A road maintenance vehicle system

Abstract

The present application relates to a kind of road maintenance vehicle systems, including vehicle body, also including mobile carrier, mobile carrier is equipped with road executive mechanism, road executive mechanism is traffic cone retraction and extension executive mechanism, cleaning executive mechanism, green pruning executive mechanism or road sign drawing executive mechanism;Positioning connecting mechanism is arranged between vehicle body and mobile carrier, mobile carrier is detachably positioned and installed on vehicle body by positioning connecting mechanism, vehicle body replaces different mobile carrier by disassembly, to carry different road executive mechanism, various road executive mechanism is pre-installed on corresponding mobile carrier, different mobile carrier needs to be replaced on one vehicle body, can have corresponding road executive mechanism, the vehicle required by cleaning company is reduced, reduce vehicle area, production and purchase cost drop, later maintenance cost drops.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of road maintenance, in particular to a road maintenance vehicle-mounted system. BACKGROUND

[0002] The existing road maintenance vehicle-mounted system can only carry a single execution mechanism, such as a greening grass cutting execution mechanism, a traffic cone collecting and releasing mechanism, a road cleaning mechanism, etc., resulting in a large number of vehicles required by cleaning companies, high production and purchase costs, and high maintenance costs in the later period.

[0003] A new type of micro cleaning vehicle for signs, markings and road surfaces disclosed in Chinese Patent No. 201921512568.6, a public and railway dual-purpose tunnel cleaning vehicle disclosed in Chinese Patent No. 202021545143.8, a highway greening pruning device and cleaning vehicle disclosed in Chinese Patent No. 201410621569.X, a vehicle-mounted road greening pruning machine disclosed in Chinese Patent No. 202210987849.7, a traffic cone collecting and releasing storage vehicle disclosed in Chinese Patent No. 202010459283.1, an automatic traffic cone collecting and releasing method disclosed in Chinese Patent No. 202010841167.6, and a road sign and marking device disclosed in Chinese Patent No. 202223019053.7, which requires manual pushing to draw road signs.

[0004] The above-mentioned solutions all require the driver to assist in driving, do not free the labor, and the above-mentioned solutions can only carry a single execution mechanism, resulting in a large number of vehicles required by cleaning companies, high production and purchase costs, and high maintenance costs in the later period. SUMMARY

[0005] The present application aims to provide a road maintenance vehicle-mounted system, which pre-installs various road execution mechanisms on corresponding mobile carriers, so that a vehicle body needs to replace different mobile carriers to have corresponding road execution mechanisms, reduces the number of vehicles required by cleaning companies, reduces the vehicle occupation area, reduces the production and purchase costs, and reduces the maintenance costs in the later period.

[0006] A road maintenance vehicle-mounted system designed for this purpose comprises a vehicle body, a mobile carrier, a road execution mechanism arranged on the mobile carrier, a positioning connection mechanism arranged between the vehicle body and the mobile carrier, and a lifting positioning mechanism arranged between the vehicle body and the mobile carrier.

[0007] The mobile carrier comprises a fixing plate for fixing the road execution mechanism and a support rod rotatably arranged on the fixing plate, and a caster is arranged on the support rod.

[0008] When the vehicle body and the mobile carrier are installed, the mobile carrier is pushed to the corresponding installation position of the vehicle body, the movable part of the lifting positioning mechanism performs a lifting action to first positionally connect with the mobile carrier, and the caster of the mobile carrier is separated from the ground, and the support rod is stored in the mobile carrier by rotating; the movable part of the lifting positioning mechanism performs a lowering action, and the vehicle body and the mobile carrier are secondly positionally connected through the positioning connection mechanism.

[0009] When the vehicle body and the mobile carrier are disassembled, the movable part of the lifting positioning mechanism performs a lifting action to lift the mobile carrier, and the positioning connection mechanism between the vehicle body and the mobile carrier is in a separated state; the support rod is extended out of the mobile carrier by rotating, the movable part of the lifting positioning mechanism performs a lowering action, and the caster of the support rod contacts the ground to push out the mobile carrier.

[0010] The lifting positioning mechanism comprises a lifting cylinder arranged on the vehicle body and a positioning hole arranged on the fixing plate; when the vehicle body and the mobile carrier are installed, the piston rod of the lifting cylinder is inserted into the positioning hole; when the vehicle body and the mobile carrier are disassembled, the piston rod of the lifting cylinder is separated from the positioning hole.

[0011] The positioning connection mechanism comprises a plug-in slot cavity arranged on the vehicle body and a plug-in block arranged on the mobile carrier; when the vehicle body and the mobile carrier are installed, the plug-in block is inserted into the plug-in slot cavity; when the vehicle body and the mobile carrier are disassembled, the plug-in block is separated from the plug-in slot cavity.

[0012] The traffic cone collecting and releasing execution mechanism comprises a first multi-axis mechanical arm and a positioning fork detachably mounted on the mobile carrier, the first multi-axis mechanical arm comprises a clamping assembly for clamping the traffic cone; when the traffic cone is placed, the positioning fork is placed on the mobile carrier, the clamping assembly of the first multi-axis mechanical arm clamps the traffic cone to place the traffic cone on the working section; when the traffic cone is collected, the positioning fork is mounted on the mobile carrier by machine or manually, the positioning fork is driven to approach the traffic cone when the vehicle body drives, the clamping assembly of the first multi-axis mechanical arm clamps the traffic cone when the traffic cone enters the collection area of the positioning fork, and the traffic cone is collected on the mobile carrier.

[0013] The cleaning execution mechanism comprises a spray head for spraying cleaning liquid; the spray head is arranged on a fixed frame or a lifting frame, and the cleaning height of the spray head is adjusted by lifting the lifting frame; the cleaning execution mechanism further comprises a first cleaning liquid pipeline and a second cleaning liquid pipeline, and the cleaning execution mechanism selects the cleaning liquid by switching the first cleaning liquid pipeline and the second cleaning liquid pipeline to work independently or simultaneously.

[0014] The vehicle body can be unmanned by configuring an automatic driving chassis, the technical problem that the existing cleaning device cannot be fully automatically driven is solved, the cleaning height of the spray head is adjusted by lifting the lifting frame, the technical problem that the cleaning height of the existing cleaning device is not high enough is solved, and manual holding of the water pipe for spraying cleaning is required.

