Automatic processing machine for asphalt pavement cracks

Abstract

The invention relates to an asphalt pavement crack automatic processing machine which comprises a mobile processing vehicle, a mechanical arm and a tool equipment area matched with the mechanical arm are rotationally connected to the mobile processing vehicle, and at least two nozzles with different diameters are stored in the tool equipment area; two material boxes are arranged in the movable treatment vehicle, each material box is provided with a filling pipeline, the filling pipelines extend into the mechanical arm, and a switching assembly for switching different filling pipelines is arranged in the mechanical arm; the multiple material boxes are arranged in the movable treatment vehicle and used for containing different crack filling materials, the filling pipelines are installed on the material boxes and extend into the mechanical arm, and when corresponding materials need to be filled, the corresponding filling pipelines are driven by the switching assembly to move to the position of the quick-change main disc, so that the corresponding materials are filled in the quick-change main disc. The nozzle is correspondingly connected with the nozzle; meanwhile, due to the fact that the diameters and the lengths of the two nozzles are different, different asphalt crack pouring materials can be sprayed.

Description

Technical Field

[0001] This application relates to the technical field of asphalt pavement maintenance, and particularly to an automatic asphalt pavement crack treatment machine. Background Art

[0002] After the asphalt pavement is paved and put into use, pavement cracks will occur due to various factors. Although the formation of pavement cracks has little impact on the use function of the pavement in the initial stage, if not filled in time, the expansion of pavement cracks will gradually weaken the bearing capacity of the road structure, and the seepage of pavement cracks will cause the softening of the structure layer below the pavement base, resulting in problems such as scouring and water stability, thus appearing phenomena such as net cracking, gully cracking, and potholes. The road bearing capacity decreases, and the service life of the road is reduced. Therefore, timely treatment of pavement cracks is extremely important for extending the service life of the pavement.

[0003] Chinese Patent with application number 202311734741.8 and application date December 15, 2023 discloses a highway crack treatment device, including the overall device, and also including a detection mechanism for detecting the crack width and a drainage mechanism for draining and repairing the cracks; the detection mechanism includes a detection device arranged at the bottom of the overall device. The present invention can realize the automatic continuous detection of highway cracks of different sizes, effectively reducing the labor intensity compared with traditional manual visual operation, and can accurately spray different repair agents on its own after detecting cracks of different sizes, achieving targeted spraying while ensuring the repair effect. Although this treatment device can detect cracks and perform crack filling treatment, after detecting cracks, it often needs to perform treatment steps such as cleaning and grooving on the cracks, and this device cannot realize these two steps, or uses another device to operate these two processes, and cannot concentrate these processes on one vehicle body and perform a full-automatic process treatment according to the detection results; in addition, different asphalt materials are generally required for cracks of different widths. For example, when the crack width is 2 - 5 mm, modified emulsified asphalt is generally used, and when the crack width exceeds 5 mm, modified asphalt is generally used, and there may be two widths of cracks in a section of crack, which requires switching between the two asphalts for crack filling, and the prior art cannot achieve this technology.

[0004] Regarding the above related technologies, the inventor believes that there are defects in the existing devices for switching between two different asphalts for crack filling. Summary of the Invention

[0005] In order to solve the above technical problems, this application provides an automatic asphalt pavement crack treatment machine.

[0006] An automatic asphalt pavement crack treatment machine provided by this application adopts the following technical solutions: An automatic asphalt pavement crack treatment machine, including a mobile treatment vehicle, a robotic arm is rotatably connected to the mobile treatment vehicle, and a tool equipment area is provided to cooperate with the robotic arm. A quick-change main disc is provided at the end of the robotic arm. At least two nozzles with different diameters are stored in the tool equipment area. A quick-change tool disc corresponding to the quick-change main disc is provided on each tool joint; two material boxes for filling cracks are provided inside the mobile treatment vehicle. Different crack filling materials are stored in each material box respectively, and a filling pipeline is provided on each material box. The filling pipeline extends into the robotic arm and reaches one end of the robotic arm where the quick-change main disc is provided and is connected to the corresponding nozzle when spraying materials. A switching component for switching different filling pipelines is provided inside the robotic arm.

[0007] By adopting the above technical solution, two material boxes for filling cracks are arranged in the mobile treatment vehicle, and filling pipelines extending into the robotic arm are respectively connected thereto. The filling pipelines are respectively moved to the quick-change main disc through the switching component and connected to the corresponding nozzles. The robotic arm selects the corresponding nozzle according to the width of the crack, so that the automatic switching of the filling material can be realized, and the corresponding asphalt material can be selected for filling according to the width of the crack, making the matching degree higher, and thus the crack treatment effect is better.

