Lofting robot and lofting method

Abstract

The invention belongs to the technical field of engineering lofting under high-speed rail lines, and discloses a lofting robot and a lofting method.The lofting robot comprises a lofting trolley, a mechanical arm adjusting device, a seal ink pressing mechanism and a control assembly, the mechanical arm adjusting device is carried on the lofting trolley, and the bottom of the mechanical arm adjusting device is connected with the seal ink pressing mechanism; after the control assembly receives the lofting point coordinate file, the lofting trolley is controlled to reach the lofting point for coarse positioning, then the bottom face of the seal ink pressing mechanism is parallel to the lofting ground through four times of fine positioning of the mechanical arm adjusting device, ink pressing lofting is achieved through ink pressing, the bottom face of the seal ink pressing mechanism is evenly stressed, and the service life is prolonged.

Description

Technical Field

[0001] The invention belongs to the technical field of lofting for high-speed railway subgrade works, and particularly relates to a lofting robot and a lofting method. Background Art

[0002] At present, during the construction process, there are strict requirements and controls on construction accuracy and construction scope, and construction survey lofting technology needs to be applied to provide construction basis and reference. Construction lofting is a surveying work that, at the beginning of construction of a project, calibrates the plane position and elevation of the building or structure to be constructed to the actual site position according to the requirements of the design drawings. In the fields of construction engineering and other related engineering fields, a large number of lofting positioning and measurement verifications are required, which is an essential link for the successful completion of the project.

[0003] At the present stage, technicians use the building model in BIM technology to improve the efficiency of lofting operations. The core of BIM is to establish a virtual three-dimensional model of a building project and use digital technology to provide a complete building project information database that is consistent with the actual situation for this model. The lofting robot is a commonly used surveying instrument in BIM technology. The lofting robot sets the coordinates of on-site control points and the coordinate components of building structure points in the BIM model as the basis for BIM model compound comparison, creates lofting control points in the BIM model, then sets the layout points of mechanical and electrical pipeline supports and hangers in the approved mechanical and electrical BIM model, imports all lofting points into the software, and finally enters the site. The BIM lofting robot is used to collect data on on-site lofting control points, immediately locate the on-site coordinates of the lofting robot, select the required lofting points in the BIM model through a tablet computer, and command the robot to emit an infrared laser to automatically aim at the actual points, so as to accurately reflect the BIM model to the construction site.

[0004] However, the existing lofting robot has a low positioning accuracy and takes a long time for positioning; at the same time, the existing lofting robot is provided with an inkjet component as the lofting marking component, and has low requirements for the bottom surface of the lofting marking component and the lofting ground. When the lofting marking component is improved to a seal ink pressing component, it is impossible to ensure that the bottom surface of the lofting marking is parallel to the lofting ground, which easily causes uneven force on the bottom surface of the seal ink pressing component and reduces its service life. Therefore, it is necessary to develop a new type of lofting robot. Summary of the Invention

[0005] The purpose of the present invention is to solve the problems existing in the prior art, and provide a lofting robot and a lofting method.

[0006] To solve the technical problems, the technical solution of the present invention is: a lofting robot, comprising a lofting trolley, a robotic arm adjustment device, a seal ink pressing mechanism, and a control component, wherein the lofting trolley, the robotic arm adjustment device, and the seal ink pressing mechanism are respectively electrically connected to the control component; The lofting trolley includes a housing and a mounting seat for the robotic arm adjustment device. The mounting seat for the robotic arm adjustment device is fixed to the bottom of the inner cavity of the housing. The bottom of the housing is parallel to the lofting ground, and the top of the mounting seat for the robotic arm adjustment device is also parallel to the lofting ground. The robotic arm adjustment device includes a first-degree-of-freedom adjustment component, a second-degree-of-freedom adjustment component, a third-degree-of-freedom adjustment component, a fourth-degree-of-freedom adjustment component, and a fifth-degree-of-freedom adjustment component that are connected in sequence. The first-degree-of-freedom adjustment component is fixed to the mounting seat for the robotic arm adjustment device, and the plane where the rotating connector of the first-degree-of-freedom adjustment component is located is parallel to the lofting ground. The second-degree-of-freedom adjustment component is fixed to the rotating connector. The first-degree-of-freedom adjustment component drives the second-degree-of-freedom adjustment component to swing by an angle α in the plane where the rotating connector is located. The second-degree-of-freedom adjustment component is coaxial with the third-degree-of-freedom adjustment component and drives the third-degree-of-freedom adjustment component to move a distance S. The third-degree-of-freedom adjustment component drives the fourth-degree-of-freedom adjustment component to swing by an angle γ with the center of the U-shaped gimbal mechanism connector as the center of the circle. The fourth-degree-of-freedom adjustment component drives the fifth-degree-of-freedom adjustment component to swing by an angle β with the axial center of the fourth-degree-of-freedom adjustment component as the center of the circle, so that the axis of the fifth-degree-of-freedom adjustment component is perpendicular to the lofting ground. The stamp ink pressing mechanism is fixedly installed at the bottom of the fifth-degree-of-freedom adjustment component. The fifth-degree-of-freedom adjustment component drives the stamp ink pressing mechanism to move a distance h. The stamp ink pressing mechanism presses the lofting ground vertically downward to perform ink pressing and ink output to achieve lofting marking.

