An intelligent robot for road construction setting-out

Abstract

The application relates to the technical field of road construction, and provides an intelligent robot for road construction lofting, which comprises a robot body, a caterpillar walking mechanism arranged at the bottom of the robot body; the caterpillar walking mechanism comprises a caterpillar body, a driving mechanism, a tensioning mechanism, an extension supporting rod and a damping air pressure rod; the top ends of the extension supporting rod and the damping air pressure rod are connected with the robot body; a supporting assembly is connected with the driving mechanism and the tensioning mechanism; one side of the driving mechanism and the tensioning mechanism is further provided with a supporting adjusting assembly connected with the robot body and used for adjusting the height of the robot body. The caterpillar walking mechanism is arranged at the bottom of the robot body, the extension supporting rod and the supporting adjusting assembly are arranged, the height of the robot body can be adjusted, the passing capacity of the robot body is improved, the bottom of the robot body is prevented from colliding with the ground, and the damping air pressure rod is arranged to improve the damping capacity.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of road construction, and particularly relates to an intelligent robot for road construction lofting. BACKGROUND

[0002] At present, the turnover rate of infrastructure project survey personnel is high, and it is difficult to recruit workers. After investigation, it is found that the lofting and elevation review work of highway engineering is carried out after each layer of road surface construction is completed, and the same type of work is repeatedly carried out for a section of road. The main contents include GPS (RTK) point lofting and leveling instrument elevation measurement. Among them, the RTK surveying and mapping equipment is also called GPS total station. RTK and leveling instrument are common equipment in building engineering. The work content of using RTK point lofting and using leveling instrument to measure elevation belongs to simple repetitive labor, and the work is carried out in the field, the environment is bad, and the working strength is large, resulting in high personnel turnover rate. In order to solve this problem, an automatic lofting (marking) robot is provided in the prior art. However, the walking mechanism of this kind of robot adopts a traditional wheel structure, and the traditional wheel structure is not suitable for poor road conditions in the field. Especially when the robot encounters a muddy road after raining during driving, the wheels of the robot will slip, resulting in measurement error, thereby affecting work efficiency, and when the robot works in the field, the chassis of the robot will be knocked with the ground due to some uneven road, resulting in damage to the robot. SUMMARY

[0003] In view of the above problems in the prior art, the application provides an intelligent robot for road construction lofting to improve the passing capacity and stability of the robot.

[0004] The intelligent robot for road construction lofting provided by the application comprises a robot body, an RTK combined navigation module, a laser radar and an ultrasonic sensor which are arranged on the robot body, the bottom of the robot body is provided with a caterpillar walking mechanism, the caterpillar walking mechanism comprises a caterpillar body, a driving mechanism arranged at one end of the caterpillar body, a tensioning mechanism arranged at the other end of the caterpillar body, a support assembly arranged at both sides of the caterpillar body, and a telescopic support rod and a damping air pressure rod arranged on the support assembly, the top ends of the telescopic support rod and the damping air pressure rod are connected with the robot body, the driving mechanism is used for driving the caterpillar body to rotate, the support assembly connects the driving mechanism and the tensioning mechanism, one side of the driving mechanism and the tensioning mechanism is further provided with a support adjusting assembly, the support adjusting assembly is connected with the robot body and is used for adjusting the height of the robot body.

[0005] Further, the track-type walking mechanism further comprises a plurality of ground-pressing units arranged between the tensioning mechanism and the driving mechanism, the ground-pressing unit comprising a ground-pressing roller, roller fixing shafts arranged at both ends of the ground-pressing roller, a crank mechanism and a ground-pressing air pressure rod connected with the roller fixing shafts, and a support plate connector arranged at the other end of the ground-pressing air pressure rod; the support plate connector is fixedly connected with the support assembly, the other end of the crank mechanism is rotationally connected with the support assembly through a roller connecting shaft; the ground-pressing roller is engaged with the inner wall of the track body.