[0008] Preferably, the switching component includes a switching space provided inside the robotic arm, two opposite chutes provided on the inner wall of the switching space, a first screw rod rotatably connected to the chute, a first slider screwed to the first screw rod, a driving motor for driving the first screw rod to rotate, a pushing member provided on the side of the first slider away from the slide rail, and two guiding pipes respectively connected to the pushing members. The two filling pipelines are respectively sleeved inside the guiding pipes, and the pushing member pushes the axis of the filling pipeline to align with the axis of the corresponding nozzle.

[0009] By adopting the above technical solution, the driving motor is used to drive the first screw rod to rotate, the first slider is driven to lift by the rotation of the first screw rod, so as to realize the lifting of the guiding pipe. The pushing member is provided to push the guiding pipe in the axial direction of the switching space, so as to facilitate the alignment and connection of the filling pipeline and the nozzle.

[0010] Preferably, the pushing member includes a groove opened at the top of the first slider and perpendicular to the height direction of the chute, a telescopic rod rotatably connected to the bottom of the first slider, a second screw rod rotatably connected to the inner wall of the groove, a second slider screwed to the second screw rod, a first gear sleeved on the top and bottom of the telescopic rod respectively, a second gear sleeved on the first screw rod, and a third gear sleeved on the second screw rod. The first gear is parallel and meshed with the second gear, the first gear is perpendicular and meshed with the third gear, and the guiding pipe is connected to the second slider.

[0011] By adopting the above technical solution, the first gear and the second gear are used to realize the coaxial rotation of the telescopic rod and the first screw rod, and the second screw rod is driven to rotate through the engagement of the first gear and the third gear, thereby realizing the second sliding movement, and then pushing the guide tube to move in the direction of the axis of the axis switching space.

[0012] Preferably, the heights and diameters of the two nozzles are different, the tops of the nozzles pass through the quick-change tool tray, and a through hole is provided in the middle of the quick-change main tray for the nozzle to pass through and connected to the switching space, and two first travel switches are arranged on the inner wall of the through hole at intervals along its height direction, and a second travel switch is provided on the inner wall of the robotic arm near the quick-change main tray.

[0013] By adopting the above technical solution, the first travel switch and the second travel switch can be used to determine the type of the nozzle and give a corresponding driving motor a working signal.

[0014] Preferably, a collecting assembly for collecting the filling pipeline is respectively provided on the side wall of the switching space and on one side of each of the sliding grooves, the collecting assembly includes a collecting block, a collecting groove opened at the top of the collecting block, a collecting frame slidably connected to the collecting groove, a tension spring connected to the collecting frame and the side wall of the collecting groove, a collecting shaft rotatably connected to the collecting frame, a telescopic spring wound around the end of the collecting shaft, a rotating motor provided on the collecting block and a cam connected to the output shaft of the rotating motor, the cam and the tension spring are provided on the same side, and the protrusion thereof pushes the collecting frame to reciprocate along the length direction of the collecting block, one end of the telescopic spring is connected to the collecting shaft, and the other end is connected to the collecting frame, and the portion of the filling pipeline provided at the bottom of the switching space is wound around the collecting shaft.

[0015] By adopting the above technical solution, the filling pipeline is wound and folded using the winding shaft, and when the filling pipeline is retracted, the telescopic spring drives the contraction shaft to reverse, the rotating motor drives the cam to rotate, and the winding frame is driven to reciprocate with the cooperation of the tension spring, so that the filling pipeline is evenly wound on the winding shaft.

[0016] Preferably, one end of the storage shaft passes through the storage frame, and the storage shaft passes through one end side wall of the storage frame and protrudes in a direction away from the axial direction to form a detection part, and two proximity switches are arranged on the storage frame at intervals along its height direction, and the detection part contacts the corresponding proximity switch when rotating.

[0017] By adopting the above technical solution, the contact sequence between the detection part and the two proximity switches is used to determine the forward and reverse rotation of the collection and adjustment shaft, and the rotating motor is controlled to reverse during the reverse rotation.

