Self-propelled road marking printer

Abstract

The invention discloses a self-propelled road marking printer, and relates to the field of road marking automatic printing, the self-propelled road marking printer comprises a rack, the bottom of the rack is provided with two symmetrically arranged supports, one side of any support is provided with a universal wheel, the bottom of the rack is provided with a first fixing plate, and the first fixing plate is provided with a second fixing plate; fourth rotating power pieces are installed on the left side and the right side of the interior of the first fixing plate correspondingly, and a first chain wheel is installed on one side of each fourth rotating power piece; an air pump is installed at the top of the rack, a stirring assembly is installed at the top of the rack, the air pump communicates with the X-Y two-axis synchronous positioning type spray head through a first connecting pipe, and the air pump communicates with the stirring assembly through a second connecting pipe; the self-propelled road marking printer comprises the walking device, the spray head moving device and the electric drive control system, the marking printer can autonomously complete marking work on the construction site without human intervention, and the marking vehicle positioning and control system can achieve unmanned, autonomous, rapid and reliable marking work of the marking vehicle.

Description

Technical Field

[0001] The invention relates to a highway marking automatic printing technology, in particular to a self-propelled highway marking printer. Background Art

[0002] Highway markings refer to the markings on the road surface that use lines, arrows, words, elevation marks, raised road signs and contour marks to convey traffic information such as guidance, restrictions and warnings to traffic participants. Its function is to control and guide traffic. It can be used in conjunction with signs or alone.

[0003] Expressways, first- and second-class highways, urban expressways and main roads should be equipped with reflective traffic markings in accordance with standard regulations. Other roads can be equipped with traffic markings in accordance with standards as needed.

[0004] Whether the road markings are set reasonably should comply with relevant regulations and withstand driving tests. Let the markings better ensure traffic safety and guide civilized driving.

[0005] According to incomplete statistics from the Ministry of Transport, my country's total highway mileage increased from 4.008 million kilometers in 2010 to 5.577 million kilometers in 2019. my country's highway density increased from 41.8 kilometers per 100 square kilometers in 2010 to 51.68 kilometers per 100 square kilometers in 2019. The total mileage of my country's second-level and above high-grade highways increased from 447,300 kilometers in 2010 to 654,900 kilometers in 2019, with a compound annual growth rate of 5.15%.

[0006] With the massive construction of highways, the demand for the production of road traffic markings is also increasing. Traffic markings mainly include: instruction markings, prohibition markings, warning markings, etc.

[0007] At present, the drawing of road traffic markings mainly relies on manual drawing by workers, that is, workers use normal temperature solvent paint and brushes to draw the corresponding shapes of markings on the road. Manual marking by workers is not only time-consuming and laborious, but also inefficient. There are also many subjective factors. The quality of marking is not only related to the workers' skills, but also affected by the weather, surrounding environment and workers' mood. In addition, long-term marking on the road poses certain safety hazards and is prone to traffic accidents. The manual marking method can no longer meet the current development situation. Summary of the invention

[0008] The purpose of the present invention is to provide a self-propelled highway marking printer. At present, most of the road traffic markings are drawn manually by workers, that is, workers use normal temperature solvent paint and brushes to draw markings of corresponding shapes on the road. Manual marking by workers is not only time-consuming and laborious, but also inefficient. There are also great subjective factors. The quality of marking is not only related to the workers' skills, but also affected by the weather, surrounding environment and workers' mood. In addition, there are certain safety hazards when drawing markings on the road for a long time, which is easy to cause traffic accidents. The manual marking method can no longer meet the current development situation.

[0009] In order to achieve the above object, the present invention provides the following technical solution: a self-propelled road marking printer, comprising:

[0010] A frame, wherein two symmetrically arranged brackets are provided at the bottom of the frame, a universal wheel is installed on one side of any of the brackets, a fixing plate 1 is installed at the bottom of the frame, two sets of rotating power parts 4 are installed inside the fixing plate 1, and a sprocket 1 is installed on one side of the rotating power part 4.

[0011] Furthermore, it also includes: an air pump is installed on the top of the frame, an XY two-axis synchronous nozzle positioning mechanism is installed on the top of the frame, a stirring assembly is installed on the top of the frame, the air pump is connected to the nozzle through connecting pipe 1, and the air pump is connected to the stirring assembly through connecting pipe 2.

