CN211869646U - Pose adjusting device of large module laser scanner - Google Patents
Pose adjusting device of large module laser scanner Download PDFInfo
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- CN211869646U CN211869646U CN201922405265.0U CN201922405265U CN211869646U CN 211869646 U CN211869646 U CN 211869646U CN 201922405265 U CN201922405265 U CN 201922405265U CN 211869646 U CN211869646 U CN 211869646U
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Abstract
The utility model discloses a position appearance adjusting device of large-scale module laser scanner mainly includes walking dolly, rotary device, vertical hoisting device and link mechanism. The device can realize the horizontal position adjustment, the vertical position adjustment and the posture adjustment of the scanning device in the laser scanning process. The walking trolley realizes the adjustment of the horizontal position in a large range; the vertical lifting device on the walking trolley realizes the vertical position adjustment of large displacement. The attitude adjustment includes horizontal angle adjustment and pitch angle adjustment of the laser scanning device. A rotating mechanism on the trolley realizes the horizontal angle adjustment of the laser scanning device; the link mechanism directly connected with the laser scanning device can realize the pitch angle adjustment of the laser scanning device. The device greatly shortens the installation and adjustment time of the laser scanning device, reduces the field manual adjustment workload of engineering personnel, and greatly improves the detection efficiency of laser scanning.
Description
Technical Field
The utility model relates to a laser scanning device of in-process is assembled to large-scale module of ocean engineering especially relates to a large-scale module laser scanning device's position appearance adjusting device.
Background
The modularized construction technology is a high and new technology which is gradually applied to the construction of the ocean steel structure platform in recent years. The most critical technology among the modular technologies is the precise interfacing between modules. With the upsizing of marine equipment, the modules of the marine equipment are continuously more complex, and the accurate butt joint requirements of the marine equipment are difficult to meet by means of the traditional detection and simulation methods. The novel laser scanning technology is used for measurement, the manufacturing and splicing processes of the large module can be monitored in real time, and the manufacturing efficiency and the butt joint quality of the large module are improved. At present, in the manufacturing process of large ocean engineering equipment in China, almost all laser scanning devices are adopted to collect point cloud data of large modules so as to ensure accurate butt joint between the modules.
Due to the large size of the large modules, the scanning range of a single scanning device is difficult to cover the whole module structure. In engineering application, 6-10 laser scanning devices are often adopted to work together. In current engineering practice, scanning devices are often mounted on fixed supports. The position of the scanning device installed on the fixed support cannot be automatically adjusted or the automatic adjustment range is quite limited. Due to the shielding effect of the various structures on the module and the measurement requirements of real-time detection, horizontal and vertical position movements of the scanning device are required. In practice, this requires the engineer to adjust the position of the scanning device over and over as the construction process progresses. In addition, the scanning measurement of a large module requires the cooperation of a plurality of scanners, which causes the position adjustment and installation of the scanning device to occupy a large amount of time for the measurement preparation of an engineer.
Disclosure of Invention
An object of the utility model is to overcome prior art's is not enough, provide a position appearance adjusting device of large-scale module laser scanner. The device has simple structure and convenient installation, can simplify the pose adjusting process of the laser scanning device, and saves the time spent on installing and adjusting the laser scanning device by engineering personnel.
The technical scheme adopted by the invention is as follows:
the pose adjusting device of the large-scale module laser scanner comprises a walking trolley, wherein a rotating mechanism supporting frame is fixed in the middle of the top surface of the walking trolley, a box body is fixed in the middle of the top surface of the rotating mechanism supporting frame, and the upper part and the lower part of a shaft arranged along the vertical direction are respectively connected with a radial bearing and a thrust bearing; an upper bearing hole is formed in the middle of the top wall of the box body, and a lower bearing hole is formed in the middle of the bottom wall of the box body; the radial bearing and the thrust bearing are respectively fixed in the upper bearing hole and the lower bearing hole; a hydraulic motor is fixed on the top wall of the walking trolley which is positioned right below the support frame of the rotating mechanism, and the lower end of the shaft is connected with a rotating shaft of the hydraulic motor through a coupling; the upper end of the shaft is fixedly connected with a central hole in a rotary table arranged in the horizontal direction, the rotary table is arranged above the box body, a cylinder barrel of a vertical lifting hydraulic oil cylinder is fixed in the middle of the rotary table, the bottom of a first rod arranged in the vertical direction is fixedly connected with a push rod of the vertical lifting hydraulic oil cylinder, the middle part of a rod section of the first rod is rotatably connected with one end of a second rod through a first revolute pair, and the other end of the second rod is rotatably connected with one end of a third rod through a fifth revolute pair; the cylinder barrel of the first hydraulic cylinder is rotatably connected with the upper end of the first rod through a second revolute pair, the end part of the push rod of the first hydraulic cylinder is rotatably connected with the rod section of the second rod through a third revolute pair, the end part of the push rod of the second hydraulic cylinder is rotatably connected with the rod section of the second rod through a fourth revolute pair, the end part of the cylinder barrel of the second hydraulic cylinder is rotatably connected with the rod section of the third rod through a sixth revolute pair, and a laser scanning device is fixed at the tail end of the third rod.