[0018] Preferably, a cleaning assembly for cleaning the nozzle is further provided in the switching space. A downward protrusion is provided in the nozzle. The bottom end of the protrusion is rotatably connected to a connecting block. Gear teeth are formed on the outer wall of the connecting block. The cleaning assembly includes a linear slide rail provided on the inner wall of the switching space and adjacent to the sliding groove, a third slider slidably connected to the linear slide rail, a first cleaning pipe connected to the third slider, a second cleaning pipe sleeved in the first cleaning pipe and connected to the first cleaning pipe through a bearing, a third screw provided in the first cleaning pipe, a cleaning block connected to the top of the second cleaning pipe, a gear groove provided on the top end face of the cleaning block, and bristles provided on the outer wall of the cleaning block. The bearing is slidably connected to the first cleaning pipe. When the first cleaning tank moves upward, the third screw extends into the second cleaning pipe and is screwed to the second cleaning pipe. The gear groove is correspondingly engaged with the gear teeth.

[0019] By adopting the above technical solution, the upward movement of the first cleaning pipe drives the movement of the third screw in the second cleaning pipe, and through the screwing connection of the third screw and the second cleaning pipe, the rotation of the second cleaning pipe is realized. Its rotation drives the rotation of the cleaning block in the nozzle, thereby driving the bristles to clean the inside of the nozzle.

[0020] Preferably, a cleaning box is further provided inside the mobile processing vehicle. The inside of the cleaning box is divided into a cleaning space at the upper end and a control space at the lower end. A control motor is provided in the control space. A cleaning liquid is provided in the cleaning space. The bottom of the cleaning space is connected with a stirring shaft. The bottom of the rotating shaft extends into the control space and is connected to the control motor. A plurality of stirring rods are provided on the stirring shaft. A cleaning track is fixedly provided at the top of the cleaning space. The cleaning track passes through the cleaning space and extends to the side wall of the switching space opposite to the linear slide rail. At least two fourth sliders are slidably connected to the cleaning track. A dragging assembly for dragging and fixing the cleaning block is provided on the fourth slider.

[0021] By adopting the above technical solution, the cleaning box and the cleaning liquid are provided to clean the bristles on the cleaning block, avoiding excessive asphalt on it from affecting the cleaning of the nozzle. When cleaning it, the cleaning block is moved from the second cleaning pipe to the fourth slider through the dragging block, and is moved to the cleaning box through the cleaning track for cleaning.

[0022] Preferably, the dragging assembly includes a telescopic cylinder provided on the fourth slider, a clamping block connected to the telescopic cylinder and sliding along the length direction of the fourth slider, and an annular clamping ring rotatably connected to the clamping block. The annular clamping ring is formed by relatively buckling two semi-circular clamping rings, and one end is clamped, and the other end is connected through a rotating shaft. The rotating shaft is connected to a dragging motor.

[0023] By adopting the above technical solution, the telescopic cylinder is used to drive the annular clamping ring to move to the cleaning block, and the drag motor is used to drive the rotating shaft to rotate, open the two clamping rings, clamp the two cleaning blocks, then reverse the rotating shaft to tightly fix the cleaning block, and drive the cleaning block to move upward, so that the cleaning block can be pulled off.

[0024] Preferably, weight sensors are provided at the top end faces of the fourth sliders and opposite to the clamping blocks, and first electromagnets are provided on one side of each fourth slider close to the cleaning track. A second electromagnet is arranged at a position on the top of the cleaning box opposite to the stirring rod, and the polarities of the opposite sides of the first electromagnet and the second electromagnet are opposite.

[0025] By adopting the above technical solution, the weight change of the weight sensors on the two fourth sliders is used to clean whether the cleaning block is replaced, and after the replacement is completed, it returns to the cleaning box. Through the attraction of the first electromagnet and the second electromagnet, the cleaning block to be cleaned is fixed at a predetermined position and cleaned with cleaning liquid.

[0026] In summary, the present application includes at least one of the following beneficial technical effects: By arranging a plurality of material boxes in the mobile processing vehicle for containing different crack filling materials, and a filling pipeline is installed on the material box, the filling pipeline extends into the robotic arm, and when corresponding materials need to be filled, the corresponding filling pipeline moves to the quick-change main disk under the drive of the switching component and is correspondingly connected to the nozzle here; at the same time, since the diameters and lengths of the two nozzles are different, different asphalt crack filling materials can be sprayed, so that different asphalt materials can be automatically switched according to the data of the road surface cracks.

[0027] By arranging a tool equipment area on the mobile processing vehicle, tools such as a grooving drill, high-pressure blowing, and nozzles are arranged in this area, and a quick-change tool disk is arranged at the end of such tools. The quick-change main disk on the robotic arm is correspondingly connected to the corresponding quick-change tool disk, so that the robotic arm can pick up the corresponding tool and perform corresponding processing on the road surface cracks. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic structural diagram of an automatic asphalt pavement crack treatment machine of the present invention.

[0029] Figure 2 is a schematic internal structure diagram of the mobile processing vehicle of the present invention.