[0012] Furthermore, it also includes: two symmetrically arranged fixing plates four are installed on the side of the bottom of the frame away from the bracket, the inner walls of the two fixing plates four are installed with bearings two, the inner walls of the two fixing plates four are installed with driving hubs, and the driving hubs are interference fit connected with the inner ring of the bearing two, the outer sleeves of the two driving hubs are provided with driving wheels, and one side of the two driving wheels is installed with end covers.

[0013] Furthermore, it also includes: the outer sides of the two driving hubs are sleeved with sprocket 2, and the sprocket 1 and sprocket 2 are driven by a chain.

[0014] Furthermore, the XY synchronous two-axis nozzle positioning mechanism includes:

[0015] A second fixing plate is fixedly installed on the top of the frame;

[0016] Two symmetrically arranged fixing plates 3 are slidably mounted on one side of the fixing plate 2;

[0017] A coupling 2 is installed on one side of the fixed plate 3;

[0018] A second rotating power member is mounted on the top of the second coupling;

[0019] A ball screw rod 2, one end of which is fixedly mounted on one side of the coupling 2, and is rotatably connected to the inner walls of two symmetrically arranged fixing plates 3;

[0020] A ball screw rod 1, which is connected with the inner ring of the bearing 1 by interference fit;

[0021] A slider is sleeved on the outer side of the ball screw through a built-in screw nut;

[0022] A coupling 1, which is sleeved on one end of the ball screw 1;

[0023] The first rotating power member is fixedly installed on one side of the first coupling.

[0024] Furthermore, the XY synchronous two-axis nozzle positioning mechanism also includes:

[0025] A nozzle connector, which is sleeved on the outer side of the second ball screw;

[0026] A nozzle, which is fixedly mounted on one side of the nozzle connector;

[0027] A support frame, which is installed on one side of the second fixing plate;

[0028] Two symmetrically arranged mounting frames, which are fixedly mounted on one side of the supporting frame;

[0029] The outer ring of the bearing 1 is installed in the inner hole of the mounting frame.

[0030] Furthermore, the stirring assembly comprises:

[0031] A mixing barrel, which is fixedly mounted on the top of the frame;

[0032] A fixing frame, which is fixedly installed on the top of the mixing barrel;

[0033] A rotating power part 3 is fixedly mounted on the top of the fixing frame;

[0034] A coupling three is fixedly mounted on the output end of the rotating power member three;

[0035] A stirring shaft, which is fixedly connected to the bottom of the coupling three;

[0036] A blade frame, which is sleeved on the outer side of the stirring shaft;

[0037] A plurality of blades are fixedly installed in a blade frame in a circular array.

[0038] Compared with the prior art, the self-propelled road marking printer provided by the present invention includes a walking device, a nozzle moving device and an electric drive control system, and has a relatively simple structure and is easy to manufacture. At the construction site, without human intervention, the road marking printer can autonomously complete the marking work, and the marking vehicle positioning and control system can enable the marking vehicle to complete the marking work unmanned, autonomously, quickly and reliably. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0040] Figure 1 A schematic diagram of the overall structure provided by an embodiment of the present invention;

[0041] Figure 2 A partial cross-sectional view of the overall structure provided by an embodiment of the present invention;

[0042] Figure 3 A partial longitudinal cross-sectional view of the overall structure provided by an embodiment of the present invention;

[0043] Figure 4 A first schematic diagram of an XY two-axis synchronous nozzle positioning mechanism structure provided by an embodiment of the present invention;

[0044] Figure 5 A second schematic diagram of the XY two-axis synchronous nozzle positioning mechanism structure provided by an embodiment of the present invention;

[0045] Figure 6 A third schematic diagram of the XY two-axis synchronous nozzle positioning mechanism structure provided by an embodiment of the present invention;

[0046] Figure 7 The embodiment of the present invention provides Figure 6 Enlarged view of I.

