A lofting robot and a lofting method

Abstract

The application belongs to the technical field of lofting under high-speed railway engineering, and discloses a lofting robot and a lofting method, which comprise a lofting trolley, a mechanical arm adjusting device, a seal ink pressing mechanism and a control assembly. The mechanical arm adjusting device is mounted on the lofting trolley, and the bottom of the mechanical arm adjusting device is connected with the seal ink pressing mechanism. After receiving a lofting point coordinate file, the control assembly controls the lofting trolley to reach the lofting point for rough positioning, and then four times of fine positioning of the mechanical arm adjusting device are performed, so that the bottom surface of the seal ink pressing mechanism is parallel to the lofting ground. At this time, ink pressing is realized by pressing, and the bottom surface of the seal ink pressing mechanism is uniformly stressed, thereby prolonging the service life.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of high-speed rail under-line engineering lofting, and particularly relates to a lofting robot and a lofting method. BACKGROUND

[0002] At present, construction precision and construction range have strict requirements and control in the engineering construction process, and construction surveying and lofting technology needs to be applied to provide construction basis and reference. Construction lofting is a surveying work of marking the plane position and elevation of the building or structure to be constructed to the actual site position according to the design drawing requirements at the beginning of the construction of the engineering construction. In the field of building engineering and other related engineering, a large amount of lofting positioning and measurement verification needs to be carried out, which is an indispensable link related to whether the engineering can be successfully completed.

[0003] At present, the technical personnel uses the building model in the BIM technology to improve the efficiency of the lofting operation, the core of the BIM is to provide a complete building engineering information base consistent with the actual situation for the model by establishing a virtual building engineering three-dimensional model, and the lofting robot is a commonly used measuring instrument in the BIM technology, the lofting robot sets the site control point coordinates and the building structure point coordinate components from the BIM model as the BIM model composite comparison basis, creates the lofting control point in the BIM model, then sets the mechanical and electrical pipeline support hanger point arrangement in the approved mechanical and electrical BIM model, and imports all the lofting points into the software, and finally enters the site to use the BIM lofting robot to collect data of the site lofting control point, immediately positions the site coordinates of the lofting robot, selects the required lofting point in the BIM model through the tablet computer, and commands the robot to emit infrared laser to automatically aim at the real point, so that the BIM model is accurately reflected to the construction site.

[0004] However, the existing lofting robot has low positioning accuracy and takes a long time to position. Meanwhile, the lofting marker set by the existing lofting robot is an inkjet assembly, and the lofting marker bottom surface and the lofting ground are not required to be high, when the lofting marker is improved to be a seal stamping and ink pressing assembly, the lofting marker bottom surface and the lofting ground cannot be guaranteed to be parallel, the seal stamping and ink pressing assembly bottom surface is easily unevenly stressed, and the service life is reduced, so it is necessary to develop a new type of lofting robot. SUMMARY

[0005] The application aims at solving the problems in the prior art, and provides a lofting robot and a lofting method.

[0006] In order to solve the technical problem, the technical scheme of the application is as follows: a lofting robot, comprising a lofting trolley, a mechanical arm adjusting device, a seal stamping and ink pressing mechanism and a control assembly, the lofting trolley, the mechanical arm adjusting device and the seal stamping and ink pressing mechanism are electrically connected with the control assembly respectively.

[0007] The lofting trolley comprises a cover shell and a mechanical arm adjusting device mounting seat, the mechanical arm adjusting device mounting seat is fixed at the bottom of the inner cavity of the cover shell, the bottom of the cover shell is parallel to the lofting ground, and the top of the mechanical arm adjusting device mounting seat is also parallel to the lofting ground.

[0008] The mechanical arm adjusting device comprises a first degree of freedom adjusting assembly, a second degree of freedom adjusting assembly, a third degree of freedom adjusting assembly, a fourth degree of freedom adjusting assembly and a fifth degree of freedom adjusting assembly connected in sequence, the first degree of freedom adjusting assembly is fixed on the mechanical arm adjusting device mounting seat, and the plane where the rotating connecting piece of the first degree of freedom adjusting assembly is located is parallel to the lofting ground, the second degree of freedom adjusting assembly is fixed on the rotating connecting piece, the first degree of freedom adjusting assembly drives the second degree of freedom adjusting assembly to swing by an angle α on the plane where the rotating connecting piece is located; the second degree of freedom adjusting assembly is coaxial with the third degree of freedom adjusting assembly and drives the third degree of freedom adjusting assembly to move by a distance S, the third degree of freedom adjusting assembly drives the fourth degree of freedom adjusting assembly to swing by an angle γ with the center of the U-shaped cloud platform mechanism connecting piece as the center, the fourth degree of freedom adjusting assembly drives the fifth degree of freedom adjusting assembly to swing by an angle β with the axial center of the fourth degree of freedom adjusting assembly as the center, so that the axis of the fifth degree of freedom adjusting assembly is perpendicular to the lofting ground.

[0009] The seal ink pressing mechanism is fixedly installed at the bottom of the fifth degree of freedom adjusting assembly, the fifth degree of freedom adjusting assembly drives the seal ink pressing mechanism to move by a distance h, the seal ink pressing mechanism vertically presses the lofting ground downward to press ink and realize lofting marking.