[0007] Preferably, the lofting trolley further includes wheels, a power component, a linkage component, and a battery. The battery is electrically connected to the control component. There are four wheels. The four wheels are respectively installed in pairs on the opposite side faces of the housing. The power component, the linkage component, and the battery are arranged in the inner cavity of the housing. The power component and the linkage component are respectively two groups. The power component drives the two wheels on the same side to rotate synchronously through the linkage component, so that the two groups of wheels arranged on the opposite side faces of the housing achieve differential steering. The mounting seat for the robotic arm adjustment device is installed in the inner cavity of the housing on the side away from the battery. The mounting seat for the robotic arm adjustment device is a "ji"-shaped mounting seat. There is a hollowed-out part in the middle of the bottom of the "ji"-shaped mounting seat for avoiding the power component. There are mounting holes on the top of the "ji"-shaped mounting seat for fixedly installing the first-degree-of-freedom adjustment component.

[0008] Preferably, the first-degree-of-freedom adjustment component further includes a turntable connecting plate, a spacer block, and a first servo module. The first servo module is fixedly installed at the mounting hole of the "ji"-shaped mounting seat through the spacer block. The power output end of the first servo module passes through the top of the housing to connect the turntable connecting plate. The turntable connecting plate is key-connected to the rotating connector. The plane where the rotating connector is located is parallel to the lofting ground.

[0009] Preferably, the second-degree-of-freedom adjustment component includes a rotating square tube, a second servo module, and a lateral telescopic arm. The rotating square tube is fixed to the rotating connector, and the second servo module and the lateral telescopic arm are installed inside the rotating square tube. The second servo module drives the lateral telescopic arm to move a distance S. The length of the rotating square tube is greater than the distance from the center of the rotating connector to any position of the lofting trolley, enabling the first-degree-of-freedom adjustment component to drive the rotating square tube to rotate 360°.

[0010] Preferably, the third-degree-of-freedom adjustment component includes a third servo module and a U-shaped cloud platform mechanism connector. The third servo module is fixedly installed at the inner end of the lateral telescopic arm. The power output end of the third servo module is connected to the U-shaped cloud platform mechanism connector. A fourth-degree-of-freedom adjustment component is installed between the opposite sides of the U-shaped cloud platform mechanism connector. The third servo module drives the U-shaped cloud platform mechanism connector to swing at an angle γ with the axis of the third servo module at its position as the center.

[0011] Preferably, the fourth-degree-of-freedom adjustment component further includes a fourth servo module, a rotating part, and a vertical rotating arm. One end of the fourth servo module is fixed to one side of the U-shaped cloud platform mechanism connector. One end of the vertical rotating arm is sleeved outside the fourth servo module, and the side wall of the vertical rotating arm is connected to the power output end of the fourth servo module through the rotating part. The other end of the rotating part is rotatably installed on the other side of the U-shaped cloud platform mechanism connector. The fourth servo module drives the vertical rotating arm to rotate at an angle β with the axis center of the fourth servo module as the center and the radial plane where the center of the fourth servo module is located as the plane. The fifth-degree-of-freedom adjustment component is coaxially installed in the vertical rotating arm, making the axis of the fifth-degree-of-freedom adjustment component perpendicular to the lofting ground.

[0012] Preferably, a prism is installed at the top of the vertical rotating arm, and a seal ink pressing mechanism is installed at the bottom of the fifth-degree-of-freedom adjustment component. When the axis of the fifth-degree-of-freedom adjustment component is perpendicular to the lofting ground, the position of the prism is consistent with the ink pressing lofting mark of the seal ink pressing mechanism.

[0013] Preferably, a detection component is installed on the front side of the vertical rotating arm. The detection component includes a camera, an angle sensor, and a laser sensor. The shooting direction of the camera is perpendicular to the axis of the fifth-degree-of-freedom adjustment component. The position of the angle sensor corresponds to the position of the fourth servo module. The laser emission direction of the laser sensor is parallel to the axis of the fifth-degree-of-freedom adjustment component. The camera, the angle sensor, and the laser sensor are respectively electrically connected to the control component.

[0014] Preferably, the fifth-degree-of-freedom adjustment component includes a fifth servo module, a telescopic member, a joint module fixing member, a lead screw, a lead screw nut, and a guiding component. The fifth servo module is coaxially and fixedly installed in the vertical rotating arm through the joint module fixing member. The power output end of the fifth servo module is connected to the lead screw. The lead screw nut is sleeved on the lead screw. The telescopic member is sleeved outside the lead screw nut. One end of the telescopic member is fixedly connected to the lead screw nut, and the other end of the telescopic member is fixedly connected to the guiding component. The other end of the guiding component is movably connected to the stamp ink pressing mechanism. The telescopic member, the lead screw, the lead screw nut, the guiding component, and the stamp ink pressing mechanism are coaxial. The fifth servo module is electrically connected to the control component.

[0015] Preferably, a setting-out method uses a setting-out robot according to any one of the above to perform construction setting-out, including the following steps: Step 1: According to the setting-out line type file, import the setting-out point coordinate file into the control component of the setting-out robot; Step 2: The control component controls the power component of the setting-out trolley to start, drives the four wheels to rotate and move to the setting-out point. When approaching the setting-out point, the two side wheels are driven to reach different rotational speeds through the linkage component for differential steering to complete the rough positioning of the setting-out trolley. At this time, the setting-out error is ±50 mm; Step 3: The control component controls the first-degree-of-freedom adjustment component of the robotic arm adjustment device to swing by an angle α, and the second-degree-of-freedom adjustment component to move a distance S to achieve two fine positionings. At this time, the error is ±2 mm; Step 4: Then the third-degree-of-freedom adjustment component swings by an angle γ, and the fourth-degree-of-freedom adjustment component swings by an angle β to achieve two fine positionings. At this time, the error is ±0.15 mm, reaching the standard of the setting-out mark; Step 5: Finally, the fifth-degree-of-freedom adjustment component drives the stamp ink pressing mechanism 3 to move a distance h and presses downward to eject ink to achieve ink pressing and setting-out.