[0047] Description of reference numerals:

[0048] 1. Universal wheel; 2. Bracket; 3. Frame; 4. Sprocket 1; 5. Chain; 6. Fixed plate 1; 7. Air pump; 8. XY synchronous two-axis nozzle positioning mechanism; 81. Rotating power part 1; 82. Coupling 1; 83. Support frame; 84. Fixed plate 2; 85. Bearing 1; 86. Mounting frame; 87. Ball screw 1; 88. Slider; 89. Rotating power part 2; 810. Coupling 2; 811. Fixed plate 3; 812. Ball screw Bead screw two; 813, nozzle connector; 814, nozzle; 9, stirring assembly; 91, stirring barrel; 92, fixing frame; 93, coupling three; 94, rotating power part three; 95, blade; 96, blade frame; 97, stirring shaft; 10, driving hub; 11, driving wheel; 12, sprocket two; 13, fixing plate four; 14, end cover; 15, bearing two; 16, rotating power part four; 17, connecting pipe one; 18, connecting pipe two. DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0050] Embodiment 1:

[0051] See also Figure 1-Figure 3 , a self-propelled road marking printer, comprising:

[0052] The frame 3 has two symmetrically arranged brackets 2 at the bottom, a universal wheel 1 is installed on one side of any bracket 2, a fixing plate 6 is installed at the bottom of the frame 3, a rotating power member 4 16 is installed inside the fixing plate 6, and sprockets 4 are installed on both sides of the rotating power member 4 16;

[0053] An air pump 7 is installed on the top of the frame 3, an XY synchronous two-axis nozzle positioning mechanism 8 is installed on the top of the frame 3, a stirring assembly 9 is installed on the top of the frame 3, the air pump 7 is connected to the nozzle 814 through a connecting pipe 17, and the air pump 7 is connected to the stirring assembly 9 through a connecting pipe 2 18;

[0054] Two symmetrically arranged fixing plates 13 are installed on one side of the bottom of the frame 3 away from the bracket 2, and the inner walls of the two fixing plates 13 are both installed with bearings 15. The inner walls of the two fixing plates 13 are both installed with driving hubs 10, and the driving hubs 10 are connected with the inner rings of the bearings 15 by interference fit. The outer sleeves of the two driving hubs 10 are both provided with driving wheels 11, and one side of the two driving wheels 11 is installed with end covers 14;

[0055] The outer sides of the two driving hubs 10 are sleeved with sprocket 2 12 , and sprocket 1 4 and sprocket 2 12 are driven by a chain 5 .

[0056] The specific implementation method is that the rotating power part 4 16 includes but is not limited to a DC motor, which is electrically connected to an external power supply and is controlled by an external PLC programming program. Its output end has a rotating shaft, which drives a sprocket 4 to rotate through the rotating shaft. The universal wheel 1 is convenient for steering. A gear is installed on the output shaft of the stepper motor, and the gear and the tooth are engaged to realize the transmission of the stepper motor to the gear. The gear and the rack move relative to each other, and the rack drives the wheel to rotate at different angles along the steering axis through a connecting rod.

[0057] Embodiment 2:

[0058] See also Figure 1 - Figure 7 This embodiment provides an implementation method based on the first embodiment. The XY synchronous two-axis nozzle positioning mechanism 8 includes:

[0059] A second fixing plate 84, which is fixedly mounted on the top of the frame 3;

[0060] Two symmetrically arranged fixing plates 811, which are slidably mounted on one side of the fixing plate 84;

[0061] A second coupling 810, which is mounted on one side of the third fixing plate 811;

[0062] The second rotating power member 89 is mounted on the top of the second coupling 810;

[0063] A second ball screw 812, one end of which is fixedly mounted on one side of the second coupling 810;

[0064] The nozzle connector 813 is sleeved on the outer side of the second ball screw 812;

[0065] A nozzle 814, which is fixedly mounted on one side of the nozzle connector 813;

[0066] A support frame 83, which is mounted on one side of the second fixing plate 84;

[0067] Two symmetrically arranged mounting frames 86, which are fixedly mounted on one side of the supporting frame 83;

[0068] Bearing 1 85, whose outer ring is mounted in the inner hole of mounting frame 86;

[0069] A ball screw 87 is connected with the inner ring of a bearing 85 by interference fit;

[0070] A slider 88 is sleeved on the outer side of the ball screw 87;

[0071] A coupling 82, which is sleeved on one end of a ball screw 87;

[0072] The rotating power member 81 is fixedly mounted on one side of the coupling 82.