[0010] Preferably, the lofting trolley further comprises wheels, a power assembly, a linkage assembly and a battery, the battery is electrically connected with the control assembly;

[0011] The four wheels are installed on the opposite two sides of the cover shell respectively, the power assembly, the linkage assembly and the battery are arranged in the inner cavity of the cover shell, the power assembly and the linkage assembly are two groups respectively, the power assembly drives the two wheels on the same side to rotate synchronously through the linkage assembly, so that the two groups of wheels arranged on the opposite two sides of the cover shell realize differential steering;

[0012] The mechanical arm adjusting device mounting seat is installed in the inner cavity of the cover shell away from the battery, the mechanical arm adjusting device mounting seat is a 'j' shaped mounting seat, a hollow part is arranged at the middle position of the bottom of the 'j' shaped mounting seat, and the hollow part is used for avoiding the power assembly, an installation hole is formed in the top of the 'j' shaped mounting seat, and the installation hole is used for fixedly installing the first degree of freedom adjusting assembly.

[0013] Preferably, the first degree of freedom adjustment component further includes a turntable connecting plate, a shim block, and a first servo module. The first servo module is fixedly installed at the mounting hole of the "U"-shaped mounting base by the shim block. The power output end of the first servo module passes through the top of the cover and connects to the turntable connecting plate. The turntable connecting plate is keyed to the rotary connector. The plane of the rotary connector is parallel to the layout ground.

[0014] 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 on the rotating connector. 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, so that the first degree of freedom adjustment component drives the rotating square tube to rotate 360°.

[0015] Preferably, the third degree of freedom adjustment component includes a third servo module and a U-shaped gimbal mechanism connector. The third servo module is fixedly installed on the inner end of the horizontal telescopic arm. The power output end of the third servo module is connected to the U-shaped gimbal mechanism connector. A fourth degree of freedom adjustment component is installed between the two opposite sides of the U-shaped gimbal mechanism connector. The third servo module drives the U-shaped gimbal mechanism connector to swing by an angle γ with the axis of the third servo module at its position as the center.

[0016] Preferably, the fourth degree of freedom adjustment component further includes a fourth servo module, a rotating component, and a vertical rotating arm. One end of the fourth servo module is fixed to one side of the U-shaped gimbal mechanism connector, and one end of the vertical rotating arm is sleeved on the outside of the fourth servo module. The side wall of the vertical rotating arm is connected to the power output end of the fourth servo module through the rotating component. The other end of the rotating component is rotatably mounted on the other side of the U-shaped gimbal mechanism connector. The fourth servo module drives the vertical rotating arm to rotate by an angle β with the center of the axis 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, so that the axis of the fifth degree of freedom adjustment component is perpendicular to the lofting ground.

[0017] Preferably, a prism is installed at the top of the vertical rotating arm, and a stamp inking 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 layout ground, the position of the prism is consistent with the inking layout mark of the stamp inking mechanism.

[0018] Preferably, a detection assembly is mounted on the front side of the vertical rotating arm, the detection assembly comprising a camera, an angle sensor and a laser sensor, the shooting direction of the camera being perpendicular to the axis of the fifth degree of freedom adjusting assembly, the position of the angle sensor corresponding to the position of the fourth servo module, the laser emission direction of the laser sensor being parallel to the axis of the fifth degree of freedom adjusting assembly, and the camera, the angle sensor and the laser sensor being electrically connected to the control assembly.

[0019] Preferably, the fifth degree of freedom adjusting assembly comprises a fifth servo module, an extension piece, a joint module fixing piece, a lead screw, a lead screw nut and a guide assembly, the fifth servo module being coaxially fixedly installed in the vertical rotating arm through the joint module fixing piece, the power output end of the fifth servo module being connected to the lead screw, the lead screw nut being sleeved on the lead screw, the extension piece being sleeved on the outer side of the lead screw nut and being fixedly connected to the lead screw nut at one end, the extension piece being fixedly connected to the guide assembly at the other end, the other end of the guide assembly being movably connected to the seal ink pressing mechanism, the extension piece, the lead screw, the lead screw nut, the guide assembly and the seal ink pressing mechanism being coaxial, and the fifth servo module being electrically connected to the control assembly.

[0020] Preferably, a setting-out method is provided, which comprises the following steps:

[0021] Step 1: According to the setting-out line type file, the setting-out point coordinate file is imported into the control assembly of the setting-out robot.

[0022] Step 2: The control assembly controls the power assembly of the setting-out trolley to start, drives the four wheels to rotate and move to the setting-out point, and when the setting-out trolley approaches the setting-out point, the two wheels on the sides are driven to different rotating speeds through the linkage assembly to realize differential steering, and the setting-out trolley is coarsely positioned, and the setting-out error is ±50mm at this time.

[0023] Step 3: The control assembly controls the first degree of freedom adjusting assembly of the mechanical arm adjusting device to swing by an angle α, and the second degree of freedom adjusting assembly to move by a distance S, to realize twice fine positioning, and the error is ±2mm at this time.