[0015] The greenery pruning execution mechanism comprises a second multi-axis mechanical arm, and an arc-shaped hedge trimmer is arranged at one end of the second multi-axis mechanical arm; the arc-shaped hedge trimmer comprises an arc-shaped support and a blade, one end of the arc-shaped support and one end of the blade are hinged, an angle adjusting connecting assembly is arranged between the arc-shaped support and the blade, the arc-shaped support is changed in curvature through the angle adjusting connecting assembly between the arc-shaped support and the blade to adjust the curvature of the blade, and the pruning mode and / or the pruning angle position of the arc-shaped hedge trimmer are adjusted by changing the crankshaft shape of the second multi-axis mechanical arm.

[0016] The road sign drawing execution mechanism comprises a third multi-axis mechanical arm and a drawing assembly for drawing road signs arranged on the third multi-axis mechanical arm, the drawing assembly is detachably mounted on the third multi-axis mechanical arm, the drawing assembly comprises a drag frame for a hot spraying mode, or the drawing mechanism comprises a spraying machine for a cold spraying mode, different drawing assemblies are replaced on the third multi-axis mechanical arm to switch between the cold spraying and hot spraying working modes.

[0017] The vehicle body is provided with an automatic driving chassis, and the vehicle body realizes unmanned driving on a work section through the automatic driving chassis; the vehicle body includes a vehicle head box provided with an automatic driving chassis control center, and the mobile carrier includes a fixing plate for fixing a road execution mechanism, the fixing plate is provided with an electrical cavity for accommodating electronic components and a wire harness, an electrical control connection plug-in end is arranged between the vehicle head box and the fixing plate of the mobile carrier, an industrial computer and a router are arranged on the vehicle head box, the industrial computer is in communication connection with an MCU of the automatic driving chassis control center through the router, and the electrical or pneumatic actuators of the road execution mechanism are in electrical control connection with the industrial computer through the wire harness. An electrical control connection plug-in end is arranged between the vehicle head box and the fixing plate of the mobile carrier, so that when the vehicle body and the mobile carrier are disassembled, the electrical connection between the mobile carrier and the vehicle head box can be disconnected first, and when the vehicle body and the mobile carrier are assembled, the electrical connection between the vehicle head box and the execution mechanism of the mobile carrier can be effectively realized.

[0018] The automatic driving unmanned vehicle is prior art, and the system program software for unmanned driving is not described in detail here, and the detailed structure of the automatic driving chassis can be referred to the automatic driving chassis disclosed in Chinese Patent No. 202220401848.5 and the electrical control system of the four-wheel drive four-wheel steering automatic driving chassis disclosed in Chinese Patent No. 201510807971.1, and the specific structure of the automatic driving chassis is not described in detail here.

[0019] The vehicle body is also provided with a GPS positioning module matched with the automatic driving chassis, the GPS positioning module is in communication connection with an MCU of the automatic driving chassis control center, the automatic driving chassis control center reads GPS information of the automatic driving chassis through the GPS positioning module, and the automatic driving chassis control center can set an execution starting point and an execution ending point of the road execution mechanism on the work section through the GPS positioning module, so as to realize road section execution.

[0020] The vehicle body is also provided with a high-precision sensor and a camera matched with the automatic driving chassis, the high-precision sensor is used for detecting obstacles during driving, and the camera is used for shooting and identifying obstacles and / or driving paths; the cleaning vehicle has L4 level self-driving capability. The obstacle monitoring range, driving path and the like of the unmanned driving chassis can be set in the automatic driving chassis control center.

[0021] The present application has the beneficial effects as follows:

[0022] Various road execution mechanisms are pre-installed on corresponding mobile carriers, and a vehicle body needs to replace different mobile carriers, so that the vehicle has corresponding road execution mechanisms, the number of vehicles required by the cleaning company is reduced, the vehicle occupation area is reduced, the production and purchase cost is reduced, and the later maintenance cost is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1Figure 1 is an exploded view of the assembly of the vehicle body and the mobile carrier according to an embodiment of the present application.

[0024] Figure 2 Figure 2 is another exploded view of the assembly of the vehicle body and the mobile carrier according to an embodiment of the present application.

[0025] Figure 3 Figure 3 is a perspective view of the lifting cylinder according to an embodiment of the present application.

[0026] Figure 4 Figure 4 is a view of the traffic cone collecting and releasing mechanism according to an embodiment of the present application.

[0027] Figure 5 Figure 5 is a view of the positioning fork according to an embodiment of the present application.

[0028] Figure 6 Figure 6 is a control flowchart of the traffic cone collecting and releasing mechanism according to an embodiment of the present application.

[0029] Figure 7 Figure 7 is a control principle diagram of the traffic cone collecting and releasing mechanism according to an embodiment of the present application.

[0030] Figure 8 Figure 8 is a view of the cleaning mechanism according to an embodiment of the present application.

[0031] Figure 9 Figure 9 is a control flowchart of the cleaning mechanism according to an embodiment of the present application.

[0032] Figure 10 Figure 10 is a control principle diagram of the cleaning mechanism according to an embodiment of the present application.

[0033] Figure 11 Figure 11 is a view of the greenery pruning mechanism according to an embodiment of the present application.

[0034] Figure 12 Figure 12 is a control flowchart of the greenery pruning mechanism according to an embodiment of the present application.

[0035] Figure 13 Figure 13 is a control principle diagram of the greenery pruning mechanism according to an embodiment of the present application.

[0036] Figure 14 Figure 14 is a view of the road sign drawing mechanism according to an embodiment of the present application.

[0037] Figure 15 Figure 15 is a control flowchart of the road sign drawing mechanism according to an embodiment of the present application.

[0038] Figure 16The structural schematic view of the road sign drawing execution mechanism according to an embodiment of the present application.

[0039] Figure 17 The control principle schematic view of the road sign drawing execution mechanism according to an embodiment of the present application. DETAILED DESCRIPTION

[0040] The present application will be further described below in conjunction with the drawings and embodiments.

[0041] Reference Figures 1-17 A road maintenance vehicle-mounted system comprises a vehicle body 1, further comprises a mobile carrier 2, the mobile carrier 2 is provided with a road execution mechanism, the road execution mechanism is a traffic cone collecting and releasing execution mechanism 3, a cleaning execution mechanism 4, a greenery pruning execution mechanism 5 or a road sign drawing execution mechanism 6; the vehicle body 1 and the mobile carrier 2 are provided with a positioning connection mechanism 7, the mobile carrier 2 is detachably positioned and installed on the vehicle body 1 through the positioning connection mechanism 7, the vehicle body 1 replaces different mobile carriers 2 through disassembly and assembly, and different road execution mechanisms are carried on the vehicle.

