Multifunctional robot maintenance operation vehicle

Abstract

The invention belongs to the technical field of road maintenance operation equipment, and particularly provides a multifunctional robot maintenance operation vehicle which comprises a truck, a glue pouring system and a road cone taking and placing system, the glue pouring system comprises a feeding mechanical arm, a hot melting kettle, a crack pouring glue frame, a conveying pipe, a glue pouring device and a six-axis mechanical arm, and the hot melting kettle is fixedly installed at the front end of the upper surface of a vehicle plate. The robot further comprises a water supply mechanism and a spraying assembly, the water supply mechanism is assembled on the trolley plate, the spraying assembly is assembled at the working end of the six-axis mechanical arm, and the water supply mechanism and the spraying assembly are connected through a water pipe. The feeding mechanical arm and the six-axis mechanical arm are both operated by adopting a mature industrial control system on the market, and feeding, glue filling and cleaning work can be flexibly and accurately completed; multiple road maintenance functions are integrated, manpower and equipment parking space needed by the whole process of road maintenance operation are reduced, the working difficulty of glue pouring and road surface sweeping is lowered, and the working efficiency of road maintenance is greatly improved.

Description

Technical Field

[0001] The invention belongs to the technical field of road maintenance operation equipment, and in particular provides a multifunctional robot maintenance operation vehicle. Background Art

[0002] In modern urban traffic management, road maintenance operations are an important part of ensuring road safety and smooth traffic. The operations specifically include road sweeping operations, road repair operations, roadblock placement and recovery operations, etc.

[0003] Traditional road maintenance operations mostly rely on manual operations, which are inefficient and pose great safety risks to operators. With the development of science and technology, automated and intelligent maintenance equipment has gradually become a trend in the industry.

[0004] At present, the road maintenance equipment available on the market is mainly semi-automatic and most of them have single functions. Each type of equipment can only complete one or two operations. This means that completing a whole set of road maintenance work may require the simultaneous use of multiple equipment. These equipment require a large parking space during rest time, and multiple professional operators are required to operate them separately during the work process. In addition, coordination errors are prone to occur when multiple equipment work together.

[0005] In summary, it is necessary to develop a multifunctional road maintenance equipment that integrates multiple operating capabilities to reduce the manpower and material resources required in the construction process and reduce the difficulty of road maintenance under complex working conditions. Summary of the invention

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a multifunctional robot maintenance operation vehicle, including a truck, a six-axis mechanical arm, a visual system, a glue pouring system and a road cone picking and placing system, the vehicle plate is located at the rear side of the vehicle head, the vehicle head is equipped with an engine assembly, the six-axis mechanical arm is fixedly installed at the tail end of the upper surface of the vehicle plate, the glue pouring system and the road cone picking and placing system are both mounted on the vehicle plate, and the visual system is installed at the bottom of the vehicle plate for collecting road surface information;

[0007] A flange is arranged at the working end of the six-axis robot arm.

[0008] Furthermore, the glue pouring system includes a feeding robot arm, a hot melt kettle, a glue pouring material frame, a feeding pipe and a glue pouring device, wherein the hot melt kettle is fixedly mounted on the front end of the upper surface of the vehicle panel, the glue pouring device is connected to the hot melt kettle through the feeding pipe, the feeding robot arm is fixedly mounted on the upper surface of the vehicle panel near the hot melt kettle, the glue pouring material frame is assembled on the upper surface of the vehicle panel near the feeding robot arm, and the glue pouring material frame is used to place the solid raw material of the potting glue;

[0009] When the glue pouring operation needs to be performed, the glue pouring device is assembled on the flange plate of the working end of the six-axis robot arm.

[0010] Furthermore, the road cone placement system comprises a road cone tube and a road cone clamping mechanism, a plurality of road cone tubes are stacked on the upper surface of the vehicle plate, and the road cone clamping mechanism is assembled on the upper surface of the vehicle plate;

[0011] When it is necessary to perform the road cone picking and placing operation, the road cone clamping mechanism is assembled on the flange plate of the working end of the six-axis robot arm.

