A vibration isolation guard for a laser scanner

Abstract

The utility model provides a kind of vibration isolation protection device for laser scanner, including supporting member, the support member of being set in pairs, the fixed seat of being set in pairs, annular vibration isolation subassembly, guiding assembly and the elastic top tight subassembly of being set in pairs;Supporting member is used to with laser scanner bottom end surface connection, and with support member connection;Support member is set in the front and rear position of laser scanner bottom, its inboard is used to with laser scanner shell fit, support member and laser scanner shell detachable connection;Fixed seat is set in mechanical dog back, every fixed seat is located below corresponding support member.The utility model discloses a kind of vibration isolation protection device for laser scanner, solve the problem that due to laser scanner base in relevant art and mechanical dog back is usually only connected by single-point thread, connecting point outside part is long-term suspended and lacks multi-point support and effective damping, leading to the problem that point cloud data appears jitter in scanning process, registration error accumulates and makes overall measurement accuracy and stability decline.

Description

Technical Field

[0001] This utility model belongs to the field of laser scanning technology, and in particular relates to a vibration isolation and protection device for laser scanners. Background Technology

[0002] Laser scanners accurately acquire the spatial location and shape information of targets by emitting lasers and receiving echo signals. They can collect massive amounts of 3D point cloud data in a short time and have been widely used in surveying, engineering, and construction. With the development of mobile robot technology, the industry has begun to integrate laser scanners with quadrupedal "mechanical dogs" to perform mobile scanning operations in complex environments through autonomous walking and posture control, thereby improving on-site coverage and work efficiency. In such integrated systems, the assembly stability and dynamic vibration reduction capability of the scanning equipment are directly related to the point cloud quality and system reliability.

[0003] Existing integration methods often employ a single threaded connection point on the back of the robotic dog, fixing the laser scanner base with a screw. The area where the base and the robot body meet, except for the connection point, is suspended in mid-air. During the robotic dog's movement, acceleration, deceleration, turning, and attitude adjustment, this suspended area is prone to swaying and vibration, introducing minute displacements that affect the stability of the scanning head and the accuracy of point cloud stitching. Because the laser scanner base and the robotic dog's back are typically connected only by a single threaded point, with the area outside the connection point suspended for extended periods and lacking multi-point support and effective vibration damping, the combined effect of gait impacts and changes in robot attitude easily leads to swaying, fluttering, and attitude drift. This results in jitter in the point cloud data during scanning, accumulation of registration errors, and a decrease in overall measurement accuracy and stability. Utility Model Content

[0004] In view of this, the present invention aims to at least partially solve one of the related technical problems.

[0005] To achieve the above objectives, the technical solution of this utility model is implemented as follows:

[0006] A vibration isolation and protection device for a laser scanner includes a support member, a pair of supporting members, a pair of fixed seats, a circumferential vibration isolation assembly, a guide assembly, and a pair of elastic clamping assemblies.

[0007] The support member is used to connect with the bottom end face of the laser scanner and to the support member;

[0008] The support is located at the front and rear positions of the bottom of the laser scanner, and its inner side is used to fit against the laser scanner housing. The support is detachably connected to the laser scanner housing.

[0009] The mounting base is disposed on the back of the mechanical dog, and each mounting base is located below the corresponding support member;

[0010] The upper end of each fixed seat is connected to the corresponding support member via the guide assembly, and the circumferential vibration isolation assembly is disposed between the support member and the fixed seat and is penetrated by the guide assembly;

[0011] The elastic clamping assembly is disposed in the groove on the back of the mechanical dog, and applies elastic pre-tightening to the bottom left and right sides of the circumferential vibration isolation assembly respectively.

[0012] Furthermore, the support member is a circular support plate, and the circular support plate is fixedly connected to the support member.

[0013] Furthermore, the support member is an arc-shaped clamping plate structure.

[0014] Furthermore, the guide assembly includes two telescopic guide rods symmetrically arranged on the upper surface of the fixed base. The telescopic guide rods pass through the circumferential vibration isolation assembly and are connected to the support member.

[0015] Furthermore, the circumferential vibration isolation assembly includes a plurality of vibration isolation pads spaced apart along the circumference, and the plurality of vibration isolation pads are disposed between the support member and the fixed base.

[0016] Furthermore, the cross-section of the fixing seat is L-shaped, and the two fixing seats are symmetrically arranged on the horizontal or vertical end face of the back of the mechanical dog.