[0030] Figure 3 is a schematic structural diagram of the switching component of the present invention.

[0031] Figure 4 is Figure 3 an enlarged view of A in

[0032] Figure 5 It is a cross-sectional view of the robotic arm of the present invention.

[0033] Figure 6 It is a cross-sectional view of the collection and arrangement component of the present invention.

[0034] Figure 7 It is a partial cross-sectional view of the robotic arm of the present invention from another angle.

[0035] Figure 8 It is a top view of the annular clamping ring of the present invention.

[0036] Figure 9 It is a cross-sectional view of the nozzle of the present invention.

[0037] Figure 10 It is a cross-sectional view of the cleaning box of the present invention.

[0038] Explanation of reference numerals: 1. Mobile processing vehicle; 2. Robotic arm; 3. Tool equipment area; 31. Nozzle; 32. Protrusion; 33. Connecting block; 34. Gear teeth; 4. Quick-change main disk; 5. Quick-change tool disk; 6. Material box; 7. Filling pipeline; 8. Switching component; 81. Switching space; 82. Slide groove; 83. First screw; 84. First slider; 85. Driving motor; 86. Guide pipe; 87. Pushing member; 871. Groove; 872. Telescopic rod; 873. Second screw; 874. Second slider; 875. First gear; 876. Second gear; 877. Third gear; 9. Through hole; 10. First travel switch; 11. Second travel switch; 12. Collection and arrangement component; 121. Collection block; 122. Collection groove; 123. Collection frame; 124. Tensile spring; 125. Collection shaft; 126. Telescopic spring; 127. Rotating motor; 128. Cam; 129. Detection part; 130. Proximity switch; 13. Cleaning component; 131. Linear slide rail; 132. Third slider; 133. First cleaning pipe; 134. Second cleaning pipe; 135. Bearing; 136. Third screw; 137. Cleaning block; 138. Gear groove; 139. Brush bristles; 14. Cleaning box; 141. Cleaning space; 142. Control space; 143. Control motor; 144. Stirring shaft; 145. Stirring rod; 146. Cleaning track; 147. Fourth slider; 148. Dragging component; 1481. Telescopic cylinder; 1482. Clamping block; 1483. Annular clamping ring; 1484. Rotating shaft; 1485. Dragging motor; 149. Weight sensor; 150. First electromagnet; 151. Second electromagnet. Detailed implementation manners

[0039] The following further elaborates on the present application in conjunction with the attached Figures 1-10 for a more detailed description of the present application.

[0040] This application example discloses an automatic asphalt pavement crack treatment machine. Refer toFigures 1-10 , including a mobile processing vehicle 1, on which a robotic arm 2 is rotatably connected and a tool equipment area 3 that cooperates with the robotic arm 2. A quick-change main disk 4 is provided at the end of the robotic arm 2. The tool equipment area 3 stores at least two nozzles 31 with different diameters. Each tool joint is provided with a quick-change tool disk 5 corresponding to and connected to the quick-change main disk 4. Inside the mobile processing vehicle 1, there are two material boxes 6 for filling cracks. Different crack-filling materials are stored in each material box 6 respectively. And each material box 6 is provided with a filling pipeline 7. The filling pipeline 7 extends into the robotic arm 2 and reaches one end of the robotic arm 2 where the quick-change main disk 4 is provided and is connected to the corresponding nozzle 31 when spraying materials. A switching assembly 8 for switching different filling pipelines 7 is provided inside the robotic arm 2.

[0041] In this embodiment, by setting a tool equipment area 3 on the mobile processing vehicle 1, tools such as a grooving drill, high-pressure air blowing, and the nozzle 31 are set in this area. And quick-change tool disks 5 are provided at the ends of these tools. The quick-change main disk 4 on the robotic arm 2 is correspondingly connected to the corresponding quick-change tool disk 5, so that the robotic arm 2 can pick up the corresponding tool and perform corresponding processing on the road surface cracks. In addition, multiple material boxes 6 are arranged inside the mobile processing vehicle 1 for containing different crack-filling materials. And a filling pipeline 7 is installed on the material box 6. The filling pipeline 7 extends into the robotic arm 2 and when corresponding materials need to be filled, the corresponding filling pipeline 7 moves to the quick-change main disk 4 under the drive of the switching assembly 8 and is correspondingly connected to the nozzle 31 here. At the same time, since the diameters and lengths of the two nozzles 31 are different, different asphalt crack-filling materials can be sprayed, so that different asphalt materials can be automatically switched according to the data of the road surface cracks.

