An inkjet scribing machine applied to complex scenes

Abstract

The application relates to the technical field of inkjet marking in a house construction site, and discloses an inkjet marking machine applied to a complex scene, which comprises a mobile chassis, a bottom inkjet mechanism installed on the mobile chassis, a movable mechanism, and a driving mechanism matched with the mobile chassis to drive the mobile chassis to move; the mobile chassis is installed with a box body, the movable mechanism is installed on the box body, and the bottom inkjet mechanism comprises a bottom ink sprayer; the inkjet marking machine further comprises a side movable mechanism and a three-dimensional inkjet mechanism; the side movable mechanism comprises a side sliding rail and a side sliding block; the length direction of the side sliding rail is parallel to the length direction of the transverse sliding frame; the side sliding rail is installed with a side driving piece used for driving the side sliding block to reciprocate along the length direction of the side sliding rail; and the three-dimensional inkjet mechanism comprises a spraying mechanical arm and a three-dimensional sprayer installed on the spraying mechanical arm. The application can realize multi-dimensional inkjet marking capacity in a complex scene.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of inkjet marking in a house building construction site, in particular to an inkjet marking machine applied to a complex scene. BACKGROUND

[0002] In the field of house building construction technology, inkjet marking technology is a key construction technology, which plays an important role in ensuring building quality and improving work efficiency. With the continuous development of social economy, the innovation of building construction technology has become an inevitable trend to adapt to the changes of the times. The traditional manual and mechanical marking method has gradually failed to meet the needs of modern building construction. Therefore, the development and application of inkjet marking technology have become an inevitable trend of industry development.

[0003] At present, positioning and layout of construction ground, concrete columns, walls and secondary structure walls in building engineering construction measurement are still mostly carried out by manual holding of a marking machine. When the ground and the vertical surface need to be inkjet marked, the spraying position of the marking machine needs to be adjusted by the construction personnel. This method has large marking error and is prone to problems such as irregular marking lines and deviation. SUMMARY

[0004] In view of the deficiencies of the prior art, the application provides an inkjet marking machine applied to a complex scene.

[0005] The application provides an inkjet marking machine applied to a complex scene, which adopts the following technical scheme:

[0006] The inkjet marking machine applied to a complex scene comprises a mobile chassis, a bottom inkjet mechanism installed on the mobile chassis, a movable mechanism, and a driving mechanism cooperating with the mobile chassis to drive the mobile chassis to move;

[0007] The mobile chassis is installed with a box body, and the movable mechanism is installed on the box body. The movable mechanism comprises a transverse sliding frame, a transverse sliding block, and a transverse driving piece for driving the transverse sliding block to reciprocate along the length direction of the transverse sliding frame. The transverse sliding frame is installed in the box body. A longitudinal sliding frame is connected to the transverse sliding block. The length directions of the longitudinal sliding frame and the transverse sliding frame are perpendicular to each other. The longitudinal sliding frame is slidably installed with a longitudinal sliding block, and is fixedly installed with a longitudinal driving piece for driving the longitudinal sliding block to reciprocate along the length direction of the longitudinal sliding frame. The bottom inkjet mechanism is installed on the longitudinal sliding block. The bottom inkjet mechanism comprises a bottom sprayer, and the bottom sprayer extends out of the box body and the mobile chassis;

[0008] The outer wall of the upper end of the box body is fixedly provided with a circular guide rail, and a sliding block is arranged in the circular guide rail, the box body is open upward, and a cover is detachably arranged on the opening of the box body, the cross section of the opening of the box body is circular, the cover is detachably connected with the sliding block, the inkjet marking machine further comprises a rotating driving member for driving the cover to rotate, and the sliding block slides along the circumference of the circular guide rail along with the rotation of the cover.

[0009] The inkjet marking machine further comprises a side moving mechanism and a three-dimensional inkjet mechanism, the side moving mechanism comprises a side sliding rail and a side sliding block, the length direction of the side sliding rail is parallel to the length direction of the horizontal sliding frame, the side sliding rail is provided with a side driving member for driving the side sliding block to move back and forth along the length direction of the side sliding rail, and the three-dimensional inkjet mechanism comprises a spraying mechanical arm and a three-dimensional sprayer arranged on the spraying mechanical arm.

[0010] By adopting the above technical scheme, the inkjet marking machine realizes multi-dimensional (horizontal, vertical and rotating) inkjet marking capability in a complex scene by integrating a moving chassis, a bottom inkjet mechanism, a moving mechanism and a driving mechanism; the horizontal and vertical sliding frames in the moving mechanism and corresponding driving members control the bottom inkjet mechanism to be accurately positioned and marked on a two-dimensional plane; if the moving chassis is stationary, the three-dimensional inkjet mechanism can move along with the side sliding block along the length direction of the side sliding rail to perform short-distance spraying and marking on a building structure, and the three-dimensional inkjet mechanism can also perform circular motion along with the rotation of the cover, so that the three-dimensional sprayer on the spraying mechanical arm can slide out a circle with different diameters on the ground, the side sliding block can draw a circle with different diameters on the side sliding rail, and the three-dimensional sprayer can also mark walls or column side walls with different orientations at the same time along with the rotation of the cover.