[0012] Furthermore, the multifunctional robotic maintenance vehicle also includes two groups of signal acquisition terminals of the visual system. The two groups of signal acquisition terminals are symmetrically distributed at the rear end of the lower surface of the vehicle panel, and the signal acquisition terminals are composed of cameras and light source components.

[0013] Furthermore, the multifunctional robotic maintenance vehicle also includes a blowing system, which is installed in the middle of the lower surface of the vehicle plate.

[0014] Furthermore, the blowing system includes an air intake box and a blower, and a plurality of air intake boxes and blowers are assembled on the bottom of the vehicle plate through a steel connecting frame, and the two are connected through a pipeline;

[0015] The air intake box is an elongated square box, and the multiple air intake boxes include a long air box and two short air boxes. A slideway is installed between the two short air boxes and the steel connecting frame, and a first electric push rod is installed between the two short air boxes. When the first electric push rod is extended, the two short air boxes are synchronously expanded to the left and right sides respectively.

[0016] An air intake hole is arranged on the side wall of the air intake box, and a plurality of small nozzles are evenly arranged on the bottom surface of the air intake box.

[0017] Furthermore, the multifunctional robotic maintenance vehicle also includes a protective limit system, which is composed of a guardrail electric push rod, a guardrail support rod and a guardrail. A guardrail assembly plate is vertically arranged downward from the rear end of the vehicle plate, and multiple guardrail electric push rods and multiple guardrail support rods are assembled on the front side of the guardrail assembly plate.

[0018] Furthermore, the multifunctional robotic maintenance vehicle also includes a scaffolding system, which is composed of a tarpaulin and a scaffolding. The scaffolding is a U-shaped frame, and main slides are installed on the left and right edges of the upper surface of the vehicle board. Multiple scaffolds are slidably installed on the vehicle board through the main slides. The scaffolding is equipped with a tarpaulin, which covers the vehicle board when unfolded.

[0019] Furthermore, the multifunctional robot maintenance vehicle also includes a tunnel cleaning system, which is composed of a water supply mechanism and a spray assembly. The water supply mechanism is mounted on the vehicle board, and the water supply mechanism and the spray assembly are connected by a water pipe.

[0020] When tunnel cleaning operations are required, the spray assembly is assembled on the flange at the working end of the six-axis robot arm.

[0021] The beneficial effects of using the present invention are:

[0022] This multifunctional robot maintenance vehicle can realize the functions of road cleaning, road repair, roadblock removal, tunnel and guardrail cleaning;

[0023] Considering the length and load of the vehicle, light trucks can choose between road repair and tunnel and guardrail cleaning, while medium and larger trucks can be equipped with all systems at the same time.

[0024] Both the loading robot arm and the six-axis robot arm are operated by mature industrial control systems on the market, and can flexibly and accurately complete loading, gluing and cleaning tasks;

[0025] After the blowing system is deployed and started under the vehicle, it sprays air on the road surface, blowing sand, soil, fallen leaves and other garbage on the road surface to both sides of the road for centralized retention. The subsequent accompanying staff can collect the garbage along the way;

[0026] When the guardrail of the protection limit system is deployed, the rear area of ​​the vehicle is isolated to prevent people from entering the glue filling work area and causing unnecessary accidents;

[0027] The road cone picking and placing system can automatically complete the picking and placing of road cones;

[0028] Integrate multiple road maintenance functions, reduce the manpower and equipment parking space required for the entire process of road maintenance operations, reduce the difficulty of glue filling and road cleaning, and greatly improve the efficiency of road maintenance work. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a front view of the present invention;

[0030] Figure 2 It is a top-down axonometric view of the present invention;

[0031] Figure 3 It is an axonometric view from a bottom up perspective of the present invention;

[0032] Figure 4 for Figure 1 The enlarged view of point a in the middle;

[0033] Figure 5 for Figure 2 The enlarged image of point b in the middle;

[0034] Figure 6 for Figure 3 The enlarged image at c in the middle;