[0073] The specific implementation method is that the rotating power part 89 includes but is not limited to a DC motor, which is electrically connected to an external power supply and controlled by an external PLC programming program. Its output end is fixedly connected to a coupling 810 for driving a ball screw 812 to rotate. The rotating power part 81 includes but is not limited to an asynchronous motor, which is electrically connected to an external power supply and controlled by an external PLC programming program. Its output end is fixedly connected to a coupling 82 for driving a ball screw 87 to rotate.

[0074] The stirring assembly 9 comprises:

[0075] A mixing barrel 91, which is fixedly mounted on the top of the frame 3;

[0076] A fixing frame 92, which is fixedly mounted on the top of the mixing barrel 91;

[0077] A rotating power member 3 94, which is fixedly mounted on the top of the fixing frame 92;

[0078] A coupling 3 93, which is fixedly mounted on the output end of the rotating power member 3 94;

[0079] A stirring shaft 97, which is fixedly connected to the bottom of the coupling three 93;

[0080] A blade frame 96, which is sleeved on the outer side of the stirring shaft 97;

[0081] A plurality of blades 95 are fixedly mounted in a circular array inside a blade frame 96 .

[0082] In a specific implementation manner, the rotating power part 3 94 includes but is not limited to a DC motor, which is electrically connected to an external power source and is controlled by an external PLC programming program. Its output end is fixedly connected to the coupling 3 93 to drive the stirring shaft 97 to rotate.

[0083] Embodiment three:

[0084] See also Figure 1 - Figure 7 This embodiment provides an implementation method based on the first embodiment.

[0085] The device is equipped with a positioning and control system:

[0086] Positioning system: GPS positioning module, Beidou positioning module, drive shaft encoder, ultrasonic sensor, rotation angle sensor. GPS / Beidou system is used to locate the coordinates of the vehicle body and nozzle position, and autonomous marking is achieved according to the predetermined trajectory. At the same time, the actual running trajectory of the vehicle body nozzle is calculated by using the signals collected by the speed encoder and the wheel steering angle sensor, and the running route is corrected in time to ensure the accuracy of marking printing, and special markings such as dotted lines can be printed at the same time. The ultrasonic sensor installed on the nozzle measures the distance from the nozzle to the ground in real time, controls the nozzle up and down movement motor to adjust the height of the nozzle from the ground in time, and avoids the influence of ground flatness on the printed markings.

[0087] Control system hardware: embedded main controller and interface circuit board, battery and power management module, travel motor drive module, nozzle position adjustment motor drive module, wi fi wireless communication module, paint delivery and nozzle opening and closing system control circuit module. The main controller receives preset path coordinate information and various instructions wirelessly, writes them into the SD card for storage, and is directly read by the main controller; after receiving the signal, the main controller processes it through the built-in program and sends the corresponding instructions to control the motor drive module to drive the corresponding motor action, and controls the relay on and off to control the nozzle to open or close;

[0088] Control system software:

[0089] Coordinate conversion algorithm: The original coordinate information directly output by the GPS positioning module, the longitude, latitude and altitude values ​​in the geodetic coordinate system are converted into plane coordinates in the local global coordinate system, and the distance (lateral deviation) and angle (heading deviation) involved in the trajectory tracking process are calculated, and finally converted into the position of the nozzle on the marking vehicle. The trajectory tracking algorithm is used to control the autonomous marking process of the marking vehicle and convert it into the trajectory tracking process.

[0090] Working principle: When in use, the rotating power parts four 16 on the left and right sides are started at the same time, which drives the sprocket one 4 to rotate, which drives the sprocket two 12 to rotate through the chain 5, and further drives the drive wheel 11 to rotate, so that the device can move. In addition, the rotating power parts four 16 on both sides can be controlled to run at different speeds. Through chain transmission, the left and right drive wheels 11 are driven to rotate at different speeds. The speed difference between the two wheels can realize the vehicle body to move to the left or right, and can also be used to realize the vehicle body turning.