[0006] Further, the support assembly comprises a first support plate and a second support plate arranged at both sides of the track body respectively, the first support plate is provided with a telescopic support rod, and the second support plate is provided with a damping air pressure rod.

[0007] Further, the driving mechanism comprises a driving shaft, a driving motor, a speed reducer connecting the driving motor and the driving shaft, and a driving roller arranged on the driving shaft; the driving roller is engaged with the inner wall of the track body; both ends of the driving shaft are rotationally connected with the support assembly; the tensioning mechanism comprises a tensioning shaft and a tensioning roller arranged on the tensioning shaft; the tensioning roller is engaged with the inner wall of the track body; both ends of the tensioning shaft are rotationally connected with the support assembly; the telescopic support rod has at least two, one of which is rotationally connected with the driving shaft, and the other is rotationally connected with the tensioning shaft.

[0008] Further, the support adjusting assembly has at least two, arranged at one end of the tensioning shaft and the driving shaft respectively; the support adjusting assembly comprises a fixed plate, a fixed cylinder, a tooth groove cylinder, a first sleeve, a first axle, a transmission wheel set, a third gear, and an electric push rod; the fixed plate is rotationally connected with the tensioning shaft or the driving shaft, and is further connected with the support assembly; the fixed cylinder is vertically fixed on the fixed plate, the tooth groove cylinder is vertically arranged in the fixed cylinder, the tooth groove cylinder is engaged with the third gear, and the top end of the tooth groove cylinder is fixedly connected with the robot body; the transmission wheel set comprises a first gear and a second gear engaged with each other; the second gear is fixedly connected with the tensioning shaft or the driving shaft to follow the rotation, both ends of the first axle are fixedly connected with the first gear and the third gear respectively; the first sleeve is movably sleeved outside the first axle; the electric push rod is connected with the first sleeve to drive the first sleeve to ascend or descend to realize the engagement or separation of the first gear and the second gear.

[0009] Further, the fixed plate is provided with a door-shaped fixing frame; the first axle and the first sleeve are located below the fixing frame, and the electric push rod is arranged on the fixing frame; the fixing frame is provided with a vertically arranged guide groove, a sliding block is arranged in the guide groove, and the sliding block is connected with the first sleeve.

[0010] Further, a vertical limiting pin is arranged on the fixing frame, the limiting pin is above the first sleeve, the first sleeve is provided with one or more sleeve positioning holes matched with the limiting pin, and the first wheel shaft is provided with a plurality of wheel shaft positioning holes matched with the limiting pin along the circumference of the first wheel shaft.

[0011] Further, the fixing plate is further provided with a damping air pressure rod.

[0012] Further, the RTK combined navigation module comprises an RTK plotter, an RTK host and an RTK wireless terminal device in communication connection; the RTK host and the RTK wireless terminal device are arranged inside the robot body; and the RTK plotter is arranged on the top of the robot body.

[0013] Further, the robot body comprises a first body, a second body and a third body in connection; the first body is connected with the caterpillar walking mechanism; the second body is arranged on the top of the first body, and the second body is provided with the ultrasonic sensor around; and the third body is arranged on the top of the second body, and the top of the third body is provided with the laser radar and the RTK plotter.

[0014] The robot body is provided with the caterpillar walking mechanism at the bottom, compared with the traditional wheel structure, the robot has better grip and stronger field passing ability; the height of the robot body can be adjusted through the telescopic supporting rod and the supporting adjusting assembly, the passing ability of the robot body is further improved, the bottom of the robot body is prevented from colliding with the ground, and the damping capacity of the robot body is improved through the damping air pressure rod. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a three-dimensional structure schematic diagram of an intelligent robot for road construction and layout.

[0016] Figure 2 It is a three-dimensional structure schematic diagram of the caterpillar walking mechanism. Figure 1

[0017] It is an enlarged schematic diagram of A in the figure. Figure 3 Figure 1 It is an enlarged schematic diagram of B in the figure.