[0035] Figure 7 for Figure 1 The enlarged image at point d in the middle;

[0036] Figure 8 for Figure 3The enlarged view at e in the middle;

[0037] Fig. 9 This is a schematic diagram of the structure of Embodiment 6 of the present invention;

[0038] Fig.10 It is a structural schematic diagram of the road cone clamping mechanism of the present invention in a state of clamping a road cone cylinder;

[0039] Fig.11 Schematic diagram of the information acquisition process of the visual system of the present invention;

[0040] The reference numerals include: 1. electric push rod for guardrail; 2. support rod for guardrail; 3. air inlet; 4. air inlet box; 5. small nozzle; 6. first electric push rod; 7. scaffolding; 8. auxiliary slide; 9. main slide; 10. nylon pulley; 11. synchronous belt; 12. camera; 13. light source assembly; 14. second electric push rod; 15. double clamping plate mechanism; 16. blower; 17. generator; 18. feeding robot arm; 19. hot melt kettle; 20. caulking glue frame; 21. road cone cylinder; 22. six-axis robot arm; 23. feeding pipe; 24. glue filling device; 25. motor; 26. driving pulley; 27. driving shaft; 28. synchronous pulley; 29. ​​indicator light; 30. road cone clamping mechanism; 31. electrical cabinet; 32. distribution box; 33. water supply mechanism; 34. spray assembly;

[0041] x, road traffic sign; y, road crack; z, image acquisition area. DETAILED DESCRIPTION

[0042] The present invention is described in detail below with reference to the accompanying drawings.

[0043] Embodiment 1

[0044] Reference Figure 1 , Figure 2 , Figure 3 and Figure 7 The multifunctional robot maintenance vehicle is composed of a truck, a six-axis robot arm 22, a visual system, a glue injection system and a road cone pick-up and placement system. The truck consists of a front and a vehicle plate. The vehicle plate is located at the rear of the front, and the front has an engine assembly built in. The six-axis robot arm 22 is fixedly installed at the tail end of the upper surface of the vehicle plate. The glue injection system and the road cone pick-up and placement system are both mounted on the vehicle plate. The visual system is installed at the bottom of the vehicle plate to collect road surface information.

[0045] A flange is provided at the working end of the six-axis robot arm 22 for assembling operating devices of different operating systems;

[0046] A generator 17 is provided at the bottom of the vehicle plate, and the generator 17 is connected to the engine assembly;

[0047] An electrical cabinet 31 and a distribution box 32 are mounted on the back side of the front of the vehicle.

[0048] The glue pouring system includes a feeding robot arm 18, a hot melt kettle 19, a glue pouring material frame 20, a feeding pipe 23 and a glue pouring device 24. The hot melt kettle 19 is fixedly installed at the front end of the upper surface of the vehicle panel. The glue pouring device 24 is connected to the hot melt kettle 19 through the feeding pipe 23. The feeding robot arm 18 is fixedly installed at a position on the upper surface of the vehicle panel near the hot melt kettle 19. The glue pouring material frame 20 is assembled at a position on the upper surface of the vehicle panel near the feeding robot arm 18. The glue pouring material frame 20 is used to place the solid raw material of the potting glue.

[0049] Reference Fig.11 When the glue pouring operation needs to be performed, the glue pouring device 24 is installed on the working end of the six-axis robot arm 22, and the six-axis robot arm 22 is controlled to complete the glue pouring operation according to the road surface information collected by the visual system.

[0050] Specifically, the working end of the loading robot arm 18 is composed of a second electric push rod 14 and a double clamping mechanism 15. The second electric push rod 14 is fixedly installed on the working end of the loading robot arm 18. The second electric push rod 14 is assembled on the side of the double clamping mechanism 15 to drive the double clamping mechanism 15 to open and close.

[0051] The road cone taking and placing system comprises a road cone cylinder 21 and a road cone clamping mechanism 30. A plurality of road cone cylinders 21 are stacked on the upper surface of the vehicle plate, and the road cone clamping mechanism 30 is assembled on the upper surface of the vehicle plate.