[0011] The flexibility and precision of inkjet marking are greatly improved, and the inkjet marking machine can perform fine inkjet work on the ground, walls or other irregular surfaces to meet the marking requirements of complex scenes.

[0012] Optionally, the inkjet marking machine further comprises a control mechanism arranged on the moving chassis, the control mechanism comprises an automatic control machine and a communication device, the automatic control machine and the communication device are electrically connected with the bottom sprayer, the lifting hydraulic rod, the horizontal driving member, the vertical driving member, the rotating driving member, the side driving member, the spraying mechanical arm and the three-dimensional sprayer, and the inkjet marking machine further comprises an auxiliary sensing mechanism arranged on the moving chassis, which is used for collecting surrounding environment information of the device and transmitting the information to the control mechanism.

[0013] By adopting the technical scheme, the control mechanism integrates an automatic control machine, a communication device, various driving components and a sensing mechanism, and realizes intelligent control and monitoring of the entire inkjet scribing process. The auxiliary sensing mechanism collects environmental information in real time to provide decision basis for the automatic control machine, improves the automation level and precision of the inkjet scribing operation, reduces human intervention, and improves work efficiency and safety.

[0014] Optionally, the driving mechanism includes a plurality of rotating driving components, the rotating driving components are fixedly connected with rotating discs, the rotating driving components are fixedly connected with the lower surface of the moving chassis, the rotating driving components are fixedly connected with moving driving components, and the power output ends on the left and right sides of the moving driving components are fixedly connected with driving wheels; the rotating driving components and the moving driving components are electrically connected with the automatic control machine.

[0015] By adopting the technical scheme, the driving mechanism drives the moving chassis to change direction and move flexibly through the combination of the rotating driving components and the moving driving components, which adapts to different terrain and path requirements, enhances the environmental adaptability and maneuverability of the inkjet scribing machine, and ensures stable operation in complex and variable scenes.

[0016] Optionally, the upper surface of the side sliding block is fixedly connected with a base, the upper end of the base is fixedly connected with a lifting slide rail, a side lifting sliding block is slidingly installed on the lifting slide rail, the upper end surface of the lifting slide rail is fixedly connected with a lifting driving component for driving the side lifting sliding block to slide, the spraying mechanical arm is installed on the lifting sliding block, and the lifting driving component is electrically connected with the automatic control machine.

[0017] By adopting the technical scheme, the base and the lifting slide rail on the side sliding block cooperate with the lifting driving component to realize adjustment and positioning of the spraying mechanical arm in the vertical direction, improve the operation range and flexibility of the three-dimensional inkjet mechanism, and make the inkjet scribing operation more precise and efficient.

[0018] Optionally, the inkjet scribing machine further includes a lifting mechanism, the lifting mechanism includes a plurality of lifting hydraulic rods, the upper ends of the lifting hydraulic rods are fixedly connected with the box body, and the lower ends of the lifting hydraulic rods are fixedly connected with the upper surface of the moving chassis; the lifting hydraulic rods are electrically connected with the automatic control machine.

[0019] By adopting the technical scheme, the lifting mechanism can also drive the bottom inkjet mechanism to approach or move away from the ground through the lifting hydraulic rods, which can better adapt to different terrains and improve the overall operation quality and efficiency.

[0020] Optionally, the inside of the box extends a mounting ring, a lifting frame is mounted between the mounting ring and the bottom of the inside box, four linkage elevators are fixedly connected to the mounting ring, the power output ends of the linkage elevators are fixedly connected with lifting screws, the lifting frame and the lifting screws are correspondingly arranged, lifting blocks are threadedly connected to the outer surfaces of the lifting screws, the lifting blocks are slidingly installed on the lifting frame, the two ends of a transverse sliding frame are fixedly connected with a lifting block, and the four linkage elevators are electrically connected with the automatic control machine.

[0021] By adopting the above technical scheme, the lifting mechanism realizes accurate lifting adjustment of the box and the movable mechanism through the cooperation of the lifting hydraulic rod and the linkage elevator, ensures the stability and precision of the inkjet marking machine in complex operation, and improves the overall operation quality and efficiency.

[0022] Optionally, the auxiliary sensing mechanism includes a laser obstacle avoidance radar, a lighting lamp, and a camera.

[0023] By adopting the above technical scheme, the laser obstacle avoidance radar, the lighting lamp, and the top camera and other auxiliary sensing mechanisms collect environmental information in real time, provide comprehensive and accurate environmental data for the control mechanism, enhance the environmental sensing capability and safety performance of the inkjet marking machine, and ensure safe and efficient operation in complex environments.

[0024] Optionally, a support rod is hingedly connected to the inner wall of the box, a plurality of support rods are arranged along the axial direction of the box, the ends of the plurality of support rods away from the inner wall of the box rotate to approach or move away from each other, a support block is fixedly connected to the end of the support rod away from the box, a slot is formed in the support block, when the plurality of support rods rotate to approach each other, the plurality of support blocks are spliced with each other, and a rotating driving piece is installed between the plurality of support blocks.

[0025] By adopting the above technical scheme, the support rods of the inner wall of the box adjust the positions of the support blocks by rotating to approach or move away from each other, and the rotating driving piece is installed and fixed; a stable and reliable installation basis is provided for the rotating driving piece, the normal implementation of the self-rotation function of the cover is ensured, when the inside structure of the box is overhauled, the support rods are rotated to move away from each other after the cover is opened, and the overhaul space is increased.