[0024] Step 4: Then the third degree of freedom adjusting assembly swings by an angle γ, and the fourth degree of freedom adjusting assembly swings by an angle β, to realize twice fine positioning, and the error is ±0.15mm at this time, and the setting-out marking standard is reached.

[0025] Step 5: Finally, the fifth degree of freedom adjusting assembly drives the seal ink pressing mechanism 3 to move by a distance h, and presses down to realize ink pressing setting-out.

[0026] Compared with the prior art, the application has the following advantages:

[0027] (1) The application discloses a lofting robot, which comprises a lofting trolley, a mechanical arm adjusting device, a seal ink pressing mechanism and a control assembly, the mechanical arm adjusting device is mounted on the lofting trolley, the mechanical arm adjusting device is connected with the seal ink pressing mechanism at the bottom, after the control assembly receives a lofting point coordinate file, the lofting trolley is controlled to reach the lofting point for rough positioning, then four times of fine positioning of the mechanical arm adjusting device is realized, so that the bottom surface of the seal ink pressing mechanism is parallel to the lofting ground, at this time, ink pressing is realized by pressing, the bottom surface of the seal ink pressing mechanism is uniformly stressed, and the service life is improved;

[0028] (2) The power assembly of the lofting trolley drives two wheels on the same side to rotate synchronously through the linkage assembly, so that two groups of wheels arranged on the opposite sides of the cover shell realize differential steering, the lofting trolley quickly approaches the lofting point through differential steering when reaching the vicinity of the lofting point, the lofting speed is improved, time is saved, and the accuracy of rough positioning is improved;

[0029] (3) The mechanical arm adjusting device comprises five degree-of-freedom adjusting assemblies, the mechanical arm adjusting device is first carried to the lofting point by the lofting trolley during lofting, rough positioning is realized, at this time, the error is ± 50 mm; then the first degree-of-freedom adjusting assembly swings by an angle α, the second degree-of-freedom adjusting assembly moves along the X axis by a distance S, twice fine positioning is realized, at this time, the error is ± 2 mm; then the third degree-of-freedom adjusting assembly swings by an angle γ, the fourth degree-of-freedom adjusting assembly swings by an angle β, twice fine positioning is realized again, at this time, the error is ± 0.1 mm, the accurate lofting position is determined, and finally the fifth degree-of-freedom adjusting assembly moves by a distance h to perform lofting marking; the application realizes accurate positioning by multi-degree-of-freedom adjustment, reduces the error, and guarantees the accuracy of the lofting position;

[0030] (4) The lofting trolley, the mechanical arm adjusting device and the seal ink pressing mechanism are respectively electrically connected with the control assembly, can act in turn or simultaneously, respond quickly, and greatly save the positioning time. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 The application discloses a lofting robot;

[0032] Figure 2 The application discloses a lofting robot;

[0033] Figure 3 The application discloses a lofting robot;

[0034] Figure 4 The application discloses a lofting robot; Figure 3 The application discloses a lofting robot;

[0035] Figure 5 The application discloses a lofting robot; Figure 4 The application discloses a lofting robot.

[0036] BRIEF DESCRIPTION OF DRAWINGS

[0037] 1, lofting trolley, 2, mechanical arm adjusting device, 3, seal ink pressing mechanism, 4, prism;

[0038] 1-1, cover, 1-2, wheel, 1-3, power assembly, 1-4, linkage assembly, 1-5, battery, 1-6, mechanical arm adjusting device mounting seat;

[0039] 1-6-1, hollow part, 1-6-2, mounting hole;

[0040] 2-1, first degree of freedom adjusting assembly, 2-2, second degree of freedom adjusting assembly, 2-3, third degree of freedom adjusting assembly, 2-4, fourth degree of freedom adjusting assembly, 2-5, fifth degree of freedom adjusting assembly, 2-6, detection assembly;

[0041] 2-1-1, rotary connecting piece, 2-1-2, turntable connecting plate, 2-1-3, heightening block, 2-1-4, first servo module;

[0042] 2-2-1, rotating square tube, 2-2-3, second servo module, 2-2-6, transverse telescopic arm;

[0043] 2-3-1, third servo module, 2-3-2, U-shaped holder connecting piece;

[0044] 2-4-1, fourth servo module, 2-4-2, rotary piece, 2-4-3, vertical rotary arm;

[0045] 2-6-1, camera, 2-6-2, angle sensor, 2-6-3, laser sensor;

[0046] 2-5-1, fifth servo module, 2-5-2, telescopic piece, 2-5-3, joint module fixing piece, 2-5-4, lead screw, 2-5-5, lead screw nut, 2-5-6, guide assembly. DETAILED DESCRIPTION

[0047] The specific embodiments of the present application will be described below in conjunction with examples:

[0048] It should be noted that the structures, proportions, sizes, etc. shown in the present specification are only used to cooperate with the content disclosed in the specification, so that people skilled in the art can understand and read, and are not used to limit the limiting conditions of the implementation of the present application. Any modification of structure, change of proportion relationship or adjustment of size, which does not affect the effect and purpose that can be achieved by the present application, should still fall within the scope covered by the disclosed technical content of the present application.