[0018] Figure 4 It is a schematic diagram of the figure after the telescopic supporting rod is hidden. Figure 3

[0019] Figure 5 It is an enlarged schematic diagram of B in the figure. Figure 2

[0020] ​​​In the figure: 1-robot body; 2-laser radar; 3-ultrasonic sensor; 4-RTK plotter; 5-support assembly; 6-telescopic support rod; 7-track body; 8-support adjusting assembly; 9-ground pressing roller; 10-roller fixing shaft; 11-crank mechanism; 12-ground pressing air pressure rod; 13-support plate connecting piece; 14-roller connecting shaft; 15-support plate connecting groove; 16-support plate connecting block; 17-engaging tooth; 18-engaging groove; 19-driving shaft; 20-driving roller; 21-reducer; 22-driving motor; 23-fixing plate; 24-damping air pressure rod; 25-tensioning shaft; 26-tensioning roller; 27-driving wheel set; 28-first gear; 29-second gear; 30-third gear; 31-toothed groove cylinder; 32-electric push rod; 33-first axle; 34-axle positioning hole; 35-first sleeve; 36-sleeve positioning hole; 37-fixing frame; 38-guiding groove; 39-sliding block; 40-limiting pin; 41-fixing cylinder; 42-first support plate; 43-second support plate. DETAILED DESCRIPTION

[0021] The application will be further described in detail below in combination with the drawings and specific examples.

[0022] As Figures 1-5 shown in the figure, the intelligent robot for road construction layout includes a robot body 1, an RTK combined navigation module, a laser radar 2 and an ultrasonic sensor 3 arranged on the robot body 1; the bottom of the robot body 1 is provided with a track-type walking mechanism. The robot body 1 is further provided with a control module and a battery inside; the control module is in communication connection with the RTK combined navigation module, the laser radar 2 and the ultrasonic sensor 3.

[0023] The RTK combined navigation module includes an RTK plotter 4, an RTK host and an RTK wireless terminal device in communication connection; the RTK host and the RTK wireless terminal device are arranged inside the robot body 1; the RTK plotter 4 is arranged on the top of the robot body 1. The RTK wireless terminal device, also known as RTK-DTU, is a wireless terminal device specially used for converting serial port data into IP data or converting IP data into serial port data for transmission through a wireless communication network.

[0024] The robot body 1 comprises a first body, a second body and a third body connected; the first body is connected with a caterpillar walking mechanism; the second body is arranged on the top of the first body, and the periphery of the second body is provided with an ultrasonic sensor 3; the third body is arranged on the top of the second body, and the top of the third body is provided with a laser radar 2 and an RTK surveying device 4. In the embodiment, the laser radar 2 comprises a single-line laser radar 2 and a multi-line laser radar 2. The detection range of the ultrasonic sensor 3 is 4 meters for wall surface and 1.5 meters for people. The precision is 0.5% of the detection distance, and the beam angle is 10-60 degrees adjustable.

[0025] The front and rear parts of the first body are respectively provided with anti-collision strips. The anti-collision strips are rubber strips, and the inside of each rubber strip is provided with a pressure sensor connected with the control module by an electrical signal. When a collision occurs, the pressure sensor sends the received pressure signal to the control module, and the control module controls the robot body 1 to stop urgently based on the pressure signal.

[0026] The front part of the third body is provided with a display screen. The display screen is electrically connected with the control module. The display screen is a 21.5-inch touch screen, and the interface type is HDMI VGA DC DVI USB 2.0; the average degree is 400 cd / m^2; the refresh rate is 60 Hz; the screen type is LED; and the screen resolution is 1280x1024 pixels.

[0027] The caterpillar walking mechanism comprises a caterpillar body 7, a driving mechanism arranged at one end of the caterpillar body 7, a tensioning mechanism arranged at the other end of the caterpillar body 7, a support assembly 5 arranged at both sides of the caterpillar body 7, and a telescopic support rod 6 and a damping air pressure rod 24 arranged on the support assembly 5; the top ends of the telescopic support rod 6 and the damping air pressure rod 24 are connected with the robot body 1; the driving mechanism is used for driving the caterpillar body 7 to rotate; the support assembly 5 connects the driving mechanism and the tensioning mechanism; and one side of the driving mechanism and the tensioning mechanism is further provided with a support adjusting assembly 8 connected with the robot body 1 and used for adjusting the height of the robot body 1.