[0026] In summary, the present application has at least one of the following beneficial effects:

[0027] 1. Limited to single bottom inkjet operation, also has side inkjet and three-dimensional inkjet functions. By adjusting the spraying mechanism and the driving mechanism, inkjet operation at different angles and different heights can be easily realized, and diversified marking requirements can be met;

[0028] 2. The inkjet marking machine adopts automatic control, which can continuously and quickly complete a large number of inkjet marking tasks, greatly improving the work efficiency. Through accurate path planning and fast moving ability, the machine can cover a large area in a short time, reducing the time and cost of manual operation. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a schematic diagram of the overall structure of the embodiment of the present application;

[0030] Figure 2 is a schematic diagram of the internal structure of the box of the embodiment of the present application;

[0031] Figure 3 is a schematic diagram of the connection relationship between the moving chassis and the driving mechanism of the embodiment of the present application;

[0032] Figure 4 is a schematic diagram of the overall internal structure of the box of the embodiment of the present application;

[0033] Figure 5 is a schematic diagram of the bottom inkjet mechanism of the embodiment of the present application;

[0034] Figure 6 is a schematic diagram of the installation position structure of the side moving mechanism and the three-dimensional inkjet mechanism of the embodiment of the present application;

[0035] Figure 7 is a schematic diagram of the partial explosion of the cover and the supporting rod of the embodiment of the present application;

[0036] Figure 8 is a schematic diagram of the specific structure of the side moving mechanism and the three-dimensional inkjet mechanism of the embodiment of the present application;

[0037] Figure 9 is a schematic diagram of the installation of the auxiliary sensing mechanism and the control mechanism on the moving chassis of the embodiment of the present application.

[0038] 10, mobile chassis; 20, bottom inkjet mechanism; 21, fixed frame; 22, bottom inkjet sprayer; 23, first auxiliary spraying pump; 24, first auxiliary range finder; 30, driving mechanism; 31, rotary driving member; 32, rotary disc; 33, mobile driving member; 34, driving wheel; 40, lifting mechanism; 41, lifting hydraulic rod; 42, connecting block; 50, mobile mechanism; 51, transverse sliding frame; 52, transverse sliding block; 53, transverse driving member; 54, transverse driving screw; 55, longitudinal sliding frame; 56, longitudinal sliding block; 57, longitudinal driving member; 58, longitudinal driving screw; 60, box body; 61, mounting ring; 62, linkage lifting driving machine; 63, lifting screw; 64, lifting sliding block; 65, circular ring-shaped guide rail; 651, filling block; 66, sliding block; 67, cover; 68, clamping block; 69, support rod; 691, support block; 692, missing slot; 70, rotating member; 80, side mobile mechanism; 81, side sliding rail; 82, side sliding block; 83, side driving member; 84, vertical rod; 85, side driving screw; 86, base; 87, lifting sliding rail; 88, lifting driving member; 89, side lifting screw; 891, side lifting sliding block; 90, three-dimensional inkjet mechanism; 91, spraying mechanical arm; 92, three-dimensional sprayer; 93, second auxiliary range finder; 100, auxiliary sensing mechanism; 110, laser obstacle avoidance radar; 120, illuminating lamp; 130, camera; 200, control mechanism; 210, automatic control machine; 220, operation panel; 230, battery cabin. DETAILED DESCRIPTION

[0039] The following will be described in detail in combination with the accompanying drawings. Figures 1-9 The present application is further described in detail.

[0040] The embodiment of the present application discloses an inkjet marking machine applied to a complex scene.

[0041] Reference Figure 1 And Figure 2 An inkjet marking machine applied to a complex scene comprises a mobile chassis 10, a bottom inkjet mechanism 20, a driving mechanism 30, a lifting mechanism 40, and a mobile mechanism 50. Specifically, the mobile chassis 10 serves as the installation basis of the robot, provides installation positions for the bottom inkjet mechanism 20, the driving mechanism 30, the lifting mechanism 40, and the mobile mechanism 50, and ensures that these mechanisms can be correctly fixed at predetermined positions.

[0042] Reference Figure 3The drive mechanism 30, serving as the main traveling mechanism of the device, is fixedly connected to the lower surface of the mobile chassis 10. It drives the mobile chassis 10 to move and controls the direction of movement of the device. The mobile chassis has a U-shaped cross-section. The drive mechanism 30 includes several rotary drive components 31, evenly distributed at the four corners of the mobile chassis 10. Each rotary drive component 31 is a rotary drive motor. The output shaft of the rotary drive motor is fixedly connected to a rotary chassis 32. The upper end of each rotary drive motor is fixedly connected to the lower surface of the mobile chassis 10. Each lower surface of the rotary chassis 32 is fixedly connected to a mobile drive component 33, which is a dual-axis motor. Drive wheels 34 are fixedly connected to the left and right power output ends of each mobile drive motor.

[0043] These drive wheels 34 are responsible for contacting the ground and propelling the robot forward or turning. The direction of the robot's movement is controlled by the rotation direction of the rotary drive motor, and the speed of the device is controlled by controlling the rotation speed of the mobile drive motor. This design of the drive mechanism 30 makes the device more flexible and accurate in turning and positioning.