[0052] The road cone clamping mechanism 30 is located at the edge of the vehicle plate and is close to the stacking position of the road cone cylinders 21 .

[0053] Reference Fig.10 When it is necessary to perform a road cone picking and placing operation, the road cone clamping mechanism 30 is assembled on the working end of the six-axis robot arm 22.

[0054] The road cone 21 includes two types: a basic road cone and a self-propelled road cone;

[0055] Specifically, the basic road cone is a common road cone on the market, which is generally made of rubber or polyester materials;

[0056] During the construction process, the road cone placement system is activated first, and the truck drives forward along the maintenance section, placing road cones one by one on both sides of the road;

[0057] Afterwards, other operating systems are activated, and the truck drives in the opposite direction along the maintained road section, performing other operations along the way;

[0058] The self-propelled road cone is a road cone robot with a self-propelled base at the bottom. The self-propelled road cone can move by itself and automatically deploy and move in formation along the road according to the map information retained in the map;

[0059] During the construction process, the road cone picking and placing system is activated first, and the truck is parked at the starting point or end point of the road section to be maintained to release an appropriate number of self-propelled road cones (all or a corresponding number based on the length of the road section and the following distance);

[0060] Subsequently, other operating systems are activated, and the trucks travel along the maintained section, performing other operations along the way. At the same time, self-propelled road cones follow one by one at a set interval to form a one-way formation, or some self-propelled road cones follow one by one while some self-propelled road cones move in the opposite direction to form a two-way formation.

[0061] Embodiment 2

[0062] Compared with the first embodiment, the present embodiment is different in that:

[0063] Reference Figure 3-Figure 6 Specifically, the visual system has two groups of signal collection ends, which are symmetrically distributed at the rear end of the lower surface of the vehicle panel. The signal collection ends are composed of a camera 12 and a light source assembly 13.

[0064] The image acquisition areas z of the two cameras 12 are intersecting, that is, the two cameras 12 can continuously acquire ground images of the bottom of the truck and the sides of the truck, and the two light source assemblies 13 illuminate the image acquisition area z;

[0065] The images captured by the two cameras 12 include the road traffic signs x and the road cracks y.

[0066] The road traffic sign x is called by the assisted driving system to realize simple assisted driving functions such as lane keeping. The road crack y is called by the glue pouring system. After the six-axis robotic arm 22 reads the road crack y data, it controls the six-axis robotic arm 22 to drive the glue pouring device 24 to move along the road crack y while outputting glue to realize precise glue pouring operation.

[0067] Embodiment 3

[0068] Compared with the first embodiment, the present embodiment is different in that:

[0069] Reference Figure 1-Figure 4 The multifunctional robot maintenance vehicle also includes a blowing system, which is installed in the middle of the lower surface of the vehicle plate. The output end of the blowing system can be expanded to the left and right sides to blow air to the current lane and the road surface outside the lane.

[0070] Specifically, the blowing system includes an air intake box 4 and a blower 16. A plurality of air intake boxes 4 and blowers 16 are assembled on the bottom of the vehicle plate through a steel connecting frame, and the two are connected through a pipeline.

[0071] The air intake box 4 is a long and narrow square box. The multiple air intake boxes 4 include a long air box and two short air boxes. A slideway is installed between the two short air boxes and the steel connecting frame. A first electric push rod 6 is installed between the two short air boxes. When the first electric push rod 6 is extended, the two short air boxes are synchronously expanded to the left and right sides respectively.

[0072] An air inlet hole 3 is provided on the side wall of the air inlet box 4 , and a plurality of small nozzles 5 are evenly mounted on the bottom surface of the air inlet box 4 .