[0016] Compared with the prior art, the advantages of the present invention are as follows: (1) The present invention discloses a setting-out robot, including a setting-out trolley, a robotic arm adjustment device, a stamp ink pressing mechanism, and a control component. The robotic arm adjustment device is mounted on the setting-out trolley. The bottom of the robotic arm adjustment device is connected to the stamp ink pressing mechanism. After the control component receives the setting-out point coordinate file, it controls the setting-out trolley to reach the setting-out point for rough positioning, and then through four fine positionings of the robotic arm adjustment device, the bottom surface of the stamp ink pressing mechanism is parallel to the setting-out ground. At this time, ink is ejected by pressing to achieve ink pressing and setting-out. The bottom surface of the stamp ink pressing mechanism is evenly stressed, improving its service life; (2) The power component of the layout trolley of the present invention drives the two wheels on the same side to rotate synchronously through the linkage component, enabling the two sets of wheels arranged on the opposite sides of the housing to achieve differential steering. When the layout trolley approaches the layout point, it can quickly approach the layout point through differential steering, improving the layout speed, saving time, and at the same time improving the accuracy of rough positioning. (3) The robotic arm adjustment device of the present invention includes five-degree-of-freedom adjustment components. During layout, first, the layout trolley carries the robotic arm adjustment device to the layout point to achieve rough positioning, with an error of ±50 mm at this time. Then, the first-degree-of-freedom adjustment component swings by an angle α, and the second-degree-of-freedom adjustment component moves a distance S along the X-axis to achieve two fine positionings, with an error of ±2 mm at this time. Then, the third-degree-of-freedom adjustment component swings by an angle γ, and the fourth-degree-of-freedom adjustment component swings by an angle β to achieve two more fine positionings, with an error of ±0.1 mm at this time to determine the accurate layout position. Finally, the fifth-degree-of-freedom adjustment component moves a distance h for layout marking. Through multi-degree-of-freedom adjustment, the present invention reduces errors, achieves precise positioning, and ensures the accuracy of the layout position. (4) The layout trolley, the robotic arm adjustment device, and the stamp ink pressing mechanism of the present invention are respectively electrically connected to the control component, and can act sequentially or simultaneously, with a rapid response, greatly saving the time spent on positioning. Brief Description of the Drawings

[0017] Figure 1 、Schematic three-dimensional structure diagram of a layout robot of the present invention; Figure 2 、Schematic side view structure diagram of a layout robot of the present invention; Figure 3 、Schematic top view structure diagram of a layout robot of the present invention; Figure 4 、The present invention Figure 3 Cross-sectional view taken along line B-B of; Figure 5 、The present invention Figure 4 Partial enlarged view of.

[0018] Description of the Reference Numerals in the Drawings: 1. Layout trolley, 2. Robotic arm adjustment device, 3. Stamp ink pressing mechanism, 4. Prism; 1-1. Housing, 1-2. Wheels, 1-3. Power component, 1-4. Linkage component, 1-5. Battery, 1-6. Mounting seat for robotic arm adjustment device; 1-6-1. Hollowed-out part, 1-6-2. Mounting hole; 2-1. First-degree-of-freedom adjustment component, 2-2. Second-degree-of-freedom adjustment component, 2-3. Third-degree-of-freedom adjustment component, 2-4. Fourth-degree-of-freedom adjustment component, 2-5. Fifth-degree-of-freedom adjustment component, 2-6. Detection component; 2-1-1, Rotating connector, 2-1-2, Turntable connecting plate, 2-1-3, Lifting block, 2-1-4, First servo module; 2-2-1, Rotating square tube, 2-2-3, Second servo module, 2-2-6, Transverse telescopic arm; 2-3-1, Third servo module, 2-3-2, U-shaped cloud platform mechanism connector; 2-4-1, Fourth servo module, 2-4-2, Rotating part, 2-4-3, Vertical rotating arm; 2-6-1, Camera, 2-6-2, Angle sensor, 2-6-3, Laser sensor; 2-5-1, Fifth servo module, 2-5-2, Telescopic part, 2-5-3, Joint module fixing part, 2-5-4, Lead screw, 2-5-5, Lead screw nut, 2-5-6, Guide assembly. Detailed implementation mode

[0019] The following describes the specific implementation mode of the present invention in conjunction with embodiments: It should be noted that the structures, ratios, sizes, etc. shown in this specification are only used to cooperate with the content disclosed in the specification for those who are familiar with this technology to understand and read, and are not used to limit the limited conditions under which the present invention can be implemented. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention.