[0044] Reference Figure 2 and Figure 4 The mobile chassis 10 is equipped with a housing 60, which is located in the perforated section of the mobile chassis 10. The housing 60 has a rectangular structure and leaves a gap between it and the inner wall of the perforated section of the mobile chassis 10. The bottom inkjet mechanism 20 is installed inside the housing 60, which also has a perforated section at the bottom. The perforated sections at the bottom of the housing 60 and the perforated sections of the mobile chassis 10 allow the bottom inkjet mechanism 20 to normally perform inkjet marking on the ground.

[0045] Reference Figure 2 The lifting mechanism 40 includes multiple lifting hydraulic rods 41 and connecting blocks 42. Four connecting blocks 42 are arranged along the outer corner of the housing 60, and each connecting block 42 corresponds to one of the lifting hydraulic rods 41. The lower surface of each connecting block 42 is fixedly connected to the piston rod of the lifting hydraulic rod 41, and the main body of each lifting hydraulic rod 41 is fixedly connected to the upper surface of the movable chassis 10. The lifting hydraulic rods 41 are used to push the housing 60 up and down.

[0046] Reference Figure 4 An installation ring 61 extends from the inside of the housing 60. A lifting frame is installed between the installation ring 61 and the bottom of the inner housing 60. Four linkage lifting drive motors 62 are fixedly connected to the installation ring 61. The power output ends of the four linkage lifting drive motors 62 are all fixedly connected to lifting screws 63. The lower ends of the lifting screws 63 are rotatably connected to the inner surface of the bottom of the housing 60. Lifting sliders 64 are threadedly connected to the outer surface of the lifting screws 63. The lifting sliders 64 are slidably installed on the lifting frame, so that the lifting sliders 64 slide up or down along the lifting frame as the lifting screws 63 rotate.

[0047] With reference to Figure 4 , the moving mechanism 50 comprises a transverse sliding frame 51, a transverse sliding block 52, and a transverse driving member 53 for driving the transverse sliding block 52 to reciprocate along the length direction of the transverse sliding frame 51, the two ends of the transverse sliding frame 51 are fixedly connected with two lifting sliding blocks 64 respectively, the transverse driving member 53 is a transverse driving motor, the transverse driving motor is installed on one end of the transverse sliding frame 51, the power output ends of the two transverse driving motors are fixedly connected with transverse driving screws 54 respectively, the two ends of each transverse driving screw 54 are rotatably connected with the transverse sliding frame 51, the outer surfaces of the transverse driving screws 54 are threadedly connected with the transverse sliding block 52, and the transverse sliding block 52 and the transverse sliding frame 51 are in sliding contact. The upper end of the transverse sliding block 52 is fixedly connected with a longitudinal sliding frame 55, the longitudinal sliding frame 55 is slidably installed with a longitudinal sliding block 56, and is fixedly installed with a longitudinal driving member 57 for driving the longitudinal sliding block 56 to reciprocate along the length direction of the longitudinal sliding frame 55; the longitudinal driving member 57 is a longitudinal driving motor, the power output end of the longitudinal driving motor is fixedly connected with a longitudinal driving screw 58, the two ends of the longitudinal driving screw 58 are rotatably connected with the longitudinal sliding frame 55, the outer surface of the longitudinal driving screw 58 is threadedly connected with the longitudinal sliding block 56, the longitudinal sliding block 56 and the longitudinal sliding frame 55 are in sliding contact, and the bottom inkjet mechanism 20 is installed on the longitudinal sliding block 56.

[0048] The transverse driving motor converts the rotary power of the transverse driving motor into the transverse movement of the transverse sliding block 52 through the transverse driving screw 54 fixedly connected with the power output end of the transverse driving motor. The rotary power of the longitudinal driving motor is converted into the longitudinal movement of the longitudinal sliding block 56. In this way, the precise movement of the bottom inkjet mechanism 20 in the transverse and longitudinal directions can be realized. Through this design, the moving mechanism 50 can accurately control the position of the bottom inkjet mechanism 20 in the two-dimensional plane, thereby realizing high-precision inkjet marking operation.

[0049] When the working height needs to be adjusted, the lifting hydraulic rod 41 drives the connecting block 42 and the box body 60 to greatly rise or fall, then the four linkage lifting driving motors 62 drive the lifting screws 63 to rotate, so that the lifting sliding blocks 64 move along the screws, so that the moving mechanism 50 and the bottom inkjet mechanism 20 can be adjusted to the appropriate working height position. Such a design not only improves the adaptability of the device, but also enables the bottom inkjet mechanism 20 to stably operate in different height working environments, but also increases the passability of the device, so that the bottom inkjet mechanism 20 can increase the bottom height in the non-working state to avoid potential collision with the ground.

[0050] With reference to Figure 5The bottom inkjet mechanism 20 includes a fixed frame 21, a bottom inkjet device 22, the upper end of the fixed frame 21 is fixedly connected with the lower surface of the longitudinal sliding block 56, the middle part of the fixed frame 21 penetrates the bottom inkjet device 22 and is fixedly connected with the fixed frame 21, the upper surface of the fixed frame 21 is fixedly connected with a first auxiliary inkjet pump 23, the first auxiliary inkjet pump 23 and the bottom inkjet device 22 are communicated through a connecting pipe, and the lower surface of the fixed frame 21 is fixedly connected with a first auxiliary range finder 24.