[0042] The mobile carrier 2 comprises a fixing plate 8 for fixing the road execution mechanism, and a supporting rod 9 rotatably arranged on the fixing plate 8, the supporting rod 9 is provided with a castor 10, and the vehicle body 1 and the mobile carrier 2 are further provided with a lifting positioning mechanism 11;

[0043] When the vehicle body 1 and the mobile carrier 2 are installed, the mobile carrier 2 is pushed to the installation position corresponding to the vehicle body 1, the movable part of the lifting positioning mechanism 11 performs an upward action to perform first positioning connection with the mobile carrier 2, and the castor 10 of the mobile carrier 2 is separated from the ground, and the supporting rod 9 is accommodated in the mobile carrier 2 through rotation; the movable part of the lifting positioning mechanism 11 performs a downward action, and the vehicle body 1 and the mobile carrier 2 are secondly positioned and connected through the positioning connection mechanism 7;

[0044] When the vehicle body 1 and the mobile carrier 2 are disassembled, the movable part of the lifting positioning mechanism 11 performs an upward action to lift the mobile carrier 2, and the positioning connection mechanism 7 between the vehicle body 1 and the mobile carrier 2 is in a separated state; the supporting rod 9 is extended out of the mobile carrier 2 through rotation, the movable part of the lifting positioning mechanism 11 performs a downward action, and the castor 10 of the supporting rod 9 is in contact with the ground to push out the mobile carrier 2.

[0045] In the embodiment, the supporting rod 9 can be a telescopic supporting rod 9, which comprises a fixed rod and a movable rod, the movable rod is inserted into the fixed rod and connected through threads, and the movable rod is telescopically arranged on the fixed rod through threads.

[0046] In the embodiment, the support rod 9 is provided with an axle hole, the support rod 9 is rotatably arranged on the fixed plate 8, the fixed plate 8 is provided with a first limiting block 29 and a second limiting block 30 arranged in an upper and lower interval, the second limiting block 30 is located at the bottom of the first limiting block 29, the second limiting block 30 is arranged on the fixed plate 8 through elastic expansion and contraction movement of the compression spring, when the support rod 9 rotates, the second limiting block 30 is pressed into the fixed plate 8 by hand, when the support rod 9 rotates to a vertical state, the support rod 9 is limited left and right between the first limiting block 29 and the second limiting block 30, so as to prevent the support rod 9 from swinging left and right, when the support rod 9 rotates to a horizontal state, the support rod 9 is limited up and down in the limiting clamping groove between the first limiting block 29 and the second limiting block 30; or, a rotating locking structure is arranged between the support rod 9 and the fixed plate 8, the rotating locking structure comprises a locking hole and a locking pin inserted into the locking hole.

[0047] The lifting positioning mechanism 11 comprises a lifting cylinder 12 arranged on the vehicle body 1 and a positioning hole arranged on the fixed plate 8; when the vehicle body 1 is installed with the mobile carrier 2, the piston rod of the lifting cylinder 12 is inserted into the positioning hole; when the vehicle body 1 is disassembled with the mobile carrier 2, the piston rod of the lifting cylinder 12 is separated from the positioning hole.

[0048] In the embodiment, the lifting cylinder 12 is a hydraulic cylinder or an air cylinder, and the cylinder body of the lifting cylinder 12 is fixed in the vehicle frame of the vehicle body 1 through a connecting plate.

[0049] The positioning connection mechanism 7 comprises a plug-in slot cavity 13 arranged on the vehicle body 1 and a plug-in block 14 arranged on the mobile carrier 2; when the vehicle body 1 is installed with the mobile carrier 2, the plug-in block 14 is inserted into the plug-in slot cavity 13; when the vehicle body 1 is disassembled with the mobile carrier 2, the plug-in block 14 is separated from the plug-in slot cavity 13.

[0050] The vehicle body 1 is provided with an automatic driving chassis 27, and the vehicle body 1 realizes unmanned driving on a working section through the automatic driving chassis 27; the vehicle body 1 comprises a vehicle head box 28 provided with an automatic driving chassis control center, the mobile carrier 2 comprises a fixed plate 8 for fixing a road executing mechanism, the fixed plate 8 is provided with an electrical cavity for accommodating electronic components and wire harnesses, an electrical control connection plug-in end is arranged between the vehicle head box 28 and the fixed plate 8 of the mobile carrier 2, an industrial computer and a router are arranged on the vehicle head box 28, the industrial computer is communicatively connected with an MCU of the automatic driving chassis control center through the router, and electric or pneumatic actuators of the road executing mechanism are respectively electrically connected with the industrial computer through wire harnesses.

[0051] Referring to Figures 1-5, the traffic cone placing and taking execution mechanism 3 comprises a first multi-axis mechanical arm 15 and a positioning fork 16 detachably mounted on the mobile carrier 2, the first multi-axis mechanical arm 15 comprises a clamping assembly for clamping the traffic cone 17; when the traffic cone 17 is placed, the positioning fork 16 is placed on the mobile carrier 2, and the clamping assembly of the first multi-axis mechanical arm 15 clamps the traffic cone 17 to place the traffic cone 17 on the working section; when the traffic cone 17 is recycled, the positioning fork 16 is mounted on the mobile carrier 2 by machine or manually, the positioning fork 16 is driven to approach the traffic cone 17 when the vehicle body 1 drives, the clamping assembly of the first multi-axis mechanical arm 15 clamps the traffic cone 17 when the traffic cone 17 enters the recycling area 18 of the positioning fork 16, and the traffic cone 17 is recycled to the mobile carrier 2.

[0052] In the embodiment, the positioning fork 16 comprises a first connecting fork arm 31 and a second connecting fork arm 32, the spacing between the first connecting fork arm 31 and the second connecting fork arm 32 gradually increases in the direction in which the vehicle body 1 advances and forms the recycling area 18, the vehicle body 1 drives the positioning fork 16 to approach the traffic cone 17 when driving to the working section, and the traffic cone 17 is limited on the recycling area 18. The first multi-axis mechanical arm 15 cooperates with the positioning fork 16 to realize the integrated mechanism of placing and taking, and can ensure the stability of the placement position of the traffic cone 17 and the placement interval of the traffic cone 17 through automatic driving software.

[0053] A first detector for detecting the traffic cone 17 is arranged between the first connecting fork arm 31 and the second connecting fork arm 32, the first detector detects that the traffic cone 17 enters the recycling area 18, the clamping assembly of the first multi-axis mechanical arm 15 clamps the traffic cone 17 to recycle the traffic cone 17 to the mobile carrier 2, and the traffic cone 2 is accurately recycled.