[0042] Specifically, the mobile processing vehicle 1 includes a vehicle body and moving wheels under the vehicle body. An automatic driving system and an auxiliary driving system are integrated inside the vehicle body, so that the vehicle body can automatically move along the direction of the crack. Or a motor vehicle can be connected to one side of the vehicle body. An automatic driving system is integrated inside the motor vehicle, and the vehicle body is towed by the motor vehicle to move. And during the movement, the camera on the robotic arm 2 is used to collect the data of the crack. After the vehicle body moves to the end point of the crack and returns to the starting position, at this time, the terminal system controlling the mobile processing vehicle 1 analyzes the width, depth of each crack segment and the processing method for each segment according to the shooting data of the camera. For example, if the width of the crack is in the range of 5 mm - 10 mm, then this crack segment needs to be grooved first with a grooving drill so that the ratio of the depth to the width of the groove is 1:1. Then, the impurities in the groove are blown out by a high-pressure air blowing tool and sucked away through the dust suction hood on the robotic arm 2. Finally, because the width of the groove is greater than 5 mm, therefore, the nozzle 31 with a large diameter is switched and connected to the modified asphalt material box 6, and modified asphalt is sprayed into the crack. Then the mobile processing vehicle 1 is started and each crack segment is processed according to the above method while moving.

[0043] Specifically, before treating the cracks in the road surface, the road surface is first divided into zones, and the road in each zone is divided into "strips" horizontally and "segments" vertically, with one strip and one segment as one station, and the working scope of each station is determined, that is, whether to spray asphalt directly or to groove first and then spray asphalt, and the mobile processing vehicle is started after the determination; different zones need to be spliced to avoid duplication and omission, and this work is carried out through GPA positioning technology, remote sensing technology, and coordinate positioning methods; in addition, if a motor vehicle is used to tow the mobile processing vehicle, it is necessary to occupy roughly the width of a lane on the road, so the width of each working area should match the lane width, and the size of the mechanical arm should be adapted to the lane width. After the work in the current working area is completed, the external controller sends a signal to the motor vehicle to notify the towing vehicle to move to a new working area and start a new work; of course, the processing of the above information is realized by the central processing unit, which is used to receive GPS signal information, obtain crack information based on road surface image analysis and processing, formulate robot arm movement path planning based on regional cracks, process crack information, send partition completion signals, and determine the splicing between partitions when the new area is in place.

[0044] Specifically, safety warning devices, such as construction warning lights, are installed on the towing truck or mobile processing vehicle to warn pedestrians that construction is underway and there are safety issues, so please take a detour. Because the zoning of road cracks requires information collection from all road surfaces, at this time, the towing truck needs to stop and go on the entire section of the road to collect all-round information at each location. Therefore, additional measures for safe driving are needed.

[0045] Specifically, since the robot arm 2 needs to rotate back and forth in the direction of the tool equipment area 3 and the crack direction, and the end needs to move downward or rotate in order to obtain the corresponding tool, the robot arm 2 is generally divided into multiple sections, and the adjacent sections are rotated or hinged. In the robot arm 2 of the present invention, the middle vertical section is set to be relatively long, and the other sections are relatively short, and the switching component 8 is arranged in the longer section; in addition, since the top of the robot arm 2 is equipped with a quick-change main disk 4, it needs to rotate or move downward. At this time, the robot arm 2 is rotated as a whole by a certain angle, and then the top is hinged and rotated downward to achieve connection with the quick-change tool disk 5, or a rotating part is set at the bottom of the quick-change main disk 4, and the rotating part rotates along the diameter direction, and then the quick-change tool disk 5 section is hinged to realize the rotation of the top to the upper end surface facing the vehicle body, thereby achieving connection with the quick-change tool disk 5; in addition, electromagnetic connection or gas suction can be used between the quick-change main disk 4 and the quick-change tool disk 5.

[0046] In some embodiments, the switching assembly 8 includes a switching space 81 disposed inside the robotic arm 2, two oppositely disposed slide grooves 82 disposed on the inner wall of the switching space 81, a first screw 83 rotatably connected to the slide groove 82, a first slider 84 screwed to the first screw 83, a driving motor 85 for driving the first screw 83 to rotate, a pushing member 87 disposed on the side of the first slider 84 away from the slide rail, and two guide tubes 86 respectively connected to each pushing member 87, the two filling pipelines 7 are respectively arranged in the guide tubes 86, and the pushing member 87 pushes the axis of the filling pipeline 7 to align with the axis of the corresponding nozzle 31.