[0049] Example 1

[0050] As Figures 1-5 shown, the present application discloses a lofting robot, including a lofting trolley 1, a mechanical arm adjusting device 2, a seal ink pressing mechanism 3 and a control assembly, the lofting trolley 1, the mechanical arm adjusting device 2 and the seal ink pressing mechanism 3 are respectively electrically connected with the control assembly;

[0051] The lofting trolley 1 includes a cover 1-1 and a mechanical arm adjusting device mounting seat 1-6, the mechanical arm adjusting device mounting seat 1-6 is fixed at the bottom of the inner cavity of the cover 1-1, the bottom of the cover 1-1 is parallel to the lofting ground, and the top of the mechanical arm adjusting device mounting seat 1-6 is also parallel to the lofting ground;

[0052] The mechanical arm adjusting device 2 includes a first degree of freedom adjusting assembly 2-1, a second degree of freedom adjusting assembly 2-2, a third degree of freedom adjusting assembly 2-3, a fourth degree of freedom adjusting assembly 2-4 and a fifth degree of freedom adjusting assembly 2-5 connected in sequence, the first degree of freedom adjusting assembly 2-1 is fixed on the mechanical arm adjusting device mounting seat 1-6, and the plane where the rotating connecting piece 2-1-1 of the first degree of freedom adjusting assembly 2-1 is parallel to the lofting ground, the second degree of freedom adjusting assembly 2-2 is fixed on the rotating connecting piece 2-1-1, and the first degree of freedom adjusting assembly 2-1 drives the second degree of freedom adjusting assembly 2-2 to swing by an angle α on the plane where the rotating connecting piece 2-1-1 is located; the second degree of freedom adjusting assembly 2-2 is coaxial with the third degree of freedom adjusting assembly 2-3 and drives the third degree of freedom adjusting assembly 2-3 to move by a distance S, the third degree of freedom adjusting assembly 2-3 drives the fourth degree of freedom adjusting assembly 2-4 to swing by an angle γ with the center of the U-shaped cloud platform mechanism connecting piece 2-3-2 as the center, and the fourth degree of freedom adjusting assembly 2-4 drives the fifth degree of freedom adjusting assembly 2-5 to swing by an angle β with the axial center of the fourth degree of freedom adjusting assembly 2-4 as the center, so that the axis of the fifth degree of freedom adjusting assembly 2-5 is perpendicular to the lofting ground;

[0053] The seal ink pressing mechanism 3 is fixedly installed at the bottom of the fifth degree of freedom adjusting assembly 2-5, the fifth degree of freedom adjusting assembly 2-5 drives the seal ink pressing mechanism 3 to move by a distance h, the seal ink pressing mechanism 3 vertically presses the lofting ground downward to press ink and realize lofting marking.

[0054] Embodiment 2

[0055] As Figure 3 , 4 shown, preferably, the lofting trolley 1 further includes wheels 1-2, a power assembly 1-3, a linkage assembly 1-4 and a battery 1-5, the battery 1-5 is electrically connected with the control assembly;

[0056] The four wheels 1-2 are installed on opposite sides of the shell 1-1 respectively, the power assembly 1-3, the linkage assembly 1-4 and the battery 1-5 are arranged in the inner cavity of the shell 1-1, the power assembly 1-3 and the linkage assembly 1-4 are two groups respectively, the power assembly 1-3 drives the 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 opposite sides of the shell 1-1 realize differential steering.

[0057] As shown in Figure 4 , the mechanical arm adjusting device mounting seat 1-6 is installed on the inner cavity of the shell 1-1 away from the battery 1-5, the mechanical arm adjusting device mounting seat 1-6 is a "J" shaped mounting seat, a hollow part 1-6-1 is arranged at the middle position of the bottom of the "J" shaped mounting seat, the hollow part 1-6-1 is used to avoid the power assembly 1-3, and a mounting hole 1-6-2 is formed in the top of the "J" shaped mounting seat, and the first degree of freedom adjusting assembly 2-1 is fixedly installed in the mounting hole 1-6-2.

[0058] The battery 1-5 is a lithium battery and can be replaced; meanwhile, a digital control system, a voice alarm and a remote control operation function are arranged.

[0059] The power assembly 1-3 is driven by a servo motor, and automatic guiding, differential steering and in-place steering are realized, stepless speed change is realized, Φ380mm wheels can cross beam joints and plate joints, and coarse positioning is realized.

[0060] The control assembly can automatically plan a path, automatically walk, stop and alarm when encountering obstacles according to a lofting target point, and is an unmanned system. The control assembly can realize lofting point automatic import, total station control, automatic navigation algorithm, fine adjustment mechanism algorithm, ink mark algorithm and report saving integration.

[0061] Embodiment 3

[0062] As shown in Figure 4 , 5 , preferably, the first degree of freedom adjusting assembly 2-1 further comprises a turntable connecting plate 2-1-2, a heightening 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 "J" shaped mounting seat through the heightening block 2-1-3, the power output end of the first servo module 2-1-4 penetrates through the top of the shell 1-1 and is connected with the turntable connecting plate 2-1-2, the turntable connecting plate 2-1-2 is key-connected with 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.