[0054] In the embodiment, the mobile carrier 2 is provided with a positioning and clamping cylinder, the first multi-axis mechanical arm 15 can be a six-axis robot, the positioning fork 16 comprises a vertical positioning rod 33, one end of the first connecting fork arm 31 and the second connecting fork arm 32 are respectively connected with one end of the positioning rod 33, a cross rod 34 is arranged on the other end of the positioning rod 33, a clamping jaw for grabbing the cross rod 34 of the positioning fork 16 is arranged on the six-axis robot, the clamping jaw is a pneumatic opening and closing clamping jaw in the prior art, when the positioning fork 16 is mounted on one side of the mobile carrier 2, the cross rod 34 is placed on one side of the clamping cylinder by the pneumatic opening and closing clamping jaw, a clamping block is arranged on one side of the piston rod of the clamping cylinder, after the piston rod of the clamping cylinder pushes the clamping block to clamp the cross rod 34, the cross rod 34 is fixed on the mobile carrier 2. When the positioning fork 16 is detached on the mobile carrier 2, the six-axis robot drives the pneumatic opening and closing clamping jaw to the cross rod 34, then clamps the cross rod 34, the clamping cylinder releases the cross rod 34, and the six-axis robot drives the positioning fork 16 to move to the positioning fork 16 placement area through the pneumatic opening and closing clamping jaw, realizing the mounting or detaching of the positioning fork 16 by the machine.

[0055] Or, in the embodiment, the crossbar 34 of the positioning fork 16 is fixed on the fixed plate 8 of the mobile carrier 2, and a connecting flange plate is arranged between the crossbar 34 and the positioning rod 33 of the positioning fork 16. The connecting flange plate between the crossbar 34 and the positioning rod 33 is fixedly connected through bolts in a detachable manner, so as to realize manual installation or disassembly of the positioning fork 16.

[0056] The mobile carrier 2 is provided with a plurality of positioning parts for positioning and placing the traffic cones 17 by users. The bottom of the traffic cone 17 is correspondingly limited on the positioning part.

[0057] The plurality of traffic cones 17 on each positioning part are placed in a stacked manner.

[0058] In the embodiment, the traffic cone 17 is provided with a conical inner cavity, and the mobile carrier 2 is provided with a fixed conical positioning part. The conical inner cavity of the traffic cone 17 is inserted into the conical positioning part, thereby playing a role of limiting and storing the traffic cone 17.

[0059] The first multi-axis mechanical arm 15 can also be a four-axis mechanical arm. The four-axis mechanical arm includes a rotating base 35, a first lifting movement platform 36, a horizontal reciprocating movement platform 37, and a second lifting movement platform 38. The first lifting movement platform 36 is rotationally arranged on the rotating base 35. The horizontal reciprocating movement platform 37 is connected with a first movable part of the first lifting movement platform 36 in a matching manner. The second lifting movement platform 38 is connected with a second movable part of the horizontal reciprocating movement platform 37 in a matching manner. A clamping assembly is connected with a third movable part of the second lifting movement platform 38 in a matching manner. Alternatively, the first multi-axis mechanical arm 15 is a five-axis mechanical arm or a six-axis robot.

[0060] In the embodiment, the first lifting movement platform 36 is provided with a rodless lifting cylinder. A first sliding table that slides up and down is arranged on the rodless lifting cylinder. The first sliding table is fixedly connected with the horizontal reciprocating movement platform 37. The horizontal reciprocating movement platform 37 is provided with a rodless cylinder. A second sliding table that slides horizontally is arranged on the rodless cylinder. The second sliding table is fixedly connected with the second lifting movement platform 38. The second lifting movement platform 38 is provided with a rodless up-and-down lifting cylinder. A third sliding block of the rodless up-and-down lifting cylinder is fixedly connected with the clamping assembly. The rotating base 35 is meshingly and drivingly connected with the bottom of the first lifting movement platform 36 through a gear set and a motor. The motor drives the first lifting movement platform 36 to rotate on the rotating base 35 through the gear set. Alternatively, the rotating base 35 is provided with a rotating cylinder. A rotating plate is arranged on the output end of the rotating cylinder. The first lifting movement platform 36 is fixed on the rotating plate. Alternatively, a driven gear is arranged on the bottom of the rotating plate. The driven gear is meshingly and drivingly connected with a driving gear of a motor shaft.

[0061] Alternatively, the first lifting movement platform 36 is provided with a vertical first sprocket transmission assembly, and the horizontal reciprocating movement platform 37 is provided with a transverse second sprocket transmission assembly. Each sprocket transmission assembly comprises a first sprocket and a second sprocket, and the first sprocket and the second sprocket are connected by a chain transmission. The rotating shaft of the first sprocket is provided with a motor.

[0062] The clamping assembly is a suction cup; alternatively, the clamping assembly is a pneumatic or electric clamping jaw; each movement platform and / or clamping assembly of the four-axis mechanical arm is provided with a second detector for detecting the traffic cone 17.

[0063] The suction cup-shaped clamping jaw can grasp an object weighing 10 kg. The positioning fork 16 is installed on the side of the vehicle, and the positioning fork 16 is provided with a first detector. After detecting the traffic cone 17, the suction cup-shaped clamping jaw of the four-axis mechanical arm will clamp the traffic cone 17 and stack it on the positioning part of the vehicle body. The positioning part is arranged in the storage area of the mobile carrier 2.

[0064] The rotating base 35 is provided with an angle position sensor for detecting the rotation angle of the first lifting movement platform 36. The first lifting movement platform 36 is provided with a first position sensor for detecting the activity position of the first movable part. The horizontal reciprocating movement platform 37 is provided with a second position sensor for detecting the activity position of the second movable part. The second lifting movement platform 38 is provided with a third position sensor for detecting the activity position of the third movable part, so as to realize accurate clamping, recycling and placing of the traffic cone.

[0065] The vehicle body 1 is also provided with a high-precision sensor and a camera cooperating with the automatic driving chassis 27. The high-precision sensor is used to detect obstacles during driving, and the camera is used to shoot and identify obstacles and / or driving paths. The obstacle monitoring range, driving path, etc. of the automatic driving chassis can be set in the automatic driving chassis control center. The vehicle body 1 is also provided with a GPS positioning module cooperating with the automatic driving chassis. The GPS positioning module is in communication connection with the MCU of the automatic driving chassis control center. The automatic driving chassis control center reads the GPS information of the automatic driving chassis through the GPS positioning module, so as to drive the vehicle body to the set working section through the automatic driving chassis.

[0066] The interval between the traffic cones 17, the starting point and the ending point of placing the traffic cones 17, the starting point and the ending point of collecting the traffic cones 17, and the number of placing can be set through the automatic driving chassis control center.