[0020] Embodiment 1 As Figures 1 - 5 shown, the present invention discloses a lofting robot, including a lofting trolley 1, a robotic arm adjustment device 2, a seal ink pressing mechanism 3 and a control component. The lofting trolley 1, the robotic arm adjustment device 2 and the seal ink pressing mechanism 3 are respectively electrically connected to the control component; The lofting trolley 1 includes a housing 1-1 and a robotic arm adjustment device mounting seat 1-6. The robotic arm adjustment device mounting seat 1-6 is fixed at the bottom of the inner cavity of the housing 1-1. The bottom of the housing 1-1 is parallel to the lofting ground, and the top of the robotic arm adjustment device mounting seat 1-6 is also parallel to the lofting ground; The robotic arm adjustment device 2 includes a first-degree-of-freedom adjustment component 2-1, a second-degree-of-freedom adjustment component 2-2, a third-degree-of-freedom adjustment component 2-3, a fourth-degree-of-freedom adjustment component 2-4, and a fifth-degree-of-freedom adjustment component 2-5 that are connected in sequence. The first-degree-of-freedom adjustment component 2-1 is fixed on the robotic arm adjustment device mounting base 1-6, and the plane where the rotating connector 2-1-1 of the first-degree-of-freedom adjustment component 2-1 is located is parallel to the lofting ground. The second-degree-of-freedom adjustment component 2-2 is fixed on the rotating connector 2-1-1. The first-degree-of-freedom adjustment component 2-1 drives the second-degree-of-freedom adjustment component 2-2 to swing by an angle α in the plane where the rotating connector 2-1-1 is located. The second-degree-of-freedom adjustment component 2-2 is coaxial with the third-degree-of-freedom adjustment component 2-3 and drives the third-degree-of-freedom adjustment component 2-3 to move a distance S. The third-degree-of-freedom adjustment component 2-3 drives the fourth-degree-of-freedom adjustment component 2-4 to swing by an angle γ with the center of the U-shaped cloud platform mechanism connector 2-3-2 as the center. The fourth-degree-of-freedom adjustment component 2-4 drives the fifth-degree-of-freedom adjustment component 2-5 to swing by an angle β with the axial center of the fourth-degree-of-freedom adjustment component 2-4 as the center, so that the axis of the fifth-degree-of-freedom adjustment component 2-5 is perpendicular to the lofting ground; The seal ink pressing mechanism 3 is fixedly installed at the bottom of the fifth-degree-of-freedom adjustment component 2-5. The fifth-degree-of-freedom adjustment component 2-5 drives the seal ink pressing mechanism 3 to move a distance h. The seal ink pressing mechanism 3 presses the lofting ground vertically downward to perform ink pressing and ink output to achieve lofting marking.

[0021] Embodiment 2 As Figure 3 、 4 shown, preferably, the lofting trolley 1 further includes wheels 1-2, a power component 1-3, a linkage component 1-4, and a battery 1-5. The battery 1-5 is electrically connected to the control component; There are four wheels 1-2. The four wheels 1-2 are respectively installed in pairs on the opposite side surfaces of the housing 1-1. The power component 1-3, the linkage component 1-4, and the battery 1-5 are arranged in the inner cavity of the housing 1-1. The power component 1-3 and the linkage component 1-4 are respectively two groups. The power component 1-3 drives the two wheels 1-2 on the same side to rotate synchronously through the linkage component 1-4, so that the two groups of wheels 1-2 arranged on the opposite side surfaces of the housing 1-1 achieve differential steering; As Figure 4 shown, the robotic arm adjustment device mounting base 1-6 is installed in the inner cavity of the housing 1-1 on the side away from the battery 1-5. The robotic arm adjustment device mounting base 1-6 is a "Ji"-shaped mounting base. A hollow part 1-6-1 is provided in the middle position at the bottom of the "Ji"-shaped mounting base. The hollow part 1-6-1 is used to avoid the power component 1-3. An installation hole 1-6-2 is opened at the top of the "Ji"-shaped mounting base. The installation hole 1-6-2 is used to fixedly install the first-degree-of-freedom adjustment component 2-1.

[0022] The battery 1-5 is a lithium battery and is replaceable; meanwhile, a digital control system, voice alarm and remote control operation functions are provided.

[0023] The power assembly 1-3 is driven by a servo motor, automatically guides, differentially steers, turns in place, realizes stepless speed change, has wheels with a diameter of Φ380mm, can cross beam gaps and slab gaps, and realizes rough positioning.

[0024] The control assembly is an unmanned driving system that can automatically plan a path, automatically walk, stop and alarm when encountering an obstacle according to the lofting target point. It can realize the integration of automatic import of lofting points, total station control, automatic navigation algorithm, fine adjustment mechanism algorithm, ink pressing marking algorithm, and report saving.

[0025] Embodiment 3 Such as Figure 4 、 5 As shown, preferably, the first-degree-of-freedom adjustment assembly 2-1 further includes a turntable connecting plate 2-1-2, a shim block 2-1-3 and a first servo module 2-1-4. The first servo module 2-1-4 is fixedly installed at the mounting hole 1-6-2 of the "C"-shaped mounting base through the shim block 2-1-3. The power output end of the first servo module 2-1-4 passes through the top of the housing 1-1 and is connected to the turntable connecting plate 2-1-2. The turntable connecting plate 2-1-2 is key-connected to the rotary connecting piece 2-1-1, and the plane where the rotary connecting piece 2-1-1 is located is parallel to the lofting ground.

[0026] Such as Figure 4 、 5 As shown, preferably, the second-degree-of-freedom adjustment assembly 2-2 includes a rotating square tube 2-2-1, a second servo module 2-2-3 and a transverse telescopic arm 2-2-6. The rotating square tube 2-2-1 is fixed on the rotary connecting piece 2-1-1. The second servo module 2-2-3 and the transverse telescopic arm 2-2-6 are installed inside the rotating square tube 2-2-1. The second servo module 2-2-3 drives the transverse telescopic arm 2-2-6 to move a distance S. The length of the rotating square tube 2-2-1 is greater than the distance from the center of the rotary connecting piece 2-1-1 to any position of the lofting trolley 1, so that the first-degree-of-freedom adjustment assembly 2-1 drives the rotating square tube 2-2-1 to perform a 360° rotation.

[0027] The second-degree-of-freedom adjustment assembly 2-2 further includes a lead screw and a lead screw nut. The power output end of the second servo module 2-2-3 is connected to the lead screw. The lead screw is in mating connection with the lead screw nut. The lead screw nut is connected to one end of the transverse telescopic arm 2-2-6. After the second servo module 2-2-3 rotates, it drives the transverse telescopic arm 2-2-6 to move a distance S.