[0028] The caterpillar walking mechanism further comprises a plurality of ground pressing units arranged between the tensioning mechanism and the driving mechanism. In the embodiment, the ground pressing units are three. Each ground pressing unit comprises a ground pressing roller 9, a roller fixing shaft 10 fixedly arranged at both ends of the ground pressing roller 9, a crank mechanism 11 and a ground pressing air pressure rod 12 connected with the roller fixing shaft 10, and a support plate connecting piece 13 arranged at the other end of the ground pressing air pressure rod 12; the support plate connecting piece 13 is fixedly connected with the support assembly 5, the other end of the crank mechanism 11 is rotationally connected with the support assembly 5 through a roller connecting shaft 14; and the ground pressing roller 9 is engaged with the inner wall of the caterpillar body 7. The crank mechanism 11 comprises two hingedly connected rod bodies, the end of one rod body is rotationally connected with the roller fixing shaft 10, and the end of the other rod body is connected with the roller connecting shaft 14.

[0029] In this embodiment, the track body 7 is a closed strip structure with meshing teeth 17 on its inner wall, and the side wall of the ground roller 9 is provided with meshing grooves 18, into which the meshing teeth 17 can be inserted. The spacing of the multiple meshing teeth 17 of the track body 7 and the position of each meshing tooth 17 need to be designed and determined in advance, taking into account the placement, diameter, and number of ground rollers 9. Of course, the positions of the drive mechanism and the tensioning mechanism should also be considered.

[0030] The ground-pressing pneumatic rod 12 is an electric pneumatic rod. After receiving the corresponding electrical signal from the control module, the ground-pressing pneumatic rod 12 presses down the roller fixing shaft 10, thereby causing the ground-pressing roller 9 to press down the track body 7, so that the track body 7 can make better contact with the ground.

[0031] The support assembly 5 includes a first support plate 42 and a second support plate 43 respectively disposed on both sides of the track body 7. The first support plate 42 is provided with a telescopic support rod 6, and the second support plate 43 is provided with a vibration damping air pressure rod 24.

[0032] In some embodiments, both the first support plate 42 and the second support plate 43 are provided with telescopic support rods 6 and vibration damping gas rods 24.

[0033] The telescopic support rod 6 can be a non-powered telescopic structure, such as a friction damping telescopic cylinder; or it can be a telescopic structure equipped with a power component, such as an electric cylinder.

[0034] The drive mechanism includes a drive shaft 19, a drive motor 22, a reducer 21 connecting the drive motor 22 and the drive shaft 19, and a drive roller 20 mounted on the drive shaft 19. The drive roller 20 engages with the inner wall of the track body 7. Both ends of the drive shaft 19 are rotatably connected to the support assembly 5. The tensioning mechanism includes a tensioning shaft 25 and a tensioning roller 26 mounted on the tensioning shaft 25. The tensioning roller 26 engages with the inner wall of the track body 7, and both ends of the tensioning shaft 25 are rotatably connected to the support assembly 5. There are at least two telescopic support rods 6, one of which is rotatably connected to the drive shaft 19, and the other is rotatably connected to the tensioning shaft 25.

[0035] Since the inner wall of the track body 7 is provided with meshing teeth 17, the side walls of the drive roller 20 and the tension roller 26 are both provided with meshing grooves 18.