[0067] When the vehicle drives in the traffic cone placing mode, the clamping assembly of the four-axis mechanical arm will start to clamp the traffic cone and place it on the road when the vehicle reaches the placing starting point. The vehicle continues to drive, and the four-axis mechanical arm also works according to the set traffic cone 17 placing interval.

[0068] When the vehicle is running in the traffic cone 17 recovery mode, the positioning fork 16 needs to be manually installed first. When reaching the recovery starting point, the system starts to detect whether the traffic cone enters the recovery area 18 of the positioning fork area 16. Once the first detector detects the traffic cone 17, the four-axis mechanical arm will pick up the traffic cone 17 and put it back to the chassis recovery area.

[0069] The four-axis mechanical arm carries the traffic cone, has high load capacity and simple control strategy, and can also realize convenient and fast updating when dealing with traffic cones of different heights and models. Through the positioning of the automatic driving chassis, the accurate setting of the working section is realized, and the positioning is more accurate than manual placement. The device realizes the full automation of the traffic cone 17 recovery and placement.

[0070] Referring to Figures 8-10 , the cleaning execution mechanism 4 includes a spray head 19 for spraying cleaning liquid; the spray head 19 is arranged on a fixed frame 20 or a lifting frame, and the cleaning height of the spray head 19 is adjusted by lifting the lifting frame; the cleaning execution mechanism 4 further includes a first cleaning liquid cleaning pipeline and a second cleaning liquid cleaning pipeline; the cleaning execution mechanism 4 selects the cleaning liquid by switching the first cleaning liquid cleaning pipeline and the second cleaning liquid cleaning pipeline, so that the first cleaning liquid cleaning pipeline or the second cleaning liquid cleaning pipeline works alone, or the first cleaning liquid cleaning pipeline and the second cleaning liquid cleaning pipeline work simultaneously.

[0071] The cleaning execution mechanism 4 further includes a water pump, a foam bottle 39 for placing cleaning agent, and a liquid storage tank for placing liquid; the spray head 19, the foam bottle 39, and the liquid storage tank are connected with the water pump through corresponding pipelines; the water pump draws the cleaning agent in the foam bottle 39 or the liquid in the liquid storage tank to the spray head 19, so that the spray head 19 sprays the cleaning liquid; the spray head 19 includes a fan-shaped nozzle, which facilitates uniform spraying and expansion of the cleaning spray range.

[0072] The spray head 19 includes a sleeve body and a nozzle rotatably arranged on the sleeve body; the main body of the nozzle is inserted into the inner cavity of the sleeve body, and a limiting step is arranged between the sleeve body and the main body of the nozzle; the nozzle is limited to rotate on the sleeve body by the limiting step under the water flow pressure. The nozzle of the spray head 19 rotates by relying on its own backflushing force (utilizing the backflushing force of water flow for self-rotation), which simplifies the overall control, saves energy, and at the same time provides good cleaning effect and cleaning range.

[0073] The spray head 19 includes a nozzle, and the nozzle is provided with a plurality of fan-shaped spray holes or a column body protruding outward from the nozzle main body; or, the nozzle is provided with fan-shaped spray holes.

[0074] The vehicle body 1 comprises a vehicle head tank 28 provided with an automatic driving chassis control center, and the vehicle head tank 28 is provided with an industrial computer and a router. The cleaning execution mechanism 4 further comprises a water pump for delivering cleaning liquid to the spray head 19 through a pipeline, and a relay for controlling the start and stop of the water pump. The relay is electrically connected to the industrial computer through a wire harness, and the industrial computer is communicatively connected to the MCU of the automatic driving chassis control center through the router, so as to realize the working mode of starting or stopping the water pump by the automatic driving chassis control center through the industrial computer. The user can set the on-off state of the water pump at a specified position in advance through the automatic driving chassis control center, so as to realize segmented cleaning and cleaning mode adjustment, and solve the shortcomings that the existing municipal cleaning device cannot set the cleaning mode in segments.

[0075] The vehicle body 1 is further provided with a GPS positioning module matched with the automatic driving chassis 27. The GPS positioning module is communicatively connected to the MCU of the automatic driving chassis control center. The automatic driving chassis control center reads the GPS information of the automatic driving chassis 27 through the GPS positioning module, so as to change the working mode of the water pump when the vehicle body 1 reaches the set position by driving through the automatic driving chassis 27.

[0076] In this embodiment, the water pump on the vehicle body 1 comprises a first water pump 40 and a second water pump 41. The fixed frame 20 or the lifting frame is provided with a first layer plate 42 and a second layer plate 43 arranged in an upper and lower interval. The spray head 19 comprises a first spray head 44 and a second spray head 45. The vehicle body 1 is provided with two fixed frames 20 or lifting frames arranged at intervals. The first layer plate 42 of one fixed frame 20 or one lifting frame is provided with the first spray head 44, and the second layer plate 43 of one fixed frame 20 or one lifting frame is provided with the second spray head 45. The first layer plate 42 of the other fixed frame 20 or the other lifting frame is provided with a third spray head 46, and the second layer plate 43 of the other fixed frame 20 or the other lifting frame is provided with a fourth spray head 47.

[0077] In this embodiment, the foam kettle 39 is arranged between the first water pump 40 and the second water pump 41. The first water pump 40 is connected to the foam kettle 39 and the liquid storage tank through corresponding pipelines. The first spray head 44 and the second spray head 45 are connected to the first water pump 40 through corresponding pipelines, so that the first spray head 44 and the second spray head 45 can spray cleaning agent foam.

[0078] The liquid storage tank is connected to the second water pump 41 through corresponding pipelines. The third spray head 46 and the fourth spray head 47 are connected to the second water pump 41 through corresponding pipelines. The third spray head 46 and the fourth spray head 47 spray clean water.

[0079] The high-pressure cleaning execution mechanism 3 further comprises a foam tank 39 for placing cleaning agent and a liquid storage tank for placing clean water; the foam tank 39 and the liquid storage tank are respectively connected to the water pump through corresponding pipelines; the automatic driving chassis control center controls the water pump to draw the liquid in the foam tank 39 or the liquid storage tank to the spray head 19 to switch the cleaning liquid on the spray head 19.

[0080] In the embodiment, the relay comprises a first relay and a second relay, the first relay controls the start and stop of the first water pump 40, and the second relay controls the start and stop of the second water pump 41. The automatic driving chassis control center is installed in the head tank and is provided with a high-speed router; a user can connect the automatic driving chassis control center through a mobile device to realize emergency stop and switch the water pump (the mobile phone is connected to the automatic driving chassis control center through a Bluetooth or WiFi module). The automatic driving chassis control center can also read the GPS information of the unmanned driving chassis and change the on-off state of the first water pump 40 and the second water pump 41 when reaching the set position. The user can set the on-off state of the first water pump 40 and the second water pump 41 at the specified position through the automatic driving chassis control center to realize segmented cleaning and cleaning mode adjustment. The working mode can be customized to realize accurate start cleaning and pause cleaning, and can be used for segmented cleaning. At the same time, the device can also realize the switching of clean water and cleaning agent to ensure the cleaning effect.