[0073] Embodiment 4

[0074] Compared with the first embodiment, the present embodiment is different in that:

[0075] Reference Figure 1-Figure 3 The multifunctional robot maintenance vehicle also includes a protection limit system, which is composed of a guardrail electric push rod 1, a guardrail support rod 2 and a guardrail. A guardrail assembly plate is vertically arranged downward at the tail end of the vehicle plate, and multiple guardrail electric push rods 1 and multiple guardrail support rods 2 are assembled on the front side of the guardrail assembly plate;

[0076] Specifically, the plurality of guardrail electric push rods 1 and the plurality of guardrail support rods 2 are divided into two groups, and are symmetrically distributed at the left and right ends of the guardrail assembly plate;

[0077] Among them, the guardrail support rod 2 is a retractable structure, and the movable end of the guardrail support rod 2 is equipped with a hinge. One end of the guardrail is connected to the guardrail support rod 2 through a hinge, and this end of the guardrail is fixedly connected to the output end of the guardrail electric push rod 1, and a hook is provided at the other end of the guardrail.

[0078] The back side of the front of the vehicle and the rear of the vehicle board are both equipped with indicator lights 29.

[0079] Embodiment 5

[0080] Compared with the first embodiment, the present embodiment is different in that:

[0081] Reference Figure 1 , Figure 2 , Figure 3 , Figure 5 and Figure 8 The multifunctional robot maintenance vehicle also includes a shelf system, which is composed of a tarpaulin and a shelf 7. The shelf 7 is a U-shaped frame. The left and right edges of the upper surface of the vehicle board are equipped with main slides 9. Multiple shelves 7 are slidably installed on the vehicle board through the main slides 9. The shelf 7 is equipped with a tarpaulin, which covers the vehicle board when unfolded.

[0082] Specifically, both ends of the shelf 7 are equipped with nylon pulleys 10 , which are embedded in the main slide 9 and can slide in the main slide 9 . The main slide 9 is buckled with the auxiliary slide 8 , and the nylon pulley 10 is limited in the main slide 9 by the auxiliary slide 8 .

[0083] Preferably, a motor 25 is installed at the front end of the lower surface of the vehicle plate, and a driving pulley 26 is installed at the output end of the motor 25. A synchronous belt 11 is provided inside the main slide 9, and a synchronous pulley 28 is provided at both ends of each main slide 9. The two ends of the synchronous belt 11 are respectively sleeved on two synchronous pulleys 28. The synchronous pulleys 28 on the same side of the two main slides 9 are connected by a driving shaft 27. A driven pulley is installed on the driving shaft 27, and the driving pulley 26 and the driven pulley are connected by a belt.

[0084] Embodiment 6

[0085] Compared with the first embodiment, the present embodiment is different in that:

[0086] Reference Fig. 9 , a multifunctional robotic maintenance vehicle, which also includes a tunnel cleaning system;

[0087] The tunnel cleaning system includes a water supply mechanism 33 and a spray assembly 34. The water supply mechanism 33 is mounted on the vehicle plate, and the spray assembly 34 is mounted on the working end of the six-axis robot arm 22. The water supply mechanism 33 and the spray assembly 34 are connected by a water pipe.

[0088] Specifically, the water supply mechanism 33 is composed of a water tank, a water pump and a control valve, and the spray assembly 34 has a plurality of spray heads, and the plurality of spray heads are arranged side by side in a horizontal direction.

[0089] When the truck is a light truck, first remove the hot melt kettle 19 and the glue pouring device 24, and then replace the water supply mechanism 33 and the spray assembly 34 at the corresponding positions;

[0090] When the truck is a medium-sized truck or above, the hot melt kettle 19 and the water supply mechanism 33 can be installed at the same time, and the glue filling device 24 or the spray component 34 can be optionally installed according to the current work requirements.

[0091] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, many changes can be made in the specific implementation methods and application scopes based on the ideas of the present invention. As long as these changes do not deviate from the concept of the present invention, they all belong to the protection scope of the present invention.