[0036] The speed reducer 21 comprises two large gears and small gears engaged with each other. The driving motor 22 can be mounted on a fixed plate 23 which can be relatively rotatably connected with the driving shaft 19, for example, a bearing is arranged on the driving shaft 19, the outer ring of the bearing is connected with the fixed plate 23, and the inner ring of the bearing is connected with the driving shaft 19, so that the rotation of the driving shaft 19 does not drive the fixed plate 23 to rotate. Under the action of the driving motor 22, the driving shaft 19 is driven to rotate, the driving shaft 19 drives the driving drum 20 connected therewith to rotate, the driving drum 20 rotates to drive the track body 7 to rotate, and the tensioning drum 26 rotates following the rotation of the track body 7. The structure of the tensioning mechanism is similar to that of the driving mechanism. The tensioning shaft 25 of the tensioning mechanism can be relatively rotatably connected with a fixed plate 23. The tensioning shaft 25 can also be connected with a tensioning electric push-pull rod arranged in the radial direction thereof, which is used to drive the tensioning shaft 25 to move close to or away from the driving shaft 19, so as to realize the tensioning adjustment of the track body 7. Of course, this tensioning adjustment belongs to micro-adjustment, and the corresponding space for the tensioning adjustment of the tensioning shaft 25 is arranged on the support assembly 5.

[0037] As shown in Figures 3-5 The support adjustment assembly 8 is arranged at one end of the tensioning shaft 25 and the driving shaft 19 respectively.

[0038] The support adjustment assembly 8 comprises the fixed plate 23, a fixed cylinder 41, a toothed groove cylinder 31, a first sleeve 35, a first wheel shaft 33, a transmission wheel set 27, a third gear 30 and an electric push rod 32. The fixed plate 23 is relatively rotatably connected with the tensioning shaft 25 or the driving shaft 19, and the specific connection mode can adopt the bearing connection mode mentioned above. The fixed plate 23 is also connected with the support assembly 5. For example, one end of the fixed plate 23 is provided with a support plate connecting block 16, both ends of a first support plate 42 are provided with support plate connecting grooves 15, the support plate connecting block 16 is horizontally inserted into the support plate connecting grooves 15, and the support plate connecting block 16 and the first support plate 42 are connected by bolts, so as to realize the connection between the first support plate 42 and the fixed plate 23. The fixed plate 23 is also provided with a damping air pressure rod 24.

[0039] In some embodiments, the damping air pressure rod 24 is connected with a driving device for driving it to rise and fall.

[0040] The fixed cylinder 41 is vertically fixed on the fixed plate 23, the toothed groove cylinder 31 is vertically movably arranged in the fixed cylinder 41, the toothed groove cylinder 31 is engaged with the third gear 30, and the top end of the toothed groove cylinder 31 is fixedly connected with the robot body 1. The side wall of the fixed cylinder 41 is provided with an opening, so that the toothed groove cylinder 31 is engaged with the third gear 30 at the opening. The main body structure of the toothed groove cylinder 31 is a cylinder, which is provided with teeth along the length direction for engaging with the third gear 30, so as to form the toothed groove cylinder 31.

[0041] The transmission wheel set 27 comprises a first gear wheel 28 and a second gear wheel 29 engaged with each other; the second gear wheel 29 is fixedly connected with the tensioning shaft 25 or the driving shaft 19 to follow the rotation; the first wheel shaft 33 has the first gear wheel 28 and a third gear wheel 30 fixedly connected at two ends thereof respectively; the first sleeve 35 is movably sleeved on the first wheel shaft 33; the electric push rod 32 is connected with the first sleeve 35 and used to drive the first sleeve 35 to ascend or descend to realize the engagement or disengagement of the first gear wheel 28 and the second gear wheel 29.

[0042] When the first gear wheel 28 is engaged with the second gear wheel 29, taking the driving shaft 19 as an example, the driving shaft 19 rotates to drive the second gear wheel 29 fixedly arranged at the end of the driving shaft 19 to rotate, the second gear wheel 29 drives the first gear wheel 28 engaged with the second gear wheel 29 to rotate, the first gear wheel 28 drives the first wheel shaft 33 fixedly connected with the first gear wheel 28 to rotate, thereby driving the third gear wheel 30 fixedly arranged at the other end of the first wheel shaft 33 to rotate, the third gear wheel 30 rotates to drive the toothed groove cylinder 31 engaged with the third gear wheel 30 to ascend or descend vertically in the fixed cylinder 41. In the embodiment, mainly to realize the rotation of the third gear wheel 30 to drive the toothed groove cylinder 31 to ascend, thereby raising the robot body 1 to improve the passing ability thereof.