[0081] The lifting frame further comprises a fixing plate for fixing the lifting transmission mechanism, and the lifting plate is connected to the lifting end of the lifting transmission mechanism.

[0082] In the embodiment, the lifting transmission mechanism comprises a pneumatic cylinder lifting mechanism and a motor lifting mechanism, the piston rod of the pneumatic cylinder is in transmission connection with the lifting plate, the lifting plate comprises two lifting plates arranged in an upper-lower interval, the two lifting plates are fixedly connected through a connecting plate, and the lowermost lifting plate is in connection with the piston rod of the pneumatic cylinder through a connecting block.

[0083] In the embodiment, the motor lifting mechanism comprises a screw rod and a movable nut in connection with the screw rod, a slide rail and a slide block structure are arranged between the lifting plate and the fixed frame, one end of the screw rod is connected with a motor, the motor drives the screw rod to rotate, the movable nut moves up and down along the screw rod, and the lifting plate reciprocatingly slides up and down on the fixed frame.

[0084] In the embodiment, the pneumatic cylinder or the motor is in electric control connection with the MCU of the automatic driving chassis control center, and the specific working process is as follows: a user connects the background control system of the automatic driving chassis control center through a mobile phone, a remote controller or a tablet computer, enters the working mode of the control system and selects the tunnel to be cleaned on the screen of the mobile phone, the remote controller or the tablet computer, sets the driving path of the automatic driving chassis 27, sets the start and stop of the first water pump 40 and the second water pump 31 on the driving path, so as to set the state of each spray head when reaching each state point.

[0085] The automatic driving chassis 27 drives along the set driving path, and when the vehicle body 1 reaches the state point, the four spray heads work according to the set state.

[0086] Referring to Figures 11-13 The greenery pruning actuator 5 comprises a second multi-axis mechanical arm 21, and an arc-shaped hedge machine 22 is arranged at one end of the second multi-axis mechanical arm 21. The arc-shaped hedge machine 22 comprises an arc-shaped support 23 and a blade 24, one end of the arc-shaped support 23 and one end of the blade 24 are hingedly connected, and an angle adjusting connecting assembly is arranged between the arc-shaped support 23 and the blade 24. The arc-shaped support 23 and the blade 24 change the arc of the arc-shaped support 23 through the angle adjusting connecting assembly to adjust the arc of the blade 24. The arc of the blade of the arc-shaped hedge machine can be manually changed, and one blade can be used for multiple purposes. When the blade is a straight blade, it can be used for pruning horizontal or vertical surfaces. When the blade is a curved blade, curved blades with different curvatures (arcs) can be used for pruning curved surfaces with different diameters. The blade corresponds to the direction of the green belt and is provided with a plurality of spaced teeth or cutting edges.

[0087] In addition, by changing the crankshaft shape of the second multi-axis mechanical arm 21, the pruning mode and / or the pruning angle position of the arc-shaped hedge machine 22 are adjusted. Thanks to the adjustable curvature of the multi-axis mechanical arm and the adjustable arc of the blade of the arc-shaped hedge machine, the road greenery pruning robot has three modes of horizontal pruning, vertical pruning and customized pruning. The construction sections of the three modes can also be set by themselves to match different green belt landscapes.

[0088] In the embodiment, the second multi-axis mechanical arm 21 is a six-axis mechanical arm, and the moving carrier 2 is provided with a protection plate 48 corresponding to the two sides of the second multi-axis mechanical arm 21. The back of the protection plate 48 is provided with a reinforcing rib plate to increase the mechanical strength of the protection plate 48. The protection plate 48 can prevent branches from splashing onto the vehicle body and can also control the range of falling branches to a certain extent so that they will not scatter onto the road.

[0089] The protection plate 48 is fixedly arranged on the moving carrier 2, and the back of the protection plate 48 is provided with a fixing bracket fixed on the moving carrier 2, so that the protection plate 48 is fixedly installed on the moving carrier 2.

[0090] Alternatively, the moving carrier 2 is provided with a hinged seat and an angle adjusting seat, one end of the protection plate 48 is hingedly connected with the hinged seat, and a connecting rod is arranged between the protection plate 48 and the angle adjusting seat. One end of the connecting rod is connected with the protection plate 48, and the other end of the connecting rod is movably connected with the angle adjusting seat. By changing the installation position of the connecting rod in the angle adjusting seat, the installation state of the protection plate 48 on the moving carrier 2 is changed.

[0091] In the embodiment, the angle adjusting seat is provided with an arc-shaped groove or a plurality of adjusting holes arranged in an arc shape, and the other end of the connecting rod is movably fixed in the arc-shaped groove or the different adjusting holes to change the installation state of the protection plate 48 on the moving carrier 2 and adjust the range of fallen branches.

[0092] The road greening pruning robot further comprises a relay for controlling the start and stop of the electric part of the arc-shaped hedge machine 22, the vehicle body 1 comprises a vehicle head tank 28 provided with an automatic driving chassis control center, the vehicle head tank 28 is provided with an industrial computer and a router, the industrial computer is in communication connection with the MCU of the automatic driving chassis control center through the router, and the relay and the six-axis mechanical arm are in electric control connection with the industrial computer through a wire harness, so that the automatic driving chassis control center controls the work of the six-axis mechanical arm 3 and the arc-shaped hedge machine 22 through the industrial computer.

[0093] The vehicle body 1 is further provided with a GPS positioning module matched with the automatic driving chassis 27, the GPS positioning module is in communication connection with the MCU of the automatic driving chassis control center, the automatic driving chassis control center reads the GPS information of the automatic driving chassis 27 through the GPS positioning module, and the automatic driving chassis control center can set the starting point and the ending point of pruning through the GPS positioning module to realize segmented pruning.

[0094] In the embodiment, the user can connect the automatic driving chassis control center through WiFi or Bluetooth by using a mobile phone APP, a tablet computer or the like, so as to set relevant information through the screen of the mobile phone APP or the tablet computer.

[0095] One end of the arc-shaped hedge machine 22 is provided with a connecting rod, the connecting rod is provided with a connecting block matched and connected with one end of the six-axis mechanical arm, and the arc-shaped hedge machine 22 is detachably installed on the six-axis mechanical arm through the connecting rod and the connecting block.