[0047] In this embodiment, a slide groove 82 is set in the switching space 81, and a first screw rod 83, a first slider 84 and a driving motor 85 are set in the slide groove 82. The first slider 84 can be raised and lowered by the rotation of the first screw rod 83, thereby driving the lifting and lowering of the filling pipeline 7, and the connection or disconnection with the nozzle 31 can be achieved through the lifting and lowering of the filling pipeline 7.

[0048] Specifically, the guide tube 86 is fixedly connected to the first slider 84, and the guide tube 86 and the filling pipeline 7 can be connected by an electromagnet. After the filling pipeline 7 is connected to the nozzle 31, the robot arm 2 drives the nozzle 31 to rotate or move downward. During this process, the filling pipeline 7 will stretch. Therefore, the filling pipeline 7 and the nozzle 31 are configured to be detachably connected. After the filling pipeline 7 is connected to the nozzle 31, the electromagnet between it and the guide tube 86 is disconnected, so that the filling pipeline 7 can be extended and retracted with the nozzle 31, and when the tool needs to be switched, that is, the filling pipeline 7 needs to be disconnected from the nozzle 31, then after the disconnection, the electromagnet between the filling pipeline 7 and the guide tube 86 is energized to make it connected and fixed.

[0049] Specifically, the two material boxes 6 in the mobile processing vehicle 1 are connected to the filling pipeline 7 , and the filling pipeline 7 is connected to a pump for extracting the asphalt in the material box 6 into the switching space 81 and spraying it out through the nozzle 31 .

[0050] In some embodiments, the pushing member 87 includes a groove 871 opened at the top of the first slider 84 and perpendicular to the height direction of the slide groove 82, a telescopic rod 872 rotatably connected to the bottom of the first slider 84, a second screw 873 rotatably connected to the inner wall of the groove 871, a second slider 874 screwed on the second screw 873, a first gear 875 respectively sleeved on the top and bottom of the telescopic rod 872, a second gear 876 sleeved on the first screw 83 and a third gear 877 sleeved on the second screw 873, the first gear 875 is parallel to and meshed with the second gear 876, the first gear 875 is perpendicular to and meshed with the third gear 877, and the guide tube 86 is connected to the second slider 874.

[0051] In this embodiment, since there are two opposite filling pipelines 7 arranged in the switching space 81, when the filling pipelines 7 are not working, they are arranged at positions close to the side walls of the switching space 81. If only the filling pipelines 7 are lifted, their axes cannot be aligned with the axis of the nozzle 31, that is, the two cannot be aligned and connected. Therefore, a pushing member 87 is arranged on the first slider 84 to move the first filling pipeline 7 to the position of the axis to align it with the axis of the nozzle 31; during use, since the first gear 875 meshes with the second gear 876, the rotation of the first screw 83 drives the telescopic rod 872 to rotate. Since the first slider 84 will move up and down, a telescopic rod 872 needs to be arranged on the first slider 84 to follow its movement. And since the first gear 875 meshes with the third gear 877, the rotation of the telescopic rod 872 drives the second screw 873 to rotate, thereby driving the second slider 874 to move in the left-right direction, and further realizing the pushing of the guiding pipe 86, that is, the filling pipeline 7.

[0052] Specifically, a heat preservation layer can be arranged on the outer wall of the filling pipeline 7 to keep the asphalt inside in a flowing state all the time, which is not only convenient for the nozzle 31 to spray, but also convenient for cleaning the nozzle 31, and can further avoid the accumulation of asphalt in the filling pipeline 7, thus causing blockage of the pipeline.

[0053] In some embodiments, the heights and diameters of the two nozzles 31 are different. The tops of the nozzles 31 all pass through the quick-change tool disk 5, and through holes 9 for the nozzles 31 to pass through and communicate with the switching space 81 are arranged in the middle part of the quick-change main disk 4. Two first travel switches 10 are arranged at intervals along the height direction on the inner wall of the through hole 9, and a second travel switch 11 is arranged at a position on the inner wall of the robotic arm 2 close to the quick-change main disk 4.

[0054] In this embodiment, the first travel switch 10 and the second travel switch 11 are set to determine which nozzle 31 and the filling pipeline 7 corresponding to the nozzle 31, so as to quickly give a signal to the corresponding drive motor 85 to drive the corresponding filling to rise and move quickly, so as to quickly connect with the nozzle 31.