[0043] When the electric push rod 32 pulls the first sleeve 35 to ascend, since the first wheel shaft 33 is located in the first sleeve 35, the first sleeve 35 ascending drives the first wheel shaft 33 to ascend as well, thereby the first gear wheel 28 and the third gear wheel 30 at two ends of the first wheel shaft 33 ascend, the first gear wheel 28 is disengaged from the second gear wheel 29, in this state, the robot can continue to walk, but the height of the robot body 1 does not change.

[0044] The fixed plate 23 is provided with a door-shaped fixing frame 37; the first wheel shaft 33 and the first sleeve 35 are located below the fixing frame 37, and the electric push rod 32 is arranged on the fixing frame 37; the fixing frame 37 is provided with a vertically arranged guide groove 38, the guide groove 38 is provided with a sliding block 39 connected with the first sleeve 35. Under the action of the guide groove 38 and the sliding block 39, the ascending and descending tracks of the first sleeve 35 and the first wheel shaft 33 are fixed.

[0045] The fixing frame 37 is provided with a vertical limiting pin 40 located above the first sleeve 35, the first sleeve 35 is provided with one or more sleeve positioning holes 36 matched with the limiting pin 40, and the first wheel shaft 33 is provided with a plurality of wheel shaft positioning holes 34 matched with the limiting pin 40 along the circumference thereof.

[0046] When the first sleeve 35 is continuously lifted, the limiting pin 40 is inserted into the sleeve positioning hole 36, and after the limiting pin 40 is inserted into the sleeve positioning hole 36, the end of the limiting pin 40 abuts against the side wall of the first axle 33 or is inserted into the axle positioning hole 34 of the first axle 33. When the limiting pin 40 is inserted into the axle positioning hole 34, the first axle 33 cannot rotate under the limiting action of the limiting pin 40, so that the first gear 28 and the third gear 30 at both ends of the first axle 33 cannot rotate, and then the toothed groove cylinder 31 cannot be lifted and lowered, and the robot body 1 is limited at a certain height. When the limiting pin 40 abuts against the side wall of the first axle 33, the robot body 1 will move up and down slightly due to uneven road surface, so that the toothed groove cylinder 31 can be lifted and lowered slightly, thereby driving the third gear 30 to rotate slightly, and then the first axle 33 rotates slightly, so that the axle positioning hole 34 on the first axle 33 is aligned with the limiting pin 40, and the limiting pin 40 is inserted into the axle positioning hole 34, thereby limiting the robot body 1 at a certain height. It should be noted that the number of the axle positioning holes 34 on the first axle 33 should be as many as possible, and the distance between the circumferentially adjacent axle positioning holes 34 should be as small as possible, so that when the limiting pin 40 abuts against the side wall of the first axle 33, the first axle 33 can rotate slightly to realize the cooperation between the limiting pin 40 and the axle positioning hole 34.

[0047] The above is only the preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical scheme falling within the concept of the present application shall fall within the protection scope of the present application. It should be noted that some improvements and decorations without departing from the principle of the present application shall also be considered as the protection scope of the present application.