[0028] Embodiment 4 Such as Figure 4 、5 As shown, preferably, the third-degree-of-freedom adjustment component 2-3 includes a third servo module 2-3-1 and a U-shaped cloud platform mechanism connecting member 2-3-2. The third servo module 2-3-1 is fixedly installed at the inner end of the lateral telescopic arm 2-2-6. The power output end of the third servo module 2-3-1 is connected to the U-shaped cloud platform mechanism connecting member 2-3-2. A fourth-degree-of-freedom adjustment component 2-4 is installed between the opposite sides of the U-shaped cloud platform mechanism connecting member 2-3-2. The third servo module 2-3-1 drives the U-shaped cloud platform mechanism connecting member 2-3-2 to swing by an angle γ with the axis of the third servo module 2-3-1 at its position as the center of the circle.

[0029] As Figure 4 、 5 As shown, preferably, the fourth-degree-of-freedom adjustment component 2-4 further includes a fourth servo module 2-4-1, a rotating member 2-4-2, and a vertical rotating arm 2-4-3. One end of the fourth servo module 2-4-1 is fixed to one side of the U-shaped cloud platform mechanism connecting member 2-3-2. One end of the vertical rotating arm 2-4-3 is sleeved outside the fourth servo module 2-4-1. And the side wall of the vertical rotating arm 2-4-3 is connected to the power output end of the fourth servo module 2-4-1 through the rotating member 2-4-2. The other end of the rotating member 2-4-2 is rotatably installed on the other side of the U-shaped cloud platform mechanism connecting member 2-3-2. The fourth servo module 2-4-1 drives the vertical rotating arm 2-4-3 to rotate by an angle β with the axis center of the fourth servo module 2-4-1 as the center of the circle and with the radial plane where the center of the fourth servo module 2-4-1 is located as the plane. The fifth-degree-of-freedom adjustment component 2-5 is coaxially installed in the vertical rotating arm 2-4-3, so that the axis of the fifth-degree-of-freedom adjustment component 2-5 is perpendicular to the setting-out ground.

[0030] As Figure 4 、 5 As shown, preferably, a prism 4 is installed at the top of the vertical rotating arm 2-4-3, and an ink pressing mechanism 3 for the seal is installed at the bottom of the fifth-degree-of-freedom adjustment component 2-5. When the axis of the fifth-degree-of-freedom adjustment component 2-5 is perpendicular to the setting-out ground, the position of the prism 4 is consistent with the ink pressing and setting-out mark of the ink pressing mechanism 3 for the seal.

[0031] As Figure 4 、 5As shown, preferably, a detection component 2-6 is installed on the front side of the vertical rotating arm 2-4-3. The detection component 2-6 includes a camera 2-6-1, an angle sensor 2-6-2, and a laser sensor 2-6-3. The shooting direction of the camera 2-6-1 is perpendicular to the axis of the fifth-degree-of-freedom adjustment component 2-5. The position of the angle sensor 2-6-2 corresponds to the position of the fourth servo module 2-4-1. The laser emission direction of the laser sensor 2-6-3 is parallel to the axis of the fifth-degree-of-freedom adjustment component 2-5. The camera 2-6-1, the angle sensor 2-6-2, and the laser sensor 2-6-3 are respectively electrically connected to the control component.

[0032] The prism 4 is a 360° prism.

[0033] The laser sensor 2-6-3 detects the distance from the center of the prism 4 to the ground, and the total station tracks the prism to improve the setting-out accuracy.

[0034] Embodiment 5 As Figure 4 、 5 shown, preferably, the fifth-degree-of-freedom adjustment component 2-5 includes a fifth servo module 2-5-1, a telescopic member 2-5-2, a joint module fixing member 2-5-3, a lead screw 2-5-4, a lead screw nut 2-5-5, and a guiding component 2-5-6. The fifth servo module 2-5-1 is coaxially and fixedly installed in the vertical rotating arm 2-4-3 through the joint module fixing member 2-5-3. The power output end of the fifth servo module 2-5-1 is connected to the lead screw 2-5-4. The lead screw nut 2-5-5 is sleeved on the lead screw 2-5-4. The telescopic member 2-5-2 is sleeved outside the lead screw nut 2-5-5, and one end of the telescopic member 2-5-2 is fixedly connected to the lead screw nut 2-5-5. The other end of the telescopic member 2-5-2 is fixedly connected to the guiding component 2-5-6. The other end of the guiding component 2-5-6 is movably connected to the stamp ink pressing mechanism 3. The telescopic member 2-5-2, the lead screw 2-5-4, the lead screw nut 2-5-5, the guiding component 2-5-6, and the stamp ink pressing mechanism 3 are coaxial. The fifth servo module 2-5-1 is electrically connected to the control component.

[0035] The lead screw 2-5-4 is threadedly connected to the lead screw nut 2-5-5. When the fifth servo module 2-5-1 drives the lead screw 2-5-4 to rotate, the lead screw nut 2-5-5 moves along the axis of the lead screw 2-5-4.

[0036] Embodiment 6 Preferably, a setting-out method uses the setting-out robot described in any one of the above to perform construction setting-out, including the following steps: Step 1: According to the setting-out line type file, import the setting-out point coordinate file into the control component of the setting-out robot; Step 2: The control component controls the power component 1-3 of the lofting trolley 1 to start, driving the four wheels 1-2 to rotate and move to the lofting point. When approaching the lofting point, the two side wheels 1-2 are driven by the linkage component 1-4 to reach different rotational speeds for differential steering, completing the rough positioning of the lofting trolley 1. At this time, the lofting error is ±50 mm. Step 3: The control component controls the robotic arm adjustment device 2. The first-degree-of-freedom adjustment component 2-1 swings by an angle α, and the second-degree-of-freedom adjustment component 2-2 moves a distance S to achieve two fine positionings. At this time, the error is ±2 mm. Step 4: Then, the third-degree-of-freedom adjustment component 2-3 swings by an angle γ, and the fourth-degree-of-freedom adjustment component 2-4 swings by an angle β to achieve two fine positionings. At this time, the error is ±0.15 mm, meeting the standard of the lofting mark. Step 5: Finally, the fifth-degree-of-freedom adjustment component 2-5 drives the seal ink pressing mechanism 3 to move a distance h and presses downward to extrude ink for ink pressing lofting.