[0017] Furthermore, the elastic clamping assembly includes a fixed plate, a pair of elastic pressing components and a top block assembly. The fixed plate is disposed in the slot and has a C-shaped cross section. The elastic pressing components are symmetrically disposed in the fixed plate. The top block assembly is used to clamp the bottom of the circumferential vibration isolation assembly.

[0018] Furthermore, the top block assembly includes a first wedge block and a second wedge block, the elastic clamping assembly is used to apply pressure to the first wedge block, and the inclined surface of the second wedge block slides into contact with the inclined surface of the first wedge block to push the circumferential vibration isolation assembly upward.

[0019] Furthermore, the elastic clamping assembly includes a slide rod and a clamping spring. The left and right ends of the slide rod are respectively connected to the side of the fixed plate. The clamping spring is sleeved on the outside of the slide rod and provides elastic preload to the first wedge block. The first wedge block slides in conjunction with the slide rod.

[0020] Compared with existing technologies, the vibration isolation and protection device for laser scanners described in this utility model has the following advantages:

[0021] 1. By forming a multi-point support structure through support, clamping and end face fixing, and supplemented by guiding and circumferential vibration isolation, the scanner is transformed from a single-point suspension to a stable installation state with circumferential force and directional guidance. Random vibrations introduced by gait impact and body posture changes are eliminated by the elastic deformation and material internal friction of the vibration isolation pad. The guiding limit suppresses the posture drift and low-frequency sway caused by flexible vibration isolation. The adjustability of the preload force allows the system to obtain a suitable stiffness and damping ratio under different load and center of gravity conditions, thereby maintaining the posture stability and registration consistency of point cloud acquisition under complex motion conditions.

[0022] 2. The wedge-shaped clamping mechanism converts the lateral force of the spring into axial preload, which not only improves the utilization of assembly space but also simplifies the adjustment process. The guide components and vibration isolation components are easy to disassemble, install, maintain, and replace quickly, reducing on-site deployment time and maintenance costs and improving the versatility and reliability of the system. Attached Figure Description

[0023] The accompanying drawings, which form part of this utility model, are used to provide a further understanding of the utility model. The illustrative embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an undue limitation of the utility model. In the drawings:

[0024] Figure 1 This is a schematic diagram of a vibration isolation and protection device for a laser scanner according to an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the elastic clamping assembly described in an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the guide component described in an embodiment of the present utility model;

[0027] Figure 4 This is a schematic diagram of the top block assembly described in an embodiment of the present utility model.

[0028] Explanation of reference numerals in the attached figures:

[0029] 100, Fixed base; 200, Support component; 210, Support component; 300, circumferential vibration isolation assembly; 310, Guide assembly; 400, Fixed plate; 500, Elastic clamping assembly; 510, Slide rod; 520, Compression spring; 600, Top block assembly; 610, First wedge block; 620, Second wedge block. Detailed Implementation

[0030] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0031] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0032] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0033] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0034] To address the problem that existing laser scanners installed on quadruped robot platforms using only a single-point threaded mounting method result in large areas of suspension outside the connection point, leading to swaying and vibration under gait impacts and posture changes, thus affecting point cloud stability and stitching accuracy, the following embodiment of a vibration isolation and protection device for laser scanners is proposed. In this embodiment, the device is installed on the horizontal or vertical end face of the robot's back. It comprises a multi-point support and vibration isolation limiting structure consisting of a support member 210, a support member 200, a fixed base 100, a circumferential vibration isolation component 300, a guide component 310, and an elastic clamping component 500. This structure enables the scanner to achieve a stable posture and reliable impact resistance in motion environments, while also providing physical protection and easy assembly / disassembly of the outer shell.

[0035] The support 210 is preferably a circular support plate that mates with the bottom end face of the laser scanner. The upper surface of the support 210 is provided with connection holes and positioning reference surfaces that match the interface of the scanner base. It can be detachably fastened by countersunk screws or quick-release buckles to avoid the impact of secondary processing on the instrument shell. The lower surface of the support 210 is fixedly connected to the paired support 200 through circumferentially distributed connection points. A thin elastic gasket can be added between the support and the scanner base to reduce high-frequency micro-vibrations and compensate for manufacturing tolerances.