[0051] Specifically, the fixed frame 21 is used to install other components of the bottom inkjet mechanism 20, and moves by being connected with the longitudinal sliding block 56, the bottom inkjet device 22 is fixedly connected with the fixed frame 21, so that accurate inkjet marking work can be performed when the bottom inkjet device 22 moves, the first auxiliary inkjet pump 23 is responsible for delivering inkjet materials to the bottom inkjet device 22 for marking work, the first auxiliary range finder 24 is fixedly connected to the front lower surface of the fixed frame 21, and is used for monitoring the distance between the road surface and the bottom inkjet device 22 in real time, so as to ensure the accuracy of inkjet marking. Through the design, the bottom inkjet mechanism 20 can realize high-precision inkjet marking on the road surface when the device moves, and adapt to different road conditions and marking requirements.

[0052] Referring to Figure 6 The upper end outer wall of the box body 60 is fixedly provided with a circular guide rail 65, and a filling block 651 is fixedly arranged between the outer wall of the box body 60 and the circular guide rail 65. The upper surface of the circular guide rail 65 is provided with a guide groove extending along the annular direction of the circular guide rail 65. The circular guide rail 65 is provided with a sliding block 66, and the sliding block 66 is slidingly arranged in the guide groove. The box body 60 is open upward and detachably provided with a cover 67. The opening cross section of the box body 60 is circular structure, and the cross section of the cover 67 is also circular structure. The outer circumferential side of the cover 67 is fixedly connected with a clamping block 68, and the upper surface of the sliding block 66 is provided with a clamping groove for clamping the clamping block 68. The clamping block 68 of the cover 67 and the sliding block 66 are clamped, so that the cover 67 and the sliding block 66 are detachably connected.

[0053] Referring to Figure 7 The inner wall of the box body 60 is hingedly provided with a support rod 69, and a plurality of support rods 69 are arranged along the axial direction of the box body 60. Only two support rods 69 are arranged in the embodiment of the application. The ends of the two support rods 69 away from the inner wall of the box body 60 are rotatable to be close to or away from each other. The end of the support rod 69 away from the box body 60 is fixedly connected with a support block 691, and the support block 691 is provided with a missing groove 692. When the two support rods 69 are rotated to be close to each other, the plurality of support blocks 691 are spliced with each other, and the missing grooves 692 of the support blocks 691 are communicated with each other and form a missing groove 692 with a larger area.

[0054] Referring to Figure 4The inkjet line marking machine further comprises a rotating member 70 for driving the rotation of the cover 67. The rotating member 70 is a rotating motor, and the output shaft of the rotating motor is fixedly connected with the cover 67, and the center line of the output shaft coincides with the center line of the cover 67. When the cover 67 closes the box body 60, the rotating motor is placed between the two supporting blocks 691, and the clamping block 68 and the sliding block 66 are clamped. When the rotating motor rotates, the sliding block 66 can slide along the circular ring-shaped guide rail 65.

[0055] With reference to Figure 6 and Figure 8 The robot further comprises a side moving mechanism 80 and a three-dimensional inkjet mechanism 90. The side moving mechanism 80 comprises a side sliding rail 81 and a side sliding block 82. The side sliding rail 81 is provided with a side driving member 83 for driving the side sliding block 82 to move back and forth along the length direction of the side sliding rail 81. The length direction of the side sliding rail 81 is parallel to the length direction of the transverse sliding frame 51. The side driving member 83 is a side driving motor, and the side driving motor is fixedly connected with the side sliding rail 81. The entire three-dimensional inkjet mechanism 90 is slidingly installed on the side sliding rail 81. The side sliding rail 81 is fixedly connected with the sliding block 66 through a vertical rod 84. When the cover 67 rotates, the entire side moving mechanism 80 is driven to rotate, so that the entire three-dimensional inkjet mechanism 90 is driven to rotate, and the three-dimensional inkjet mechanism 90 can rotate to mark lines on multiple vertical surfaces.

[0056] With reference to Figure 8 The power output end of the side driving motor is fixedly connected with a side driving screw 85, both ends of the side driving screw 85 are rotatably connected with the inner surface of the side sliding rail 81, the outer surface of the side driving screw 85 is threadedly connected with the side sliding block 82, and the side sliding block 82 and the side sliding rail 81 are in sliding contact. The upper surface of the side sliding block 82 is fixedly connected with a base 86, the upper end of the base 86 is fixedly connected with a lifting sliding rail 87, the length direction of the lifting sliding rail 87 is the same as the length direction of the lifting screw 63, the upper end surface of the lifting sliding rail 87 is fixedly connected with a lifting driving member 88, the lifting driving member 88 is a lifting driving motor, the power output end of the lifting driving motor is fixedly connected with a side lifting screw 89, both ends of the side lifting screw 89 are rotatably connected with the inner surfaces of the upper and lower sides of the lifting sliding rail 87, and the outer surface of the side lifting screw 89 is threadedly connected with a side lifting sliding block 891, and the side lifting sliding block 891 and the lifting sliding rail 87 are in sliding connection.