[0037] The working principle of the present invention is as follows: As Figures 1 - 5 shown, the present invention discloses a lofting robot and a lofting method, including a lofting trolley 1, a robotic arm adjustment device 2, a seal ink pressing mechanism 3, and a control component. During the lofting process, the lofting trolley 1 travels near the lofting point. Through differential smooth steering, the in-situ steering controls the error within ±50 mm, and then it stops moving. The precise adjustment within 50 mm is completed by the robotic arm adjustment device 2. The robotic arm adjustment device 2 includes 5 sets of servo motors to achieve actions such as swinging, telescoping, and automatic verticality. The action accuracy is ±0.1 mm. The 360° prism feedbacks the horizontal coordinates of the seal ink pressing mechanism 3, the biaxial inclination sensor feedbacks the verticality, the high-definition camera acquires the front image, and the laser sensor measures the elevation to achieve the attitude control of the seal ink pressing mechanism 3, making the attitude of the seal ink pressing mechanism 3 always perpendicular to the lofting ground, and the lofting accuracy error is less than ±0.1 mm.

[0038] The equipment parameters of the lofting robot of the present invention are as follows: 1. Working voltage: DC48V; 2. Battery capacity: 20 Ah, 2 pieces; 3. Endurance time: 4 h (1 battery); 4. Travel speed: 5 km / h; 5. Steering method: Differential smooth steering, in-situ steering; 6. Lofting accuracy: ±2 mm; 7. Communication method: Total station: BT; Robot: WIFI; 8. Lofting distance: 1 km (depending on the total station); 9. Weight: Layout trolley: 32 kg; Robotic arm adjustment device: 14 kg; Battery: 4 kg (per unit); 10. Operating conditions: Day / night, non-rainy, snowy, or foggy weather; 11. Protection level: IP55.

[0039] The working process of the present invention is as follows: 1. Used on planes such as beam surfaces, base plates, and roadbeds to replace manual automatic point layout.

[0040] 2. According to the line type file, use in-house software to calculate and generate the layout point coordinate file, and import it into the layout robot.

[0041] 3. The total station tracks the prism, feeds back the real-time coordinates, and the on-board computer automatically navigates the vehicle driving route based on the connection line of the front and rear points. When it drives near the layout point, rapid rough positioning is achieved.

[0042] 4. According to the deviation value between the actually measured position by the total station and the layout point position, control the movement of the precise layout mechanism to reach the layout position.

[0043] 5. The marking mechanism automatically adjusts to ensure that the prism center is perpendicular to the geodetic horizontal plane, eliminating the tilt error.

[0044] 6. Automatically press the ink to leave a clear mark.

[0045] 7. The measurement method is compatible with RTK.

[0046] 8. Powered by lithium batteries, with automatic obstacle avoidance and remote control operation.

[0047] The comparison between the layout robot of the present invention and the traditional method is shown in the following table:

[0048] The comparison between the layout robot of the present invention and the existing layout robots:

[0049] The present invention discloses a layout robot, including a layout trolley, a robotic arm adjustment device, a seal ink pressing mechanism, and a control component. The robotic arm adjustment device is mounted on the layout trolley, and the bottom of the robotic arm adjustment device is connected to the seal ink pressing mechanism. After receiving the layout point coordinate file, the control component controls the layout trolley to reach the layout point for rough positioning, and then through four times of precise positioning of the robotic arm adjustment device, the bottom surface of the seal ink pressing mechanism is parallel to the layout ground. At this time, pressing the ink to achieve ink pressing layout, and the bottom surface of the seal ink pressing mechanism is evenly stressed, improving the service life.

[0050] The power assembly of the lofting trolley of the present invention drives the two wheels on the same side to rotate synchronously through the linkage assembly, enabling the two sets of wheels arranged on the opposite side surfaces of the housing to achieve differential steering. When the lofting trolley approaches the lofting point, it can quickly approach the lofting point through differential steering, improving the lofting speed, saving time, and at the same time improving the accuracy of rough positioning.

[0051] The robotic arm adjustment device of the present invention includes five-degree-of-freedom adjustment components. During lofting, first, the robotic arm adjustment device is carried by the lofting trolley to the lofting point to achieve rough positioning, with an error of ±50 mm at this time. Then, the first-degree-of-freedom adjustment component swings by an angle α, and the second-degree-of-freedom adjustment component moves a distance S along the X-axis to achieve two fine positionings, with an error of ±2 mm at this time. Then, the third-degree-of-freedom adjustment component swings by an angle γ, and the fourth-degree-of-freedom adjustment component swings by an angle β to achieve two fine positionings, with an error of ±0.1 mm at this time to determine the accurate lofting position. Finally, the fifth-degree-of-freedom adjustment component moves a distance h for lofting marking. Through multi-degree-of-freedom adjustment, the present invention reduces errors, achieves precise positioning, and ensures the accuracy of the lofting position.

[0052] The lofting trolley, the robotic arm adjustment device, and the stamp ink pressing mechanism of the present invention are respectively electrically connected to the control component, and can act sequentially or simultaneously, with a rapid response, greatly saving the time spent on positioning.