[0063] As shown in Figure 4 , 5As shown in the figure, 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 horizontal telescopic arm 2-2-6, the rotating square tube 2-2-1 is fixed on the rotating connecting piece 2-1-1, the second servo module 2-2-3 and the horizontal telescopic arm 2-2-6 are installed inside the rotating square tube 2-2-1, the second servo module 2-2-3 drives the horizontal 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 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 rotate 360°.

[0064] 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 with the lead screw, the lead screw is connected with the lead screw nut in a matched manner, the lead screw nut is connected with one end of the horizontal telescopic arm 2-2-6, and the second servo module 2-2-3 drives the horizontal telescopic arm 2-2-6 to move a distance S after being rotated.

[0065] Embodiment 4

[0066] As shown in the figure, Figure 4 , 5 As shown in the figure, preferably, the third degree of freedom adjustment assembly 2-3 includes a third servo module 2-3-1 and a U-shaped holder mechanism connecting piece 2-3-2, the third servo module 2-3-1 is fixedly installed at the inner side end of the horizontal telescopic arm 2-2-6, the power output end of the third servo module 2-3-1 is connected with the U-shaped holder mechanism connecting piece 2-3-2, and the fourth degree of freedom adjustment assembly 2-4 is installed between the opposite two side edges of the U-shaped holder mechanism connecting piece 2-3-2, and the third servo module 2-3-1 drives the U-shaped holder mechanism connecting piece 2-3-2 to swing a γ angle with the third servo module 2-3-1 axis at the position of the U-shaped holder mechanism connecting piece 2-3-2 as the center.

[0067] As shown in the figure, Figure 4 , 5As shown, preferably, the fourth degree of freedom adjustment assembly 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, one end of the fourth servo module 2-4-1 is fixed on one side of the U-shaped holder 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 with 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 holder connecting member 2-3-2, the fourth servo module 2-4-1 drives the vertical rotating arm 2-4-3 to rotate a β angle with the center of the axis of the fourth servo module 2-4-1 as the center 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 assembly 2-5 is coaxially installed in the vertical rotating arm 2-4-3, so that the axis of the fifth degree of freedom adjustment assembly 2-5 is perpendicular to the lofting ground.

[0068] As shown in Figure 4 , 5 As shown, preferably, the vertical rotating arm 2-4-3 is provided with a prism 4 at the top, and the fifth degree of freedom adjustment assembly 2-5 is provided with a seal ink pressing mechanism 3 at the bottom, when the axis of the fifth degree of freedom adjustment assembly 2-5 is perpendicular to the lofting ground, the position of the prism 4 is consistent with the ink pressing lofting mark of the seal ink pressing mechanism 3.

[0069] As shown in Figure 4 , 5 As shown, preferably, the vertical rotating arm 2-4-3 is provided with a detection assembly 2-6 on the front side, 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, and the camera 2-6-1, the angle sensor 2-6-2 and the laser sensor 2-6-3 are respectively electrically connected with the control assembly.

[0070] The prism 4 is a 360° prism.

[0071] The laser sensor 2-6-3 detects the distance from the center of the prism 4 to the ground, the total station instrument tracks the prism, and the lofting precision is improved.

[0072] Embodiment 5

[0073] As shown in Figure 4 , 5As shown, preferably, the fifth degree of freedom adjustment assembly 2-5 includes a fifth servo module 2-5-1, an extension piece 2-5-2, a joint module fixing piece 2-5-3, a lead screw 2-5-4, a lead screw nut 2-5-5, and a guide assembly 2-5-6. The fifth servo module 2-5-1 is coaxially fixedly installed in the vertical rotating arm 2-4-3 through the joint module fixing piece 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 extension piece 2-5-2 is sleeved on the outside of the lead screw nut 2-5-5, and one end of the extension piece 2-5-2 is fixedly connected to the lead screw nut 2-5-5. The other end of the extension piece 2-5-2 is fixedly connected to the guide assembly 2-5-6. The other end of the guide assembly 2-5-6 is movably connected to the seal ink pressing mechanism 3. The extension piece 2-5-2, the lead screw 2-5-4, the lead screw nut 2-5-5, the guide assembly 2-5-6, and the seal ink pressing mechanism 3 are coaxial. The fifth servo module 2-5-1 is electrically connected to the control assembly.

[0074] 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 axial direction of the lead screw 2-5-4.

[0075] Embodiment 6

[0076] Preferably, a method for construction lofting is performed by using any one of the lofting robots described above, and includes the following steps:

[0077] Step 1: According to the lofting line type file, the lofting point coordinate file is imported into the control assembly of the lofting robot.

[0078] Step 2: The control assembly controls the power assembly 1-3 of the lofting trolley 1 to start, drives the four wheels 1-2 to rotate and move to the lofting point, and when reaching the vicinity of the lofting point, drives the wheels 1-2 on both sides to different rotating speeds through the linkage assembly 1-4 to perform differential steering, and completes the coarse positioning of the lofting trolley 1. At this time, the lofting error is ±50 mm.

[0079] Step 3: The control assembly controls the first degree of freedom adjustment assembly 2-1 of the mechanical arm adjustment device 2 to swing by an angle α, and controls the second degree of freedom adjustment assembly 2-2 to move by a distance S, to realize twice fine positioning. At this time, the error is ±2 mm.