[0057] With reference to Figure 8, the stereoscopic inkjet mechanism 90 comprises a spraying mechanical arm 91 and a stereoscopic sprayer 92. One end of the spraying mechanical arm 91 is fixedly connected with the side lifting slide 891, and the stereoscopic sprayer 92 is fixedly connected at the other end of the spraying mechanical arm 91. The spraying mechanical arm 91 is an existing mechanical arm. The mechanical arm is driven by a motor or other power devices (such as an oil cylinder, an air cylinder, etc.) to drive joints and actuators, so as to realize the movement of each degree of freedom. These power devices provide necessary power support for the mechanical arm. Through the accurate control of the control system, the mechanical arm can realize accurate position and speed control. Such accuracy enables the mechanical arm to stably and reliably operate in a complex working environment.

[0058] With reference to Figure 8 , the outer surface of the stereoscopic sprayer 92 is fixedly connected with a second auxiliary range finder 93. The stereoscopic inkjet mechanism 90 further comprises a second auxiliary spraying pump (not shown in the figure), which is installed on the base 86. The stereoscopic sprayer 92 and the second auxiliary spraying pump are connected with each other through a connecting hose (not shown in the figure). The side lifting slide 891 and the spraying mechanical arm 91 are provided with mounting clamps, which hold the hose with a certain degree of slack, so as to guide the deformation of the hose caused by the movement of the spraying mechanical arm 91.

[0059] With reference to Figure 8 , the spraying mechanical arm 91 is connected with the side moving mechanism 80 through the side lifting slide 891, so as to realize the vertical and horizontal positioning of the stereoscopic inkjet mechanism 90. The stereoscopic sprayer 92 is fixedly connected at the other end of the spraying mechanical arm 91, so that the device can control the movement of the spraying mechanical arm 91 to drive the stereoscopic sprayer 92, thereby realizing the accurate control of the inkjet direction and position, adapting to the working requirements of the stereoscopic inkjet marking operation. The second auxiliary range finder 93 is fixedly connected at the stereoscopic sprayer 92, which is used to monitor the distance between the stereoscopic structure and the stereoscopic sprayer 92 in real time, so as to ensure the accuracy of the inkjet marking. The second auxiliary spraying pump is connected with the stereoscopic sprayer 92 through the connecting hose, which is responsible for delivering the inkjet material to the stereoscopic sprayer 92 for marking operation. The entire side moving mechanism 80 can also rotate around the circumference along with the sliding of the slide 66, so that the stereoscopic inkjet mechanism 90 can also simultaneously mark inkjet on multi-surface walls or multi-angle stereoscopic structures. Through this design, the stereoscopic inkjet mechanism 90 can realize high-precision inkjet marking on the stereoscopic structure, and adapt to different stereoscopic environments and marking requirements.

[0060] The inkjet marking machine can also include inkjet conveying mechanisms (not shown in the figure) that are implemented using conventional technical principles and technical means. Specifically, the inkjet conveying mechanisms are provided with two, namely the bottom inkjet mechanism 20 and the three-dimensional inkjet mechanism 90 to convey inkjet materials. One of the inkjet conveying mechanisms is installed on the longitudinal sliding block 56, and the other inkjet conveying mechanism is installed on the vertical rod 84. The inkjet conveying mechanism includes an ink cartridge box 60, a replaceable ink cartridge, which is slidingly connected inside the ink cartridge box 60, and an auxiliary conveying pump is provided on the side wall of the ink cartridge box 60, and the auxiliary conveying pump is fixedly connected with a conveying hose. One of the conveying hoses is fixedly connected with the first auxiliary spraying pump 23, and the other conveying hose is fixedly connected with the second auxiliary spraying pump.

[0061] Referring to Figure 9 The inkjet marking machine also includes an auxiliary sensing mechanism 100 for collecting the surrounding environment information of the device and conveying it to the side control mechanism 200. The auxiliary sensing mechanism 100 includes a laser obstacle avoidance radar 110, a lighting lamp 120, and a camera 130. Specifically, the laser obstacle avoidance radar 110 is fixedly connected to the upper surface of the four corners of the mobile chassis 10, which can scan the obstacles around the device in real time and provide accurate data for obstacle avoidance. The lighting lamp 120 is fixedly connected to at least two sides of the upper surface of the mobile chassis 10 to provide sufficient lighting to ensure normal operation in low light environments. The camera 130 is fixedly connected to at least two sides of the upper surface of the mobile chassis 10 to capture image information of the working area of the device, assisting the device to accurately spray ink lines. The coordinated work of these sensing components not only improves the autonomy and adaptability of the device in complex environments, but also enhances the safety and accuracy of the operation. For example, the laser obstacle avoidance radar 110 can detect obstacles in the forward path in real time, and the device can adjust the path in time to avoid collision. The lighting lamp 120 ensures that the operation can be carried out under various lighting conditions, and the camera 130 provides visual information of the working area, enabling the device to adjust the position and trajectory of the inkjet marking according to the actual situation.