[0096] Referring to Figures 14-17 , the road sign drawing execution mechanism 6 comprises a third multi-axis mechanical arm 25 and a drawing assembly for drawing road signs arranged on the third multi-axis mechanical arm 25, the drawing assembly is detachably installed on the third multi-axis mechanical arm 25, the drawing assembly comprises a drag frame 26 for a hot spraying mode, or the drawing mechanism comprises a spraying machine for a cold spraying mode, and different drawing assemblies are replaced on the third multi-axis mechanical arm 25 to realize switching between the cold spraying and the hot spraying.

[0097] By using the third multi-axis mechanical arm 25 with high degree of freedom to assist workers to complete the drawing of road signs, the accuracy of drawing is improved, the drawing of complex patterns such as English letters can be completed, the effect and efficiency of road sign drawing are improved, the burden of workers is reduced, the drawing process is simplified, and the automation and intelligentization of municipal road maintenance are assisted. The drawing assembly is detachably mounted on the third multi-axis mechanical arm 25, and can be switched between cold spraying and hot spraying.

[0098] The third multi-axis mechanical arm 25 is a six-axis mechanical arm.

[0099] In the embodiment, the third multi-axis mechanical arm 25 is provided with a connecting block, the connecting block is provided with a connecting lug, and the trailing frame 26 is provided with an inclined connecting rod which is inserted into the connecting lug.

[0100] The trailing frame 26 is provided with a cavity for loading paint, and the cavity is provided with an opening for leaking paint.

[0101] The cavity of the trailing frame 26 is manually or mechanically added with paint.

[0102] In the embodiment, the moving carrier 2 can be provided with a storage box for storing paint, one end of the pump body is connected to the storage box through a pipeline, the other end of the pump body is connected to the spray pipe, one end of the spray pipe is aligned with the cavity of the trailing frame 26, and an electromagnetic valve can be arranged on the pipeline of the pump body to control the on-off.

[0103] The spraying machine comprises a pump body connected with a nozzle, one end of the pump body is connected to a cavity for storing paint through a pipeline, and the nozzle is connected to the pump body through a paint spraying pipe which is detachably mounted on the six-axis mechanical arm.

[0104] In the embodiment, the spraying machine is a prior art which will not be described in detail here.

[0105] The trailing frame 5 is in close contact with the ground when drawing road signs; or, the cavity of the trailing frame 5 is provided with a rotating roller brush, the roller brush partially protrudes out of the bottom of the opening of the cavity, and the roller brush of the trailing frame 5 contacts the ground when drawing road signs.

[0106] The drawing angle position of the trailing frame 5 is adjusted by changing the crank shape of the six-axis mechanical arm 3.

[0107] The vehicle body 1 comprises a vehicle head tank 28 provided with an automatic driving chassis control center, and the vehicle head tank 28 is provided with an industrial computer and a router, the industrial computer is in communication connection with the MCU of the automatic driving chassis control center through the router, and the relay and the six-axis mechanical arm are respectively in electric control connection with the industrial computer, so that the automatic driving chassis control center controls the work of the six-axis mechanical arm through the industrial computer.

[0108] The vehicle body 1 is further provided with a GPS positioning module matched with the automatic driving chassis 27, the GPS positioning module is in communication connection with the MCU of the automatic driving chassis control center, the automatic driving chassis control center reads the GPS information of the automatic driving chassis 27 through the GPS positioning module, and the automatic driving chassis control center can set the starting point and the ending point of the road sign drawing through the GPS positioning module, so as to realize the road sign drawing in a segmented mode.

[0109] In the embodiment, the user can connect the automatic driving chassis control center through WiFi or Bluetooth by a mobile phone APP, a tablet computer and the like, so as to set the related information through the screen of the mobile phone APP or the tablet computer.

[0110] The cold spraying and thermal spraying equipment is installed on the carrier 2, various patterns can be drawn, and the drawing position can be accurately positioned. The six-axis mechanical arm clamps the spraying equipment to draw the road sign, is flexible and light, can adapt to various working conditions, and has large development freedom. The six-axis mechanical arm is more stable than manual operation when operating the spraying equipment, and can improve the drawing effect and efficiency. Although one scheme of the present application still needs the cooperation of the oil pouring worker, the personnel burden is reduced, and the operation difficulty is reduced. The six-axis mechanical arm end clamping device is replaced with a spraying machine nozzle, cold spraying can be performed, and the device can be more widely applied to various occasions.

[0111] In the thermal spraying mode, the drag frame 26 can be replaced with different sizes according to engineering needs. After reaching the set position, the mechanical arm slowly moves the drag frame, and the bottom of the drag frame always keeps close to the ground during the movement. The oil pouring worker uniformly pours the paint into the drag frame. In the cold spraying mode, the spraying machine is installed on the quick release module, and the end effector of the mechanical arm is replaced with the nozzle of the spraying machine. The high-pressure air pump of the spraying machine sprays the paint through the nozzle, and the mechanical arm operates the nozzle to perform the spraying operation.

[0112] When the vehicle is driving, the six-axis mechanical arm is stretched to the working position when reaching the preset starting position of the linear pattern, and the vehicle continues to drive. When drawing a straight line, the six-axis mechanical arm remains stationary, and when drawing a non-straight line pattern such as a dashed line, the six-axis mechanical arm performs corresponding actions to complete the pattern in cooperation with the driving of the vehicle. When drawing a non-linear pattern, the vehicle stops after reaching the preset position, and the six-axis mechanical arm is stretched to draw. After the drawing is completed, the six-axis mechanical arm returns to the standby position, and the vehicle continues to drive.

[0113] The automatic driving chassis control center contains a complete set of graphic libraries in the six-axis mechanical arm controller, including straight lines, dashed lines, arrows, English letters and the like, and can complete most requirements. The movement of the six-axis mechanical arm can also be redeveloped according to specific needs.