[0080] Step 4: Then, the third degree of freedom adjustment assembly 2-3 swings by an angle γ, and the fourth degree of freedom adjustment assembly 2-4 swings by an angle β, to realize twice fine positioning. At this time, the error is ±0.15 mm, and the standard of the lofting mark is reached.

[0081] Step 5: Finally, the fifth degree of freedom adjustment component 2-5 drives the stamp ink pressing mechanism 3 to move a distance h, and presses down to release ink to achieve ink pressing and layout.

[0082] The working principle of this invention is as follows:

[0083] like Figures 1-5 As shown, this invention discloses a layout robot and layout method, including a layout trolley 1, a robotic arm adjustment device 2, a stamp inking mechanism 3, and control components. During the layout process, the layout trolley 1 travels to the vicinity of the layout point, smoothly turns via differential speed, and turns in place to control the error within ±50mm, then stops moving. The precise adjustment within 50mm is completed by the robotic arm adjustment device 2, which includes 5 sets of servo motors to realize swinging, extension, automatic vertical movement, etc., with an action accuracy of ±0.1mm. A 360° prism provides feedback on the horizontal coordinate of the stamp inking mechanism 3, a dual-axis tilt sensor provides feedback on verticality, a high-definition camera acquires the front image, and a laser sensor measures the elevation, thereby realizing attitude control of the stamp inking mechanism 3, ensuring that the stamp inking mechanism 3 is always perpendicular to the layout ground, with a layout accuracy error of less than ±0.1mm.

[0084] Equipment parameters of the lofting robot described in this invention:

[0085] 1. Operating voltage: DC48V;

[0086] 2. Battery capacity: 20Ah, 2 units;

[0087] 3. Battery life: 4 hours (with one battery);

[0088] 4. Driving speed: 5km / h;

[0089] 5. Steering method: differential smooth steering, turning on the spot;

[0090] 6. Layout accuracy: ±2mm;

[0091] 7. Communication method: Total station: BT;

[0092] Robot: WIFI;

[0093] 8. Layout distance: 1km (depending on the total station);

[0094] 9. Weight: Layout trolley: 32kg;

[0095] Robotic arm adjustment device: 14kg;

[0096] Battery: 4kg (single unit);

[0097] 10. Usage conditions: Daytime / Nighttime, excluding rain, snow, and fog;

[0098] 11, Protection level: IP55.

[0099] The workflow of the present application is as follows:

[0100] 1. Used on beam surface, base plate, roadbed and other planes, instead of artificial automatic point setting.

[0101] 2. According to the line type file, the point setting coordinate file is calculated and generated by the office software, and is imported into the point setting robot.

[0102] 3. The total station instrument tracks the prism, feeds back the real-time coordinates, the on-board computer automatically navigates the vehicle driving route according to the front and rear point connecting line, drives to the vicinity of the point setting point, and realizes fast rough positioning.

[0103] 4. According to the deviation value of the total station instrument measured position and the point setting position, the precise point setting mechanism is controlled to move to the point setting position.

[0104] 5. The marking mechanism is automatically adjusted to ensure that the prism center is perpendicular to the ground level and eliminate the inclination error.

[0105] 6. Automatic ink pressing leaves clear marks.

[0106] 7. The measurement method is compatible with RTK.

[0107] 8. Lithium battery power supply, automatic obstacle avoidance and remote control operation.

[0108] The comparison between the point setting robot of the present application and the traditional method is shown in the following table:

[0109]

[0110] Comparison between the point setting robot of the present application and the existing point setting robot:

[0111]

[0112] The present application discloses a point setting robot, which comprises a point setting trolley, a mechanical arm adjusting device, a seal ink pressing mechanism and a control component, the mechanical arm adjusting device is mounted on the point setting trolley, the bottom of the mechanical arm adjusting device is connected with the seal ink pressing mechanism, after the control component receives the point setting coordinate file, the point setting trolley is controlled to reach the point setting point for rough positioning, then the seal ink pressing mechanism bottom surface is parallel to the point setting ground through four times of precise positioning of the mechanical arm adjusting device, at this time, the ink pressing is realized by pressing, the seal ink pressing mechanism bottom surface is uniformly stressed, and the service life is improved.

[0113] The power assembly of the point setting trolley drives the two wheels on the same side to rotate synchronously through the linkage assembly, so that the two groups of wheels arranged on the opposite sides of the cover shell realize differential steering, the point setting trolley quickly approaches the point setting point through differential steering when reaching the vicinity of the point setting point, the point setting speed is improved, the time is saved, and the accuracy of rough positioning is improved.

[0114] The mechanical arm adjusting device comprises five degrees of freedom adjusting assemblies. When lofting, the lofting trolley is used to carry the mechanical arm adjusting device to the lofting point to realize rough positioning, and the error is ±50mm at this time. Then the first degree of freedom adjusting assembly is swung by an angle α, and the second degree of freedom adjusting assembly is moved along the X axis by a distance S to realize twice fine positioning, and the error is ±2mm at this time. Then the third degree of freedom adjusting assembly is swung by an angle γ, and the fourth degree of freedom adjusting assembly is swung by an angle β to realize twice fine positioning, and the error is ±0.1mm at this time. The accurate lofting position is determined, and finally the fifth degree of freedom adjusting assembly is moved by a distance h to mark the lofting. The present application reduces the error by adjusting the multiple degrees of freedom, realizes accurate positioning, and ensures the accuracy of the lofting position.