[0053] The above has made a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various changes can be made without departing from the spirit of the present invention.

[0054] Many other changes and modifications can be made without departing from the concept and scope of the present invention. It should be understood that the present invention is not limited to specific embodiments, and the scope of the present invention is defined by the appended claims.

Claims

1. A lofting robot, characterized in that: It comprises a layout carriage (1), a mechanical arm adjustment device (2), a seal ink pressing mechanism (3) and a control component, wherein the layout carriage (1), the mechanical arm adjustment device (2) and the seal ink pressing mechanism (3) are electrically connected to the control component respectively; The layout trolley (1) comprises a cover shell (1-1) and a mechanical arm adjustment device mounting seat (1-6), wherein the mechanical arm adjustment device mounting seat (1-6) is fixed to the bottom of the inner cavity of the cover shell (1-1), the bottom of the cover shell (1-1) is parallel to the layout ground, and the top of the mechanical arm adjustment device mounting seat (1-6) is also parallel to the layout ground; The mechanical arm adjustment device (2) comprises a first degree of freedom adjustment component (2-1), a second degree of freedom adjustment component (2-2), a third degree of freedom adjustment component (2-3), a fourth degree of freedom adjustment component (2-4) and a fifth degree of freedom adjustment component (2-5) which are connected in sequence, the first degree of freedom adjustment component (2-1) being fixed on a mechanical arm adjustment device mounting seat (1-6), and a rotational connection component (2-1-1) of the first degree of freedom adjustment component (2-1) being located on a plane parallel to a lofted ground surface, the second degree of freedom adjustment component (2-2) being fixed on the rotational connection component (2-1-1), and the first degree of freedom adjustment component (2-1) driving the second degree of freedom adjustment component (2-2) to rotate. The component (2-2) swings at an angle of α on the plane where the rotating connecting component (2-1-1) is located; the second degree of freedom adjustment component (2-2) is coaxial with the third degree of freedom adjustment component (2-3) and drives the third degree of freedom adjustment component (2-3) to move a distance S; the third degree of freedom adjustment component (2-3) drives the fourth degree of freedom adjustment component (2-4) to swing at an angle of γ with the center of the U-shaped pan-tilt mechanism connecting component (2-3-2) as the center of the circle; the fourth degree of freedom adjustment component (2-4) drives the fifth degree of freedom adjustment component (2-5) to swing at an angle of β with the axial center of the fourth degree of freedom adjustment component (2-4) as the center of the circle, so that the axis of the fifth degree of freedom adjustment component (2-5) is perpendicular to the lofting ground; The seal ink pressing mechanism (3) is fixedly mounted on the bottom of the fifth degree of freedom adjustment component (2-5); the fifth degree of freedom adjustment component (2-5) drives the seal ink pressing mechanism (3) to move a distance h; the seal ink pressing mechanism (3) presses the layout ground vertically downward to press ink and discharge ink to realize layout marking.

2. A layout robot according to claim 1, characterized in that: The lofting trolley (1) further comprises wheels (1-2), a power assembly (1-3), a linkage assembly (1-4) and a battery (1-5), wherein the battery (1-5) is electrically connected to the control assembly; There are four wheels (1-2), and the four wheels (1-2) are respectively mounted on two opposite sides of the housing (1-1). The power assembly (1-3), the linkage assembly (1-4) and the battery (1-5) are arranged in the inner cavity of the housing (1-1). The power assembly (1-3) and the linkage assembly (1-4) are respectively two groups. The power assembly (1-3) drives two wheels (1-2) on the same side to rotate synchronously through the linkage assembly (1-4), so that the two groups of wheels (1-2) arranged on two opposite sides of the housing (1-1) achieve differential steering. The mechanical arm adjustment device mounting seat (1-6) is mounted in the inner cavity of the cover shell (1-1) on a side away from the battery (1-5); the mechanical arm adjustment device mounting seat (1-6) is a "J"-shaped mounting seat; a hollowed-out portion (1-6-1) is provided at the middle of the bottom of the "J"-shaped mounting seat; the hollowed-out portion (1-6-1) is used to avoid the power assembly (1-3); a mounting hole (1-6-2) is provided at the top of the "J"-shaped mounting seat; the mounting hole (1-6-2) is used to fix and mount the first degree of freedom adjustment assembly (2-1).

3. A layout robot according to claim 2, characterized in that: The first degree of freedom adjustment component (2-1) further comprises a turntable connecting plate (2-1-2), a padding block (2-1-3) and a first servo module (2-1-4); the first servo module (2-1-4) is fixedly mounted at a mounting hole (1-6-2) of a "J"-shaped mounting seat via the padding block (2-1-3); a power output end of the first servo module (2-1-4) passes through the top of the cover (1-1) to connect to the turntable connecting plate (2-1-2); the turntable connecting plate (2-1-2) is key-connected to the rotating connecting member (2-1-1); and the plane where the rotating connecting member (2-1-1) is located is parallel to the lofted ground.

4. A layout robot according to claim 3, characterized in that: The second degree of freedom adjustment component (2-2) comprises a rotating square tube (2-2-1), a second servo module (2-2-3) and a transverse telescopic arm (2-2-6); the rotating square tube (2-2-1) is fixed on the rotating connection member (2-1-1); the second servo module (2-2-3) and the transverse telescopic arm (2-2-6) are installed inside the rotating square tube (2-2-1); the second servo module (2-2-3) drives the transverse telescopic arm (2-2-6) to move a distance S; the length of the rotating square tube (2-2-1) is greater than the distance from the center of the rotating connection member (2-1-1) to any position of the lofting trolley (1), so that the first degree of freedom adjustment component (2-1) drives the rotating square tube (2-2-1) to rotate 360 ​​degrees.