The utility model has the advantages that: the device greatly shortens the installation and adjustment time of the laser scanning device, reduces the field manual adjustment workload of engineering personnel, and greatly improves the detection efficiency of laser scanning.
Drawings
Fig. 1 is a perspective view of a pose adjusting apparatus of a large-scale module laser scanner;
fig. 2 is a front view of the posture adjustment apparatus shown in fig. 1;
fig. 3 is a partially enlarged view of the position and orientation adjusting apparatus shown in fig. 1 at the rotating mechanism.
Detailed Description
In order to facilitate the understanding of the technical solutions and advantages of the present invention for those skilled in the art, the following description of the embodiments is made with reference to the accompanying drawings.
The utility model discloses a position appearance adjusting device of large-scale module laser scanner as shown in the attached drawing, including walking dolly 1 be fixed with a rotary mechanism support frame 3 in the middle of the top surface of walking dolly 1. A box body 4 is fixed in the middle of the top surface of the rotating mechanism support frame 3. A radial bearing and a thrust bearing are respectively connected to the upper part and the lower part of a shaft 14 arranged along the vertical direction; an upper bearing hole is formed in the middle of the top wall of the box body 4, and a lower bearing hole is formed in the middle of the bottom wall of the box body 4; the radial bearing and the thrust bearing are respectively fixed in the upper bearing hole and the lower bearing hole; a hydraulic motor 2 is fixed on the top wall of the walking trolley 1 which is positioned right below the rotating mechanism support frame 3, and the lower end of the shaft 14 is connected with the rotating shaft of the hydraulic motor 2 through a coupling 13; the upper end of the shaft 14 is fixedly connected with a central hole on a rotary disc 12 arranged along the horizontal direction, and the rotary disc 12 is arranged above the box body. The cylinder of a vertical lifting hydraulic cylinder 5 is fixed in the middle of the rotary table 12. The bottom of the first rod 6 arranged along the vertical direction is fixedly connected with a push rod of the vertical lifting hydraulic oil cylinder 5. The middle part of the rod segment of the first rod 6 is rotatably connected with one end of the second rod 8 by a first revolute pair a. The other end of the second rod 8 is rotatably connected with one end of a third rod 10 through a fifth revolute pair E; the cylinder barrel of the first hydraulic cylinder 7 is rotatably connected with the upper end of the first rod 6 through a second revolute pair B, and the end of the push rod of the first hydraulic cylinder 7 is rotatably connected with the rod section of the second rod 8 through a third revolute pair C. The end of the push rod of the second hydraulic cylinder 9 is rotationally connected to the rod section of the second rod 8 via a fourth revolute pair D, and the end of the cylinder barrel of the second hydraulic cylinder 9 is rotationally connected to the rod section of the third rod 10 via a sixth revolute pair F. A laser scanning device 11 is fixed at the end of the third rod 10.
The typical operation of the device is as follows.
The traveling carriage 1 first performs two-dimensional movement in the horizontal plane, and moves the laser scanning device 11 to a specified position. Then the hydraulic motor 2 drives the shaft 14 to rotate, the shaft 14 drives the turntable 12 to rotate, and the turntable 12 drives the vertical lifting hydraulic oil cylinder 5 and the link mechanism and the laser scanning device 11 fixed on the vertical lifting hydraulic oil cylinder to rotate. The rotation process can adjust the horizontal included angle between the laser scanning device and the scanned object.