[0062] Referring to Figure 9 The inkjet marking machine also includes a control mechanism 200 for providing power to all power-consuming mechanisms, which is provided on the left upper surface of the mobile chassis 10 to provide power to the entire inkjet marking machine and monitor the overall operation status of the device in real time, thereby realizing automatic inkjet marking operation. The side control mechanism 200 includes an automatic control machine 210, an operation panel 220, a communication device, and a battery compartment 230. The lower surface of the automatic control machine 210 is fixedly connected to the left upper surface of the mobile chassis 10, and the upper side of the automatic control machine 210 is fixedly connected with the operation panel 220. The battery compartment 230 is internally provided with multiple groups of replaceable batteries.

[0063] The automatic control machine 210 is electrically connected with the bottom sprayer 22, the rotation driving motor, the movement driving motor, the four linkage lifting driving machines 62, the transverse driving motor, the longitudinal driving motor, the first auxiliary spraying pump 23, the first auxiliary range finder 24, the side driving motor, the base 86, the lifting driving motor, the spraying mechanical arm 91, the three-dimensional sprayer 92, the second auxiliary range finder 93, the second auxiliary spraying pump, the auxiliary conveying pump, the laser obstacle avoidance radar 110, the illuminating lamp 120, the camera 130, the operation panel 220, the communication device, and the battery compartment 230.

[0064] Specifically, the automatic control machine 210 is responsible for processing all control signals by controlling the system. The use relationship between the control system and the automatic control machine 210 is the existing technology, and the present application does not improve. The operation panel 220 provides a user operation interface for setting and adjusting the working parameters of the device. The communication device is responsible for data exchange with external devices or systems, supports remote control and monitoring of the device, and the battery compartment 230 is internally provided with multiple groups of replaceable storage batteries, which can provide continuous power supply for the device by means of rotating replacement of replaceable storage batteries.

[0065] These components work together not only to improve the autonomy and adaptability of the device, but also to ensure the continuity and stability of the operation. For example, the automatic control machine 210 can adjust the parameters and trajectory of the inkjet marking in real time according to the environmental information collected from the auxiliary sensing mechanism 100. The operation panel 220 provides an intuitive user interface, making it easy for operators to set and adjust the working mode of the device. The communication device ensures that the device can effectively exchange data with external systems, supporting remote monitoring and control. The battery compartment 230 and replaceable storage batteries provide power support, ensuring that the device can work for a long time without external power supply.

[0066] An application of the inkjet marking machine in a complex scene according to an embodiment of the present application.

[0067] First, the operator starts the control mechanism 200 of the inkjet marking machine, including the automatic control machine 210 and the communication device, to ensure that all systems are in standby state; the auxiliary sensing mechanism 100 (laser obstacle avoidance radar 110, illuminating lamp 120, camera 130) starts to work, collects and processes the surrounding environment information in real time, and provides data support for subsequent path planning and inkjet operation;

[0068] The control mechanism 200 plans the optimal moving path according to the data collected by the auxiliary sensing mechanism 100 combined with the preset inkjet line marking task; the rotating drive 31 drives the rotating disc 32 and the moving drive 33 to work, and the moving drive 33 drives the entire moving chassis 10 to move to the specified position along the planned path through the driving wheel 34; when the moving chassis 10 reaches the specified position, the movable mechanism 50 starts to work. The transverse drive 53 and the longitudinal drive 57 drive the transverse slider 52 and the longitudinal slider 56 respectively, so that the bottom inkjet mechanism 20 (the bottom ink applicator 22) is accurately positioned to the position where the inkjet is needed; the bottom ink applicator 22 starts to work, and performs the inkjet line marking work on the ground or other planes according to the instruction of the control mechanism 200; when needed, the rotating drive is started to drive the cover 67 to rotate, and the slider 66 slides along the circular guide rail 65 to realize the circumferential movement of the cover 67; the three-dimensional ink applicator 92 performs accurate inkjet work in the three-dimensional space according to the instruction of the control mechanism 200, such as the wall surface, the ceiling or other irregular surfaces; during the entire work process, the auxiliary sensing mechanism 100 continuously works to monitor the changes in the surrounding environment in real time, so as to ensure the safe work of the inkjet line marking machine; the control mechanism 200 records the key data during the entire work process, such as the inkjet amount, the work time, the path trajectory and the like, to provide the basis for subsequent analysis and optimization. The inkjet line marking machine can realize efficient and accurate inkjet line marking work in complex scenes.

[0069] The above are preferred embodiments of the present application, and do not limit the protection scope of the present application, so that: any equivalent changes made according to the structure, shape, principle of the present application should be covered within the protection scope of the present application.