Claims

1. An intelligent robot for road construction layout, characterized in that, The system includes a robot body, an RTK integrated navigation module, a lidar, and ultrasonic sensors mounted on the robot body. A tracked walking mechanism is located at the bottom of the robot body. The tracked walking mechanism includes: a track body, a drive mechanism at one end of the track body, a tensioning mechanism at the other end of the track body, support components on both sides of the track body, and telescopic support rods and vibration-damping pneumatic rods mounted on the support components. The top ends of the telescopic support rods and the vibration-damping pneumatic rods are connected to the robot body. The drive mechanism drives the track body to rotate. The support components connect the drive mechanism and the tensioning mechanism. A support adjustment component is also located on one side of the drive mechanism and the tensioning mechanism, and is connected to the robot body for adjusting the height of the robot body. The tracked walking mechanism also includes multiple ground pressing units disposed between the tensioning mechanism and the drive mechanism. Each ground pressing unit includes: a ground pressing roller, roller fixing shafts disposed at both ends of the ground pressing roller, a crank mechanism connected to the roller fixing shafts, a ground pressing pneumatic rod, and a support plate connector disposed at the other end of the ground pressing pneumatic rod. The support plate connector is fixedly connected to the support assembly, and the other end of the crank mechanism is rotatably connected to the support assembly via the roller connecting shaft. The ground pressing roller engages with the inner wall of the track body. The drive mechanism includes a drive shaft, a drive motor, a reducer connecting the drive motor and the drive shaft, and a drive roller mounted on the drive shaft; the drive roller engages with the inner wall of the track body; both ends of the drive shaft are rotatably connected to the support assembly; the tensioning mechanism includes a tensioning shaft and a tensioning roller mounted on the tensioning shaft, the tensioning roller engaging with the inner wall of the track body, and both ends of the tensioning shaft being rotatably connected to the support assembly; there are at least two telescopic support rods, one of which is rotatably connected to the drive shaft, and the other is rotatably connected to the tensioning shaft; At least two support adjustment components are respectively disposed at one end of the tension shaft and the drive shaft. Each support adjustment component includes a fixed plate, a fixed cylinder, a toothed cylinder, a first sleeve, a first wheel axle, a transmission wheel set, a third gear, and an electric push rod. The fixed plate is rotatably connected to the tension shaft or the drive shaft, and is also connected to the support component. The fixed cylinder is vertically fixed to the fixed plate, and the toothed cylinder is vertically movably disposed within the fixed cylinder, meshing with the third gear. The top end of the toothed cylinder is fixedly connected to the robot body. The transmission wheel set includes a meshing first gear and a second gear. The second gear is fixedly connected to the tension shaft or the drive shaft to follow its rotation. The two ends of the first wheel axle are respectively fixedly connected to the first gear and the third gear. The first sleeve is movably fitted outside the first wheel axle. The electric push rod is connected to the first sleeve and is used to drive the first sleeve to rise and fall to achieve meshing or disengagement of the first gear and the second gear.

2. The intelligent robot for road construction layout according to claim 1, characterized in that, The support assembly includes a first support plate and a second support plate respectively disposed on both sides of the track body. The first support plate is provided with a telescopic support rod, and the second support plate is provided with a vibration damping air bar.

3. The intelligent robot for road construction layout according to claim 1, characterized in that, A gate-shaped fixing frame is provided on the fixing plate; the first wheel axle and the first sleeve are located below the fixing frame, and the electric push rod is mounted on the fixing frame; a vertically arranged guide groove is provided on the fixing frame, and a slider is provided in the guide groove, the slider being connected to the first sleeve.

4. The intelligent robot for road construction layout according to claim 3, characterized in that, The fixing frame is provided with an upright limiting pin, which is located above the first sleeve. The first sleeve is provided with one or more sleeve positioning holes that cooperate with the limiting pin. The first wheel axle is provided with multiple wheel axle positioning holes that cooperate with the limiting pin along its circumference.

5. The intelligent robot for road construction layout according to claim 1, characterized in that, The fixing plate is also equipped with a vibration damping air bar.

6. The intelligent robot for road construction layout according to claim 1, characterized in that, The RTK integrated navigation module includes an RTK mapper, an RTK host, and an RTK wireless terminal device that are connected in communication; the RTK host and the RTK wireless terminal device are located inside the robot body; the RTK mapper is located on the top of the robot body.

7. The intelligent robot for road construction layout according to claim 6, characterized in that, The robot body includes a first body, a second body, and a third body connected to each other; the first body is connected to the tracked walking mechanism; the second body is disposed on top of the first body, and the ultrasonic sensor is disposed around the second body; the third body is disposed on top of the second body, and the lidar and the RTK mapper are disposed on the top of the third body.

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