[0055] Specifically, the nozzle 31 with a smaller diameter and height is defined as the No. 1 nozzle 31, and the other is the No. 2 nozzle 31. The corresponding filling pipelines 7 are respectively the No. 1 pipeline and the No. 2 pipeline. Among the two first travel switches 10, the one located above is defined as the No. 1 switch, and the other is defined as the No. 2 switch. After the No. 1 nozzle 31 is installed on the robotic arm 2, it will only pass through the No. 1 switch. During the upward movement of the filling pipeline 7, it will inevitably pass through the second travel switch 11. After the controller receives the signals from the No. 1 switch and the second travel switch 11, the drive motor 85 corresponding to the No. 1 pipeline is started. If the No. 2 nozzle 31 is installed on the robotic arm 2, it will pass through the No. 1 switch and the No. 2 switch in sequence. After the controller receives the signals from these two switches and the second travel switch 11, the drive motor 85 corresponding to the No. 2 pipeline is started.

[0056] Optionally, the filling pipeline 7 is screwed to the nozzle 31. Therefore, a turntable is provided in the middle part of the quick-change main disk 4. The turntable is rotatably connected to the quick-change main disk 4, and this rotation can be driven by a motor. After the controller receives the signals from the second travel switch 11, the No. 1 switch and / or the No. 2 switch, the motor is started to drive the nozzle 31 to rotate, so as to realize the screwed fixation between the nozzle 31 and the filling pipeline 7. After the asphalt is filled, the motor rotates in reverse to disconnect the nozzle 31 from the filling pipeline 7; protrusions can be provided on the outer wall of the bottom of the nozzle 31, and two proximity switches are arranged at intervals along the axial direction on the inner wall of the filling pipeline 7. When the nozzle 31 is screwed to the filling pipeline 7, the protrusions will inevitably contact the proximity switches. The forward and reverse rotations of the nozzle 31 are judged by the contact sequence, so as to determine whether the nozzle 31 and the filling pipeline 7 are fixed or separated. If the controller detects reverse rotation, it controls the corresponding drive motor 85 to rotate in reverse to lower the filling pipeline 7 to its original position.

[0057] In some embodiments, on the side wall of the switching space 81 and on one side of each chute 82, there are respectively arranged tidying components 12 for tidying the filling pipeline 7. The tidying component 12 includes a tidying block 121, a tidying groove 122 opened at the top of the tidying block 121, a tidying frame 123 slidably connected in the tidying groove 122, a tension spring 124 connecting the tidying frame 123 and the side wall of the tidying groove 122, a tidying shaft 125 rotatably connected to the tidying frame 123, a telescopic spring 126 wound around the end of the tidying shaft 125, a rotary motor 127 arranged on the tidying block 121, and a cam 128 connected to the output shaft of the rotary motor 127. The cam 128 and the tension spring 124 are arranged on the same side, and its convex part 32 pushes the tidying frame 123 to reciprocate along the length direction of the tidying block 121. One end of the telescopic spring 126 is connected to the tidying shaft 125, and the other end is connected to the tidying frame 123. The part of the filling pipeline 7 arranged at the bottom of the switching space 81 is wound around the tidying shaft 125.

[0058] In this embodiment, since the filling pipeline 7 will extend or contract along with the robotic arm 2, during this process, the pipelines may bunch together or become bent, which is not conducive to the passage of asphalt. Therefore, a rectifying frame 123 is provided on the inner wall of the switching space 81, and the surplus part of the filling pipeline 7 left in the switching space 81 is wound around the rectifying shaft 125. When the filling pipeline 7 rises, its upward movement drives the rotation of the rectifying shaft 125, and during this process, the telescopic spring 126 will also extend. When the filling pipeline 7 contracts, driven by the telescopic spring 126, the rectifying shaft 125 rotates in reverse, and its reverse rotation drives the filling pipeline 7 to wind around the rectifying shaft 125 again. However, if only the rectifying shaft 125 rotates, the filling pipelines 7 will stack together, which is not only unsightly but also not conducive to the passage of asphalt liquid. Based on this, when the rectifying shaft 125 rotates in reverse, the rotary motor 127 rotates, and its rotation drives the cam 128 to rotate. Through the rotation of the cam 128 and the stretching of the tension spring 124, the rectifying frame 123 reciprocates on the rectifying block 121, so as to wind the filling pipeline 7 evenly around the rectifying shaft 125.

[0059] In some embodiments, one end of the rectifying shaft 125 passes through the rectifying frame 123, and the side wall of the end of the rectifying shaft 125 passing through the rectifying frame 123 protrudes in a direction away from the axial direction to form a detection portion 129. Two proximity switches 130 are arranged at intervals along the height direction of the rectifying frame 123, and the detection portion 129 contacts the corresponding proximity switch 130 during rotation.