Claims

1. An inkjet marking machine for use in complex scenarios, characterized in that: It includes a mobile chassis (10), a bottom inkjet mechanism (20) mounted on the mobile chassis (10), a moving mechanism (50), and a drive mechanism (30) that works with the mobile chassis (10) to drive the mobile chassis (10) to move. The mobile chassis (10) is equipped with a housing (60), and the movable mechanism (50) is installed on the housing (60). The movable mechanism (50) includes a transverse sliding frame (51), a transverse slider (52), and a transverse drive member (53) that drives the transverse slider (52) to reciprocate along the length direction of the transverse sliding frame (51). The transverse sliding frame (51) is installed inside the housing (60). A longitudinal sliding frame (55) is connected to the transverse slider (52). The length directions of the longitudinal sliding frame (55) and the transverse sliding frame (51) are perpendicular to each other. A longitudinal slider (56) is slidably installed on the longitudinal sliding frame (55), and a longitudinal drive member (57) is fixedly installed to drive the longitudinal slider (56) to reciprocate along the length direction of the longitudinal sliding frame (55). A bottom inkjet mechanism (20) is installed on the longitudinal slider (56). The bottom inkjet mechanism (20) includes a bottom sprayer (22), which extends out of the housing (60) and the mobile chassis (10). A circular guide rail (65) is fixedly installed on the upper outer wall of the housing (60), and a slider (66) is installed inside the circular guide rail (65). The opening of the housing (60) faces upward and a cover (67) for sealing the opening of the housing (60) is detachably installed. The cross-section of the opening of the housing (60) is circular. The cover (67) and the slider (66) are detachably connected. The inkjet marking machine also includes a rotating drive for driving the cover (67) to rotate. The slider (66) slides along the circumference of the circular guide rail (65) as the cover (67) rotates. The inkjet marking machine also includes a side movable mechanism (80) and a three-dimensional inkjet mechanism (90). The side movable mechanism (80) includes a side slide rail (81) and a side slider (82). The length direction of the side slide rail (81) is parallel to the length direction of the transverse sliding frame (51). A side drive component (83) is installed on the side slide rail (81) to drive the side slider (82) to move back and forth along the length direction of the side slide rail (81). The three-dimensional inkjet mechanism (90) includes a spraying robot arm (91) and a three-dimensional sprayer (92) installed on the spraying robot arm (91). The spraying robot arm (91) is installed on the side slider (82). The side slide rail (81) and the slider (66) are fixedly connected.

2. The inkjet marking machine for complex scenarios according to claim 1, characterized in that: The inkjet marking machine also includes a control mechanism (200), which is mounted on a mobile chassis (10). The control mechanism (200) includes an automatic controller (210) and a communication device. The automatic controller (210) and the communication device are electrically connected, as are the bottom sprayer (22), the lifting hydraulic rod (41), the lateral drive (53), the longitudinal drive (57), the rotation drive, the side drive (83), the spraying robotic arm (91), and the three-dimensional sprayer (92). The inkjet marking machine also includes an auxiliary sensing mechanism (100) mounted on the mobile chassis (10) for collecting information about the surrounding environment of the device and transmitting it to the control mechanism (200).

3. An inkjet marking machine for complex scenarios according to claim 2, characterized in that: The drive mechanism (30) includes several rotary drive components (31), each rotary drive component (31) is fixedly connected to a rotary disk (32), each rotary drive component (31) is fixedly connected to the lower surface of the movable chassis (10), each rotary drive component (31) is fixedly connected to a movable drive component (33), and each movable drive component (33) is fixedly connected to a drive wheel (34) on both the left and right power output ends; both the rotary drive component (31) and the movable drive component (33) are electrically connected to the automatic control machine (210).

4. An inkjet marking machine for complex scenarios according to claim 2, characterized in that: A base (86) is fixedly connected to the upper surface of the side slider (82); a lifting slide rail (87) is fixedly connected to the upper end of the base (86), and a side lifting slider (891) is slidably mounted on the lifting slide rail (87). A lifting drive component (88) for driving the side lifting slider (891) to slide is fixedly connected to the upper end of the lifting slide rail (87). A spraying robot arm (91) is mounted on the side lifting slider (891), and the lifting drive component (88) is electrically connected to the automatic control machine (210).

5. An inkjet marking machine for complex scenarios according to claim 2, characterized in that: The inkjet marking machine also includes a lifting mechanism (40), which includes multiple lifting hydraulic rods (41). The upper ends of the lifting hydraulic rods (41) are fixedly connected to the housing (60), and the lower ends of the lifting hydraulic rods (41) are fixedly connected to the upper surface of the mobile chassis (10). The lifting hydraulic rods (41) are all electrically connected to the automatic control machine (210).

6. An inkjet marking machine for complex scenarios according to claim 2, characterized in that: An installation ring (61) extends inside the housing (60). A lifting frame is installed between the installation ring (61) and the bottom of the inner housing (60). Four linkage lifting machines are fixedly connected to the installation ring (61). A lifting screw (63) is fixedly connected to the power output end of each linkage lifting machine. The lifting frame and the lifting screw (63) are set accordingly. A lifting slider (64) is threadedly connected to the outer surface of the lifting screw (63). The lifting slider (64) is slidably installed on the lifting frame. The two ends of a transverse sliding frame (51) are fixedly connected to a lifting slider (64) respectively. All four linkage lifting machines are electrically connected to the automatic control machine (210).

7. An inkjet marking machine for complex scenarios according to claim 2, characterized in that: The auxiliary sensing mechanism (100) includes a laser obstacle avoidance radar (110), a lighting lamp (120), and a camera (130).

8. An inkjet marking machine for complex scenarios according to claim 1, characterized in that: Support rods (69) are hinged to the inner wall of the box (60). Multiple support rods (69) are spaced apart along the axial direction of the box (60). The ends of the multiple support rods (69) away from the inner wall of the box (60) rotate to move closer or further away. The ends of the support rods (69) away from the box (60) are fixedly connected to support blocks (691). The support blocks (691) have notches (692). When the multiple support rods (69) rotate closer, the multiple support blocks (691) are spliced ​​together. The rotation drive is installed between the multiple support blocks (691).

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