[0036] The support member 200 is an arc-shaped clamping plate structure, which is arranged at the front and rear circumferential positions of the scanner shell. Its inner side is provided with a fitting surface that matches the cylindrical or near-cylindrical shell and can be covered with a wear-resistant elastic lining to improve the friction coefficient and prevent the shell from being scratched. The support member 200 and the scanner shell are detachably connected and are equipped with limiting ribs or anti-rotation bosses to prevent relative rotation. The support member 200 and the support member 210 form an integral clamping support, so that the bottom of the scanner is no longer suspended in the air over a large area, but is stably supported by multiple points of enclosure.

[0037] The mounting bases 100 are arranged in pairs on the back end face of the mechanical dog. The cross-section of the mounting base 100 is L-shaped to provide both vertical support surface and horizontal positioning surface within the limited installation space. The upper ends of the mounting bases 100 are connected to the corresponding support members 200 via guide components 310 to realize controllable guidance and restricted relative displacement between the platform and the scanner. The mounting bases 100 can be connected to the back mounting base by screws, and the hole positions and shapes can be adapted to different models through adapter plates.

[0038] The guide assembly 310 includes two telescopic guide rods symmetrically arranged on the upper surface of the fixed base 100. The telescopic guide rods pass through the circumferential vibration isolation assembly 300 along the main force direction and then cooperate with the corresponding connection holes of the support member 200. The telescopic guide rods can use linear bearings or wear-resistant bushings to achieve low-friction guidance and set a limit ring to limit the telescopic stroke, thereby providing directional guidance and attitude constraint when the scanner generates a small relative displacement with the platform and avoiding hard metal collisions.

[0039] The circumferential vibration isolation component 300 is disposed between the support member 200 and the fixed base 100 and is penetrated by the guide component 310. The circumferential vibration isolation component 300 is composed of multiple vibration isolation pads arranged at intervals along the circumference. Each vibration isolation pad can be made of rubber, silicone or thermoplastic elastomer and is configured with different combinations of hardness and thickness according to the load. The vibration isolation pads jointly undertake the functions of support and vibration reduction in the radial and axial directions, which not only allows small posture self-compliance to eliminate the high-frequency components of gait impact, but also ensures the macroscopic pointing stability of the scanner optical axis through the guide component 310.

[0040] The elastic clamping assembly 500 is arranged in a pre-set slot on the back of the mechanical dog and applies adjustable elastic pre-tightening to the bottom of the circumferential vibration isolation assembly 300 on both the left and right sides. The elastic clamping assembly 500 includes a fixed plate 400, a pair of elastic pressing assemblies and a top block assembly 600. The fixed plate 400 adopts a C-shaped cross section to facilitate the formation of a receiving cavity in the slot. The elastic pressing assembly is composed of a slide rod 510 and a pressing spring 520 and is symmetrically arranged inside the fixed plate 400. The two ends of the slide rod 510 are connected to the side wall of the fixed plate to constrain the movement trajectory of the spring and the top block and ensure the stability of the force center.

[0041] The top block assembly 600 is formed by the relative arrangement of the first wedge block 610 and the second wedge block 620 to form an inclined surface mating structure. The elastic clamping component acts on the first wedge block 610 and presses it in along the guide direction. The second wedge block 620 generates an upward lifting force under the inclined surface sliding engagement with the first wedge block 610 to push the circumferential vibration isolation assembly 300, thereby converting the lateral elastic force of the spring into axial preload on the vibration isolation structure. The preload can be adjusted by replacing the clamping spring 520 or by adjusting the wedge angle and stroke to adapt to scanners with different masses and center of gravity positions.

[0042] After the overall installation in this embodiment, the support 210, the support 200 and the fixed base 100 together form a multi-point support and circumferential enclosure installation stability system. The guide component 310 provides restricted guidance to suppress attitude drift and avoid hard collision force transmission paths. The circumferential vibration isolation component 300 and the elastic clamping component 500 realize adjustable preload and energy dissipation. The device does not occupy the top field of view of the scanner and reserves wiring space for cables and interfaces, which facilitates quick on-site disassembly and maintenance.

[0043] How this example works

[0044] Step 1: Assembly and pre-adjustment. Install the mounting base 100 onto the back end face of the mechanical dog and tighten it. According to the scanner model, pre-connect the support 210 and the support 200 to form a clamp assembly and fix it to the bottom end face of the scanner. At the same time, pass the telescopic guide rod of the guide assembly 310 through the circumferential vibration isolation assembly 300 and connect it to the support 200.