[0114] The above are the preferred schemes of the present application, which show and describe the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A road maintenance vehicle-mounted system, comprising a vehicle body (1), characterized in that: It also includes a mobile carrier (2), on which a road execution mechanism is provided. The road execution mechanism is a traffic cone release and collection mechanism (3), a cleaning mechanism (4), a greening trimming mechanism (5), or a road sign drawing mechanism (6). A positioning connection mechanism (7) is provided between the vehicle body (1) and the mobile carrier (2). The mobile carrier (2) is detachably positioned and installed on the vehicle body (1) through the positioning connection mechanism (7). The vehicle body (1) can be replaced by different mobile carriers (2) to carry different road execution mechanisms. The mobile carrier (2) includes a fixed plate (8) for fixing the road actuator and a support rod (9) rotatably mounted on the fixed plate (8). The support rod (9) is equipped with casters (10). A lifting and positioning mechanism (11) is also provided between the vehicle body (1) and the mobile carrier (2). The lifting and positioning mechanism (11) includes a lifting cylinder (12) installed on the vehicle body (1) and a positioning hole installed on the fixed plate (8); when the vehicle body (1) is installed with the mobile carrier (2), the piston rod of the lifting cylinder (12) is inserted into the positioning hole; when the vehicle body (1) is disassembled from the mobile carrier (2), the piston rod of the lifting cylinder (12) is disassembled from the positioning hole. The road sign drawing execution mechanism (6) includes a third multi-axis robotic arm (25) and a drawing component for drawing road signs mounted on the third multi-axis robotic arm (25). The drawing component is detachably mounted on the third multi-axis robotic arm (25). The drawing component includes a drag frame (26) for thermal spraying mode, or the drawing mechanism includes a sprayer for cold spraying mode. Different drawing components can be replaced on the third multi-axis robotic arm (25) to achieve switching between the two working modes of cold spraying and thermal spraying. The vehicle body (1) is equipped with an autonomous driving chassis (27), and the vehicle body (1) achieves unmanned driving on the working section through the autonomous driving chassis (27); the vehicle body (1) includes a front box (28) equipped with an autonomous driving chassis control center, and a fixed plate (8) is provided with an electrical cavity for accommodating electronic components and wiring harnesses. There is an electrical control connection plug-in terminal between the front box (28) and the fixed plate (8) of the mobile carrier (2). The front box (28) is equipped with an industrial control computer and a router. The industrial control computer communicates with the MCU of the autonomous driving chassis control center through the router; the electric or pneumatic actuators of the road execution mechanism are electrically connected to the industrial control computer through wiring harnesses. The vehicle body (1) is also equipped with a GPS positioning module that works with the autonomous driving chassis (27). The GPS positioning module communicates with the MCU of the autonomous driving chassis control center. The autonomous driving chassis control center reads the GPS information of the autonomous driving chassis (27) through the GPS positioning module. The autonomous driving chassis control center can set the execution start and end points of the road execution mechanism in the operation section through the GPS positioning module to realize the segmented execution of the road. The vehicle body (1) is also equipped with a high-precision sensor and a camera that work with the autonomous driving chassis (27). The high-precision sensor is used to detect obstacles during driving, and the camera is used to photograph and identify obstacles and / or driving paths.

2. The road maintenance vehicle-mounted system according to claim 1, characterized in that: When the vehicle body (1) and the mobile carrier (2) are installed, the mobile carrier (2) is pushed to the installation position corresponding to the vehicle body (1), the movable part of the lifting and positioning mechanism (11) moves upward and makes a first positioning connection with the mobile carrier (2), and the casters (10) of the mobile carrier (2) are lifted off the ground, and the support rod (9) is rotated and stored on the mobile carrier (2); the movable part of the lifting and positioning mechanism (11) moves downward, and the vehicle body (1) and the mobile carrier (2) make a second positioning connection through the positioning connection mechanism (7); When the vehicle body (1) and the mobile carrier (2) are disassembled, the movable part of the lifting and positioning mechanism (11) rises to lift the mobile carrier (2), and the positioning connection mechanism (7) between the vehicle body (1) and the mobile carrier (2) is separated; the support rod (9) extends out of the mobile carrier (2) by rotation, the movable part of the lifting and positioning mechanism (11) descends, and the caster (10) of the support rod (9) contacts the ground to push out the mobile carrier (2).

3. The road maintenance vehicle-mounted system according to claim 1, characterized in that: The positioning and connection mechanism (7) includes a plug-in slot (13) provided on the vehicle body (1) and a plug-in block (14) provided on the mobile carrier (2); when the vehicle body (1) and the mobile carrier (2) are installed, the plug-in block (14) is inserted into the plug-in slot (13); when the vehicle body (1) and the mobile carrier (2) are disassembled, the plug-in block (14) is disassembled from the plug-in slot (13).

4. The road maintenance vehicle-mounted system according to claim 1, characterized in that: The traffic cone placement and retrieval mechanism (3) includes a first multi-axis robotic arm (15) and a positioning fork (16) detachably mounted on a mobile carrier (2). The first multi-axis robotic arm (15) includes a clamping assembly for gripping the traffic cone (17). When the traffic cone (17) is placed, the positioning fork (16) is placed on the mobile carrier (2), and the clamping assembly of the first multi-axis robotic arm (15) grips the traffic cone (17) to place the traffic cone (17) on the work section. When the traffic cone (17) is retrieved, the positioning fork (16) is installed on the mobile carrier (2) by machine or manually. When the vehicle (1) is moving, it drives the positioning fork (16) to approach the traffic cone (17). When the traffic cone (17) enters the retrieval area (18) of the positioning fork (16), the clamping assembly of the first multi-axis robotic arm (15) grips the traffic cone (17) and retrieves the traffic cone (17) onto the mobile carrier (2).

5. The road maintenance vehicle-mounted system according to claim 1, characterized in that: The cleaning actuator (4) includes a nozzle (19) for spraying cleaning liquid; the nozzle (19) is mounted on a fixed frame (20) or a lifting frame, and the cleaning height of the nozzle (19) is adjusted by raising and lowering the lifting frame; the cleaning actuator (4) also includes a first cleaning liquid cleaning pipe and a second cleaning liquid cleaning pipe, and the cleaning actuator (4) selects the cleaning liquid for cleaning by switching the first cleaning liquid cleaning pipe and the second cleaning liquid cleaning pipe, so that the first cleaning liquid cleaning pipe or the second cleaning liquid cleaning pipe can work alone, or the first cleaning liquid cleaning pipe and the second cleaning liquid cleaning pipe can work simultaneously.

6. The road maintenance vehicle-mounted system according to claim 1, characterized in that: The greening pruning execution mechanism (5) includes a second multi-axis robotic arm (21), and an arc-shaped hedge trimmer (22) is provided on one end of the second multi-axis robotic arm (21). The arc-shaped hedge trimmer (22) includes an arc-shaped bracket (23) and a blade (24). One end of the arc-shaped bracket (23) and one end of the blade (24) are hinged together. An angle adjustment connection component is provided between the arc-shaped bracket (23) and the blade (24). The arc-shaped bracket (23) and the blade (24) are adjusted by changing the arc of the arc-shaped bracket (23) through the angle adjustment connection component, so as to adjust the arc of the blade (24). The pruning mode and / or pruning angle position of the arc-shaped hedge trimmer (22) are adjusted by changing the crankshaft shape of the second multi-axis robotic arm (21).

Images