Claims

1. Multifunctional robot maintenance vehicle, characterized by: It includes a truck, a six-axis robotic arm, a vision system, a glue injection system, and a road cone pick-up and placement system. The vehicle board is located at the rear side of the front of the vehicle, and the front of the vehicle has an engine component built in. The six-axis robotic arm is fixedly installed at the rear end of the upper surface of the vehicle board. The glue injection system and the road cone pick-up and placement system are both mounted on the vehicle board. The vision system is installed at the bottom of the vehicle board to collect road information. A flange is arranged at the working end of the six-axis robot arm.

2. The multifunctional robot maintenance vehicle according to claim 1, characterized in that: The glue pouring system comprises a feeding mechanical arm, a hot melt kettle, a glue pouring material frame, a feeding pipe and a glue pouring device, wherein the hot melt kettle is fixedly mounted on the front end of the upper surface of the vehicle panel, the glue pouring device is connected to the hot melt kettle through the feeding pipe, the feeding mechanical arm is fixedly mounted on the upper surface of the vehicle panel near the hot melt kettle, the glue pouring material frame is assembled on the upper surface of the vehicle panel near the feeding mechanical arm, and the glue pouring material frame is used to place the solid raw material of the potting glue; When the glue pouring operation needs to be performed, the glue pouring device is assembled on the flange plate of the working end of the six-axis robot arm.

3. The multifunctional robot maintenance vehicle according to claim 1, characterized in that: The road cone taking and placing system comprises a road cone cylinder and a road cone clamping mechanism, a plurality of road cone cylinders are stacked on the upper surface of the vehicle plate, and the road cone clamping mechanism is assembled on the upper surface of the vehicle plate; When it is necessary to perform the road cone picking and placing operation, the road cone clamping mechanism is assembled on the flange plate of the working end of the six-axis robot arm.

4. The multifunctional robot maintenance vehicle according to claim 1, characterized in that: The visual system also includes two groups of signal acquisition terminals, which are symmetrically distributed at the rear end of the lower surface of the vehicle panel. The signal acquisition terminals are composed of cameras and light source components.

5. The multifunctional robot maintenance vehicle according to claim 1, characterized in that: The vehicle panel also comprises an air blowing system which is mounted at the middle part of the lower surface of the vehicle panel.

6. The multifunctional robot maintenance vehicle according to claim 5, characterized in that: The blowing system includes an air intake box and a blower, and a plurality of air intake boxes and blowers are assembled on the bottom of the vehicle plate through a steel connecting frame, and the two are connected through a pipeline; The air intake box is an elongated square box, and the multiple air intake boxes include a long air box and two short air boxes. A slideway is installed between the two short air boxes and the steel connecting frame, and a first electric push rod is installed between the two short air boxes. When the first electric push rod is extended, the two short air boxes are synchronously expanded to the left and right sides respectively. An air intake hole is arranged on the side wall of the air intake box, and a plurality of small nozzles are evenly arranged on the bottom surface of the air intake box.

7. The multifunctional robot maintenance vehicle according to claim 1, characterized in that: The multifunctional robotic maintenance vehicle also includes a protective limit system, which is composed of a guardrail electric push rod, a guardrail support rod and a guardrail. A guardrail assembly plate is vertically arranged downward from the rear end of the vehicle plate, and multiple guardrail electric push rods and multiple guardrail support rods are assembled on the front side of the guardrail assembly plate.

8. The multifunctional robot maintenance vehicle according to claim 1, characterized in that: The multifunctional robotic maintenance vehicle also includes a scaffolding system, which is composed of a tarpaulin and a scaffolding. The scaffolding is a U-shaped frame, and main slides are installed on the left and right edges of the upper surface of the vehicle board. Multiple scaffolds are slidably installed on the vehicle board through the main slides. The scaffolding is equipped with a tarpaulin, which covers the vehicle board when unfolded.

9. The multifunctional robot maintenance vehicle according to claim 1, characterized in that: It also includes a tunnel cleaning system, which is composed of a water supply mechanism and a spray assembly. The water supply mechanism is mounted on the vehicle plate, and the water supply mechanism and the spray assembly are connected by a water pipe; When tunnel cleaning operations are required, the spray assembly is assembled on the flange at the working end of the six-axis robot arm.

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