[0091] Pour the spray material into the mixing barrel 91, start the rotating power part three 94, which drives the mixing shaft 97 to rotate through the coupling three 93, and further drives the blade rack 96 to rotate, so that the blades 95 stir the spray material, and introduce it into the air pump 7 through the connecting pipe one 17, and further introduce it into the nozzle 814 through the connecting pipe two 18, and then use the rotating power part one 81 and the rotating power part two 89 to cooperate with each other, so that the nozzle 814 can move up, down, left and right, and mark the highway lines as required.

[0092] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A self-propelled road marking printer, characterized in that: include: A frame (3), wherein two symmetrically arranged brackets (2) are provided at the bottom of the frame (3), a universal wheel (1) is installed on one side of any of the brackets (2), a fixing plate (6) is installed at the bottom of the frame (3), a rotating power member (16) is installed on the left and right sides of the inside of the fixing plate (6), and a sprocket (4) is installed on one side of the rotating power member (16).

2. A self-propelled road marking printer according to claim 1, characterized in that: Also includes: An air pump (7) is installed on the top of the frame (3), an XY synchronous two-axis nozzle positioning mechanism (8) is installed on the top of the frame (3), and a stirring assembly (9) is installed on the top of the frame (3); the air pump (7) and the XY synchronous two-axis nozzle positioning mechanism (8) are connected through a connecting pipe 1 (17), and the air pump (7) and the stirring assembly (9) are connected through a connecting pipe 2 (18).

3. A self-propelled road marking printer according to claim 1, characterized in that: Also includes: Two symmetrically arranged fixing plates (13) are installed on the side of the bottom of the frame (3) away from the bracket (2), the inner walls of the two fixing plates (13) are both installed with bearings (15), the inner walls of the two fixing plates (13) are both installed with driving hubs (10), and the driving hubs (10) are connected to the inner rings of the bearings (15) by interference fit, the outer sleeves of the two driving hubs (10) are both provided with driving wheels (11), and one side of the two driving wheels (11) is installed with end covers (14).

4. A self-propelled road marking printer according to claim 3, characterized in that: Also includes: The outer sides of the two driving wheel hubs (10) are both sleeved with sprocket two (12), and the sprocket one (4) and sprocket two (12) are driven by a chain (5).

5. A self-propelled road marking printer according to claim 2, characterized in that: The XY synchronous two-axis nozzle positioning mechanism (8) comprises: A second fixing plate (84) fixedly mounted on the top of the frame (3); Two symmetrically arranged fixing plates (811) are slidably mounted on one side of the fixing plate (84); A coupling 2 (810) is installed on one side of the fixing plate 3 (811); A second rotating power member (89) mounted on the top of the second coupling (810); A second ball screw (812), one end of which is fixedly mounted on one side of the second coupling (810), and is rotatably connected to the inner walls of two symmetrically arranged third fixing plates (811); A ball screw rod (87) which is connected to the inner ring of a bearing (85) by interference fit; A slider (88) is sleeved on the outer side of the ball screw (87) via a built-in screw nut; A coupling (82) sleeved on one end of a ball screw (87); A rotating power member (81) is fixedly mounted on one side of a coupling (82).

6. A self-propelled road marking printer according to claim 5, characterized in that: The XY synchronous two-axis nozzle positioning mechanism (8) also includes: A nozzle connector (813) fixedly mounted on the outer side of the slide block (88); A nozzle (814) is fixedly mounted on one side of the nozzle connector (813); A support frame (83) mounted on one side of the second fixing plate (84); Two symmetrically arranged mounting frames (86) are fixedly mounted on one side of the supporting frame (83); The outer ring of the bearing 1 (85) is mounted on the inner hole of the mounting frame (86).

7. The self-propelled road marking printer according to claim 2, characterized in that: The stirring assembly (9) comprises: A mixing barrel (91) fixedly mounted on the top of the frame (3); A fixed frame (92) fixedly mounted on the top of the mixing barrel (91); A rotating power member 3 (94) is fixedly mounted on the top of the fixing frame (92); A coupling three (93) fixedly mounted on the output end of the rotating power member three (94); A stirring shaft (97) fixedly connected to the bottom of the coupling three (93); A blade frame (96) sleeved on the outer side of the stirring shaft (97); A plurality of blades (95) are fixedly mounted in a circular array inside a blade frame (96).

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