5. A layout robot according to claim 4, characterized in that: The third degree of freedom adjustment component (2-3) comprises a third servo module (2-3-1) and a U-shaped pan-tilt mechanism connecting component (2-3-2); the third servo module (2-3-1) is fixedly mounted on the inner end of the transverse telescopic arm (2-2-6); a power output end of the third servo module (2-3-1) is connected to the U-shaped pan-tilt mechanism connecting component (2-3-2); a fourth degree of freedom adjustment component (2-4) is mounted between two opposite sides of the U-shaped pan-tilt mechanism connecting component (2-3-2); the third servo module (2-3-1) drives the U-shaped pan-tilt mechanism connecting component (2-3-2) to swing at an angle of γ with the axis of the third servo module (2-3-1) at its location as the center.

6. A layout robot according to claim 5, characterized in that: The fourth degree of freedom adjustment component (2-4) further comprises a fourth servo module (2-4-1), a rotating member (2-4-2) and a vertical rotating arm (2-4-3), wherein one end of the fourth servo module (2-4-1) is fixed to a side edge of the U-shaped pan-tilt mechanism connecting member (2-3-2), one end of the vertical rotating arm (2-4-3) is sleeved on the outside of the fourth servo module (2-4-1), and a side wall of the vertical rotating arm (2-4-3) is connected to the power output end of the fourth servo module (2-4-1) via the rotating member (2-4-2). The other end of the component (2-4-2) can be rotatably mounted on the other side of the U-shaped pan-tilt mechanism connecting component (2-3-2); the fourth servo module (2-4-1) drives the vertical rotating arm (2-4-3) to rotate by an angle β with the axis center of the fourth servo module (2-4-1) as the center of the circle and the radial plane where the center of the fourth servo module (2-4-1) is located as the plane; the fifth degree of freedom adjustment component (2-5) is coaxially mounted in the vertical rotating arm (2-4-3) so that the axis of the fifth degree of freedom adjustment component (2-5) is perpendicular to the layout ground.

7. A layout robot according to claim 6, characterized in that: A prism (4) is mounted on the top of the vertical rotating arm (2-4-3), and a seal ink pressing mechanism (3) is mounted on the bottom of the fifth degree of freedom adjustment component (2-5); when the axis of the fifth degree of freedom adjustment component (2-5) is perpendicular to the layout ground, the position of the prism (4) is consistent with the ink pressing layout mark of the seal ink pressing mechanism (3).

8. A layout robot according to claim 6, characterized in that: A detection assembly (2-6) is installed on the front side of the vertical rotating arm (2-4-3). The detection assembly (2-6) comprises a camera (2-6-1), an angle sensor (2-6-2) and a laser sensor (2-6-3). The shooting direction of the camera (2-6-1) is perpendicular to the axial direction of the fifth degree of freedom adjustment assembly (2-5). The position of the angle sensor (2-6-2) corresponds to the position of the fourth servo module (2-4-1). The laser emission direction of the laser sensor (2-6-3) is parallel to the axis of the fifth degree of freedom adjustment assembly (2-5). The camera (2-6-1), the angle sensor (2-6-2) and the laser sensor (2-6-3) are electrically connected to the control assembly respectively.

9. A layout robot according to claim 6, characterized in that: The fifth degree of freedom adjustment component (2-5) comprises a fifth servo module (2-5-1), a telescopic member (2-5-2), a joint module fixing member (2-5-3), a screw (2-5-4), a screw nut (2-5-5) and a guide component (2-5-6); the fifth servo module (2-5-1) is coaxially fixedly mounted in the vertical rotating arm (2-4-3) via the joint module fixing member (2-5-3); the power output end of the fifth servo module (2-5-1) is connected to the screw (2-5-4); the screw nut (2-5-5) is sleeved on the screw (2-5-4) The telescopic member (2-5-2) is sleeved on the outside of the screw nut (2-5-5), and one end of the telescopic member (2-5-2) is fixedly connected to the screw nut (2-5-5), the other end of the telescopic member (2-5-2) is fixedly connected to the guide assembly (2-5-6), and the other end of the guide assembly (2-5-6) is movably connected to the seal ink pressing mechanism (3), the telescopic member (2-5-2), the screw (2-5-4), the screw nut (2-5-5), the guide assembly (2-5-6) and the seal ink pressing mechanism (3) are coaxial, and the fifth servo module (2-5-1) is electrically connected to the control assembly.

10. A lofting method, characterized in that: Using a layout robot as claimed in any one of claims 2 to 9 to perform construction layout, comprising the following steps: Step 1: According to the layout line type file, import the layout point coordinate file into the control component of the layout robot; Step 2: The control component controls the power component (1-3) of the layout trolley (1) to start, driving the four wheels (1-2) to rotate and move to the layout point. When the wheels (1-2) on both sides reach different rotation speeds through the linkage component (1-4) near the layout point, differential steering is performed, and the rough positioning of the layout trolley (1) is completed. At this time, the layout error is ±50mm; Step 3: The control component controls the first degree of freedom adjustment component (2-1) of the robot arm adjustment device (2) to swing an angle α, and the second degree of freedom adjustment component (2-2) to move a distance S, so as to achieve two precise positioning, and the error is ±2 mm at this time; Step 4: Then the third degree of freedom adjustment component (2-3) swings at an angle of γ, and the fourth degree of freedom adjustment component (2-4) swings at an angle of β, achieving two precise positioning. At this time, the error is ±0.1mm, meeting the standard of the layout mark; Step 5: Finally, the fifth degree of freedom adjustment component (2-5) drives the seal ink pressing mechanism (3) to move a distance h, and presses down to release the ink to achieve ink pressing and lofting.

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