 28 to directly enter, as shown. Figure 6 As shown, the pre-docking is now complete.

[0033] Subsequently, driven by the drive unit 24, the damping slider 25 moves down along the damping sleeve 26 and finally presses against the positioning plate 29 to complete the pressing and fixing. Then, the reaction force of the drive unit 24 causes the housing 21 to rise, and the lower surface of the positioning plate 3 presses against the surface of the side groove 22 to complete the complete fixing of the housing 21. During the rising of the housing 21, the lever 52 loses its support and rotates to the reset state under the action of the torsion spring 53. The lever 52 also moves to the other side of the support plate 4, without affecting the robot mechanism 2 to continue moving forward. After complete fixing, the laser transceiver 1 performs a laser transmission and reception for multiple mechanical targets 6 and transmits the recovered reflected signal to the terminal. Then, the drive unit 24 retracts, the housing 21 descends, and after the housing 21 lands, the positioning plate 29 rises. The pre-pressing mechanism 5 has already reset during the rising stage of the housing 21, so the lever 52 does not contact the support plate 4 and does not affect the robot mechanism 2 from leaving to the next reference point.

[0034] The embodiments described above are merely examples of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these modifications and improvements all fall within the protection scope of this utility model.

Claims

1. A structural object displacement laser measuring robot, characterized by: The application relates to a laser transceiver (1) and a robot mechanism (2) for carrying the laser transceiver (1), the robot mechanism (2) being used for positioning connection with a positioning base plate (3) arranged at a reference point, the robot mechanism (2) comprising a shell (21), a driving part (24) arranged in the shell (21) and a positioning plate (29), a damping sliding structure being arranged between the driving part (24) and the positioning plate (29), wherein the positioning base plate (3) is further provided with a supporting plate (4), and a pre-pressing mechanism (5) is further arranged in the shell (21), the pre-pressing mechanism (5) comprising a rotating sleeve (51) arranged in the shell (21), a lever (52) arranged on the rotating sleeve (51) and a pressing rod (54), the lever (52) being supported by the supporting plate (4) to drive the pressing rod (54) to pre-press the positioning plate (29) on the positioning base plate (3).

2. A structural displacement laser measuring robot according to claim 1, characterized in that: The surface of the shell (21) is provided with a mounting table, the mounting table is provided with a two-axis rotating device, and the laser transceiver (1) is arranged on the two-axis rotating device.

3. A structural displacement laser measuring robot according to claim 1, characterized in that: The bottom of the shell (21) is further provided with a moving device (23) with a driving device for advancing along a track.

4. The structural displacement laser measurement robot of claim 1, wherein: The damping sliding structure comprises a damping sliding block (25) arranged at the output end of the driving part (24) and a damping sliding sleeve (26) arranged on the positioning plate (29), the damping sliding block (25) and the damping sliding sleeve (26) being in damping sliding connection, and a guide part (211) is further arranged between the positioning plate (29) and the shell (21).

5. A structural displacement laser measuring robot according to claim 4, characterized in that: The output end surface of the driving part (24) is sleeved with a pressing ring (27), a spring (28) is arranged between the pressing ring (27) and the damping sliding sleeve (26), and the pressing rod (54) is provided with a pressing strip (55) for pressing the pressing ring (27).

6. A structural displacement laser measuring robot according to claim 5, characterized in that: A torsional spring (53) is arranged on the rotating sleeve (51) for resetting the pre-pressing mechanism (5) in a direction away from the pressing ring (27).

7. The structural displacement laser measurement robot of claim 1, wherein: The bottom of the positioning plate (29) is provided with a butt joint block (210), and the positioning base plate (3) is provided with a positioning hole (31) corresponding to the butt joint block (210).

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