Subsequently, the push rod of the vertical lifting hydraulic oil cylinder 5 moves vertically, and drives the link mechanism and the laser scanning device 11 to move vertically. This vertical movement may change the vertical height of the laser scanning device 11.
Finally, the first hydraulic cylinder 7 and the second hydraulic cylinder 9 simultaneously or sequentially move in a telescopic manner to drive the second rod 8 and the third rod 10 to rotate, and the third rod 10 drives the laser scanning device 11 at the tail end of the third rod to rotate. This process enables pitch adjustment of the laser scanning device 11.
The whole process realizes the pose adjustment of the laser scanning device. The device reduces the manual adjustment workload of engineering personnel in the laser scanning measurement process, and has strong practicability.
The foregoing description of the present invention is intended to be illustrative rather than restrictive, and therefore the embodiments of the present invention are not limited to the specific embodiments described above. It will be apparent to those skilled in the art that other variations and modifications can be made without departing from the spirit of the invention and the scope of the appended claims.
Claims (1)
1. Position appearance adjusting device of large-scale module laser scanner, including the walking dolly, its characterized in that: a rotating mechanism supporting frame is fixed in the middle of the top surface of the walking trolley, a box body is fixed in the middle of the top surface of the rotating mechanism supporting frame, and a radial bearing and a thrust bearing are respectively connected to the upper part and the lower part of a shaft arranged in the vertical direction; an upper bearing hole is formed in the middle of the top wall of the box body, and a lower bearing hole is formed in the middle of the bottom wall of the box body; the radial bearing and the thrust bearing are respectively fixed in the upper bearing hole and the lower bearing hole; a hydraulic motor is fixed on the top wall of the walking trolley which is positioned right below the support frame of the rotating mechanism, and the lower end of the shaft is connected with a rotating shaft of the hydraulic motor through a coupling; the upper end of the shaft is fixedly connected with a central hole in a rotary table arranged in the horizontal direction, the rotary table is arranged above the box body, a cylinder barrel of a vertical lifting hydraulic oil cylinder is fixed in the middle of the rotary table, the bottom of a first rod arranged in the vertical direction is fixedly connected with a push rod of the vertical lifting hydraulic oil cylinder, the middle part of a rod section of the first rod is rotatably connected with one end of a second rod through a first revolute pair, and the other end of the second rod is rotatably connected with one end of a third rod through a fifth revolute pair; the cylinder barrel of the first hydraulic cylinder is rotatably connected with the upper end of the first rod through a second revolute pair, the end part of the push rod of the first hydraulic cylinder is rotatably connected with the rod section of the second rod through a third revolute pair, the end part of the push rod of the second hydraulic cylinder is rotatably connected with the rod section of the second rod through a fourth revolute pair, the end part of the cylinder barrel of the second hydraulic cylinder is rotatably connected with the rod section of the third rod through a sixth revolute pair, and a laser scanning device is fixed at the tail end of the third rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922405265.0U CN211869646U (en) | 2019-12-27 | 2019-12-27 | Pose adjusting device of large module laser scanner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922405265.0U CN211869646U (en) | 2019-12-27 | 2019-12-27 | Pose adjusting device of large module laser scanner |
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| Publication Number | Publication Date |
|---|---|
| CN211869646U true CN211869646U (en) | 2020-11-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922405265.0U Active CN211869646U (en) | 2019-12-27 | 2019-12-27 | Pose adjusting device of large module laser scanner |
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| CN (1) | CN211869646U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113310428A (en) * | 2021-06-11 | 2021-08-27 | 安徽工程大学 | Synchronous transmission surface profile measuring system and method based on line structured light |
| CN118730000A (en) * | 2024-09-02 | 2024-10-01 | 山西天宝集团有限公司 | Quick detection device of large-scale annular forging terminal surface roughness |
-
2019
- 2019-12-27 CN CN201922405265.0U patent/CN211869646U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113310428A (en) * | 2021-06-11 | 2021-08-27 | 安徽工程大学 | Synchronous transmission surface profile measuring system and method based on line structured light |
| CN118730000A (en) * | 2024-09-02 | 2024-10-01 | 山西天宝集团有限公司 | Quick detection device of large-scale annular forging terminal surface roughness |
| CN118730000B (en) * | 2024-09-02 | 2024-11-08 | 山西天宝集团有限公司 | Quick detection device of large-scale annular forging terminal surface roughness |
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