[0115] The lofting trolley, the mechanical arm adjusting device and the seal ink pressing mechanism are respectively electrically connected with the control assembly, can act in turn or simultaneously, respond quickly, and greatly save the positioning time.

[0116] The preferred embodiments of the present application are described in detail above, but the present application is not limited to the above-mentioned embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present application.

[0117] Many other changes and modifications can be made without departing from the spirit and scope of the present application. It should be understood that the present application is not limited to the specific embodiments, and the scope of the present application is defined by the appended claims.

Claims

1. A lofting robot, characterized by: The device comprises a lofting trolley (1), a mechanical arm adjusting device (2), a seal ink pressing mechanism (3) and a control assembly, the lofting trolley (1), the mechanical arm adjusting device (2) and the seal ink pressing mechanism (3) are electrically connected with the control assembly respectively. The lofting trolley (1) comprises a cover shell (1-1) and a mechanical arm adjusting device mounting seat (1-6), the mechanical arm adjusting device mounting seat (1-6) is fixed at the bottom of the inner cavity of the cover shell (1-1), the bottom of the cover shell (1-1) is parallel to the lofting ground, and the top of the mechanical arm adjusting device mounting seat (1-6) is also parallel to the lofting ground. The mechanical arm adjusting device (2) comprises first, second, third, fourth and fifth freedom adjusting assemblies (2-1, 2-2, 2-3, 2-4 and 2-5) connected in sequence, the first freedom adjusting assembly (2-1) is fixed on the mechanical arm adjusting device mounting seat (1-6), and the plane where the rotating connecting piece (2-1-1) of the first freedom adjusting assembly (2-1) is located is parallel to the lofting ground, the second freedom adjusting assembly (2-2) is fixed on the rotating connecting piece (2-1-1), the first freedom adjusting assembly (2-1) drives the second freedom adjusting assembly (2-2) to swing by an angle α on the plane where the rotating connecting piece (2-1-1) is located, the second freedom adjusting assembly (2-2) is coaxial with the third freedom adjusting assembly (2-3) and drives the third freedom adjusting assembly (2-3) to move by a distance S, the third freedom adjusting assembly (2-3) drives the fourth freedom adjusting assembly (2-4) to swing by an angle γ with the center of the U-shaped cloud platform mechanism connecting piece (2-3-2) as the center, the fourth freedom adjusting assembly (2-4) drives the fifth freedom adjusting assembly (2-5) to swing by an angle β with the axial center of the fourth freedom adjusting assembly (2-4) as the center, so that the axis of the fifth freedom adjusting assembly (2-5) is perpendicular to the lofting ground. The seal ink pressing mechanism (3) is fixedly installed at the bottom of the fifth freedom adjusting assembly (2-5), the fifth freedom adjusting assembly (2-5) drives the seal ink pressing mechanism (3) to move by a distance h, the seal ink pressing mechanism (3) vertically presses the lofting ground downward to press ink and realize lofting marking.

2. A lofting 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), the battery (1-5) is electrically connected with the control assembly. The four wheels (1-2) are installed on the opposite sides of the cover shell (1-1) respectively, the power assembly (1-3) and the linkage assembly (1-4) are arranged in the inner cavity of the cover shell (1-1), the power assembly (1-3) and the linkage assembly (1-4) are two groups respectively, the power assembly (1-3) drives the 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 the opposite sides of the cover shell (1-1) realize differential steering. The mechanical arm adjusting device mounting seat (1-6) is installed in the inner cavity of the shell (1-1) away from the battery (1-5), the mechanical arm adjusting device mounting seat (1-6) is a "J" shaped mounting seat, a hollow part (1-6-1) is arranged at the middle position of the bottom of the "J" shaped mounting seat, the hollow part (1-6-1) is used for avoiding the power assembly (1-3), and a mounting hole (1-6-2) is formed in the top of the "J" shaped mounting seat, and the mounting hole (1-6-2) is used for fixedly mounting the first degree of freedom adjusting assembly (2-1).

3. A lofting robot according to claim 2, wherein: The first degree of freedom adjusting assembly (2-1) further comprises a rotary table connecting plate (2-1-2), a pad 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 "J" shaped mounting seat through the pad block (2-1-3), the power output end of the first servo module (2-1-4) penetrates through the top of the shell (1-1) and is connected with the rotary table connecting plate (2-1-2), the rotary table connecting plate (2-1-2) is key-connected with 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.

4. A lofting robot according to claim 3, wherein: The second degree of freedom adjusting assembly (2-2) comprises a rotating square tube (2-2-1), a second servo module (2-2-3) and a horizontal 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 horizontal telescopic arm (2-2-6) are installed inside the rotating square tube (2-2-1), the second servo module (2-2-3) drives the horizontal telescopic arm (2-2-6) to move S distance, and 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 adjusting assembly (2-1) drives the rotating square tube (2-2-1) to rotate 360 degrees.