[0045] Step 2: Pre-tightening setting. Install the fixing plate 400 into the slot and assemble the elastic clamping assembly and the top block assembly 600. Adjust the preload of the clamping spring 520 or the wedge block stroke to make the circumferential vibration isolation assembly 300 obtain appropriate axial pre-tightening.

[0046] Step 3, Operation and Buffering: When the mechanical dog moves, accelerates, decelerates or turns, generating impacts and vibrations, the vibration isolation pad absorbs high-frequency energy through elastic deformation, the telescopic guide rod provides directional guidance within a limited stroke, and the wedge-shaped clamping structure maintains constant preload to suppress loosening and attitude drift.

[0047] Step 4: Shutdown and maintenance. Loosen the top clamping assembly for quick disassembly or replacement of the vibration damping pad and liner. Inspect the guide components and fasteners and reset them to the predetermined pre-tightening value.

[0048] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A vibration isolation and protection device for a laser scanner, characterized in that: It includes a support (210), a circumferential vibration isolation assembly (300), a guide assembly (310), a pair of support members (200), a pair of fixing seats (100), and a pair of elastic clamping assemblies (500); The support (210) is used to connect to the bottom end face of the laser scanner and to the support (200); The support member (200) is located at the front and rear positions of the bottom of the laser scanner, and its inner side is used to fit against the laser scanner housing. The support member (200) is detachably connected to the laser scanner housing. The fixing base (100) is disposed on the back of the mechanical dog, and each fixing base (100) is located below the corresponding support member (200); The upper end of each fixed seat (100) is connected to the corresponding support member (200) via the guide assembly (310), and the circumferential vibration isolation assembly (300) is disposed between the support member (200) and the fixed seat (100) and is penetrated by the guide assembly (310); The elastic clamping assembly (500) is disposed in the groove on the back of the mechanical dog and applies elastic pre-tightening to the bottom left and right sides of the circumferential vibration isolation assembly (300).

2. The vibration isolation and protection device for a laser scanner according to claim 1, characterized in that: The support member (210) is a circular support plate, and the circular support plate is fixedly connected to the support member (200).

3. The vibration isolation and protection device for a laser scanner according to claim 1, characterized in that: The support member (200) is an arc-shaped clamping plate structure.

4. The vibration isolation and protection device for a laser scanner according to claim 1, characterized in that: The guide assembly (310) includes two telescopic guide rods symmetrically arranged on the upper surface of the fixed base (100). The telescopic guide rods pass through the circumferential vibration isolation assembly (300) and are connected to the support member (200).

5. The vibration isolation and protection device for a laser scanner according to claim 1, characterized in that: The circumferential vibration isolation assembly (300) includes a plurality of vibration isolation pads spaced apart along the circumference, and the plurality of vibration isolation pads are disposed between the support member (200) and the fixed base (100).

6. The vibration isolation and protection device for a laser scanner according to claim 1, characterized in that: The cross-section of the fixed seat (100) is L-shaped, and the two fixed seats (100) are symmetrically arranged on the horizontal or vertical end face of the back of the mechanical dog.

7. The vibration isolation and protection device for a laser scanner according to any one of claims 1-6, characterized in that: The elastic clamping assembly (500) includes a fixed plate (400), a pair of elastic clamping assemblies and a top block assembly (600). The fixed plate (400) is disposed in the slot and has a C-shaped cross section. The elastic clamping assemblies are symmetrically disposed in the fixed plate (400). The top block assembly (600) is used to clamp the bottom of the circumferential vibration isolation assembly (300).

8. The vibration isolation and protection device for a laser scanner according to claim 7, characterized in that: The top block assembly (600) includes a first wedge block (610) and a second wedge block (620). The elastic clamping assembly is used to apply pressure to the first wedge block (610). The inclined surface of the second wedge block (620) slides with the inclined surface of the first wedge block (610) to push the circumferential vibration isolation assembly (300) upward.

9. The vibration isolation and protection device for a laser scanner according to claim 8, characterized in that: The elastic clamping assembly includes a slide rod (510) and a clamping spring (520). The left and right ends of the slide rod (510) are respectively connected to the side of the fixing plate (400). The clamping spring (520) is sleeved on the outside of the slide rod (510) and provides elastic preload to the first wedge block (610). The first wedge block (610) and the slide rod (510) are in sliding engagement.

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