5. A lofting robot according to claim 4, wherein: The third degree of freedom adjusting assembly (2-3) comprises a third servo module (2-3-1) and a U-shaped cloud platform mechanism connecting piece (2-3-2), the third servo module (2-3-1) is fixedly installed at the inner side end of the horizontal telescopic arm (2-2-6), the power output end of the third servo module (2-3-1) is connected with the U-shaped cloud platform mechanism connecting piece (2-3-2), the fourth degree of freedom adjusting assembly (2-4) is installed between the opposite two sides of the U-shaped cloud platform mechanism connecting piece (2-3-2), and the third servo module (2-3-1) drives the U-shaped cloud platform mechanism connecting piece (2-3-2) to swing γ degrees with the third servo module (2-3-1) axis at the position of the U-shaped cloud platform mechanism connecting piece (2-3-2) as the center.

6. A lofting robot according to claim 5, wherein: The fourth degree of freedom adjusting assembly (2-4) further comprises a fourth servo module (2-4-1), a rotating piece (2-4-2) and a vertical rotating arm (2-4-3), one end of the fourth servo module (2-4-1) is fixed on one side of the U-shaped holder mechanism connecting piece (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 with the power output end of the fourth servo module (2-4-1) through the rotating piece (2-4-2), the other end of the rotating piece (2-4-2) is rotatably installed on the other side of the U-shaped holder mechanism connecting piece (2-3-2), the fourth servo module (2-4-1) drives the vertical rotating arm (2-4-3) to rotate a beta angle with the center of the axis of the fourth servo module (2-4-1) as the center and the radial plane where the center of the fourth servo module (2-4-1) is located as the plane, and the fifth degree of freedom adjusting assembly (2-5) is coaxially installed in the vertical rotating arm (2-4-3), so that the axis of the fifth degree of freedom adjusting assembly (2-5) is perpendicular to the lofting ground.

7. A lofting robot according to claim 6, wherein: The vertical rotating arm (2-4-3) is provided with a prism (4) at the top, and the fifth degree of freedom adjusting assembly (2-5) is provided with a seal stamping and ink pressing mechanism (3) at the bottom, when the axis of the fifth degree of freedom adjusting assembly (2-5) is perpendicular to the lofting ground, the position of the prism (4) is consistent with the ink pressing lofting mark of the seal stamping and ink pressing mechanism (3).

8. A lofting robot according to claim 6, wherein: The vertical rotating arm (2-4-3) is provided with a detection assembly (2-6) on the front side, 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 adjusting 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 adjusting assembly (2-5), and the camera (2-6-1), the angle sensor (2-6-2) and the laser sensor (2-6-3) are respectively electrically connected with the control assembly.

9. A lofting robot according to claim 6, wherein: The fifth degree of freedom adjustment assembly (2-5) includes a fifth servo module (2-5-1), a telescopic part (2-5-2), a joint module fixing part (2-5-3), a lead screw (2-5-4), a lead screw nut (2-5-5) and a guide assembly (2-5-6), the fifth servo module (2-5-1) is coaxially fixedly installed in the vertical rotating arm (2-4-3) through the joint module fixing part (2-5-3), the power output end of the fifth servo module (2-5-1) is connected with the lead screw (2-5-4), the lead screw nut (2-5-5) is sleeved on the lead screw (2-5-4), the telescopic part (2-5-2) is sleeved outside the lead screw nut (2-5-5), one end of the telescopic part (2-5-2) is fixedly connected with the lead screw nut (2-5-5), the other end of the telescopic part (2-5-2) is fixedly connected with the guide assembly (2-5-6), the other end of the guide assembly (2-5-6) is movably connected with the seal ink pressing mechanism (3), the telescopic part (2-5-2), the lead screw (2-5-4), the lead 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 with the control assembly.

10. A method of lofting, characterized by: The construction lofting robot according to any one of claims 2-9 is used for construction lofting, and the method comprises the following steps: Step 1: according to the lofting line type file, the lofting point coordinate file is imported into the control assembly of the lofting robot; Step 2: the control assembly controls the power assembly (1-3) of the lofting trolley (1) to start, drives the four wheels (1-2) to rotate and move to the lofting point, when reaching the vicinity of the lofting point, drives the wheels (1-2) on both sides to reach different rotating speeds through the linkage assembly (1-4) to realize differential steering, and completes the coarse positioning of the lofting trolley (1), at this time, the lofting error is ±50mm; Step 3: the control assembly controls the first degree of freedom adjustment assembly (2-1) of the mechanical arm adjustment device (2) to swing by an angle α, and the second degree of freedom adjustment assembly (2-2) to move by a distance S, to realize twice fine positioning, at this time, the error is ±2mm; Step 4: then, the third degree of freedom adjustment assembly (2-3) swings by an angle γ, and the fourth degree of freedom adjustment assembly (2-4) swings by an angle β, to realize twice fine positioning, at this time, the error is ±0.1mm, and the standard of lofting marking is reached; Step 5: finally, the fifth degree of freedom adjustment assembly (2-5) drives the seal ink pressing mechanism (3) to move by a distance h, and presses down to realize ink pressing lofting.

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