[0060] In this embodiment, the detection signal is detected through the detection portion 129, that is, the protrusion 32 contacts the proximity switch 130. For example, the two proximity switches 130 are respectively defined as the No. 1 switch and the No. 2 switch. When the rectifying shaft 125 rotates forward, the protrusion 32 first contacts the No. 1 switch and then the No. 2 switch, while when rotating in reverse, the contact sequence is opposite. The controller judges whether it rotates forward or in reverse according to the contact sequence, and if it rotates in reverse, it controls the rotary motor 127 to rotate.

[0061] In some embodiments, a cleaning assembly 13 for cleaning the cleaning nozzle 31 is further provided in the switching space 81. A downward protrusion 32 is provided in the nozzle 31. The bottom end of the protrusion 32 is rotatably connected to a connection block 33. Gear teeth 34 are formed on the outer wall of the connection block 33. The cleaning assembly 13 includes a linear slide rail 131 provided on the inner wall of the switching space 81 and adjacent to the chute 82, a third slider 132 slidably connected to the linear slide rail 131, a first cleaning pipe 133 connected to the third slider 132, a second cleaning pipe 134 sleeved in the first cleaning pipe 133 and connected to the first cleaning pipe 133 through a bearing 135, a third screw 136 provided in the first cleaning pipe 133, a cleaning block 137 connected to the top of the second cleaning pipe 134, a gear groove 138 provided on the top end face of the cleaning block 137, and bristles 139 provided on the outer wall of the cleaning block 137. The bearing 135 is slidably connected to the first cleaning pipe 133. When the first cleaning tank 133 moves upward, the third screw 136 extends into the second cleaning pipe 134 and is screwed to the second cleaning pipe 134. The gear groove 138 corresponds to and meshes with the gear teeth 34.

[0062] In this embodiment, the cleaning assembly 13 is provided to clean the nozzle 31 to prevent it from bringing asphalt into the tool and equipment area 3 and thus soiling the area. During cleaning, the third slider 132 moves upward on the linear slide rail 131. When it moves to a predetermined position, the cleaning block 137 enters the nozzle 31, and the gear groove 138 on the cleaning block 137 corresponds to and meshes with the gear teeth 34 on the connection block 33 for fixation. Then, the third slider 132 continues to move. The movement of the third slider 132 drives the first cleaning pipe 133 to move. The first cleaning pipe 133 slides along its height direction through the bearing 135 slidably connected to the inner wall. At this time, the upward movement of the first cleaning pipe 133 drives the third screw 136 to rise in the second cleaning pipe 134. Since the second cleaning pipe 134 is screwed to the third screw 136, the second cleaning pipe 134 starts to rotate. Its rotation drives the cleaning block 137 to rotate, so that the bristles 139 on its outer wall start to clean the inner wall of the nozzle 31 while rotating.

[0063] In some embodiments, a cleaning box 14 is further provided inside the mobile processing vehicle 1. The interior of the cleaning box 14 is divided into a cleaning space 141 at the upper end and a control space 142 at the lower end. A control motor 143 is provided in the control space 142. A cleaning liquid is provided in the cleaning space 141. A stirring shaft 144 is connected to the bottom of the cleaning space 141. The bottom of the rotating shaft extends into the control space 142 and is connected to the control motor 143. A plurality of stirring rods 145 are provided on the stirring shaft 144. A cleaning track 146 is fixedly provided at the top of the cleaning space 141. The cleaning track 146 penetrates out of the cleaning space 141 and extends to the side wall opposite to the linear slide rail 131 in the switching space 81. At least two fourth sliders 147 are slidably connected to the cleaning track 146. A dragging component 148 for dragging and fixing the cleaning block 137 is provided on the fourth slider 147.

[0064] In this embodiment, since the bristles 139 of the cleaning block 137 will be relatively dirty after cleaning the nozzle 31 once or several times and are no longer suitable for continuing to clean the nozzle 31, the cleaning space 141 is provided to clean the cleaning block 137 and replace it with a new nozzle 31. During cleaning, the control motor 143 starts to rotate, and its rotation drives the stirring shaft 144 and the stirring rods 145 to start rotating, thereby driving the cleaning liquid to start rotating. The bristles 139 of the cleaning block are cleaned by the rotation of the cleaning liquid. By providing the cleaning track 146 communicating with the switching space 81 in the cleaning box 14, the fourth slider 147 can enter the switching space 81 and the dirty cleaning block 137 can be removed and replaced with a new one through the dragging component 148.

[0065] Specifically, the cleaning track 146 is a combination of a straight track and an arc track. A chute 82 is provided on each track. A pulley is provided on the fourth slider 147 and can slide in the chute 82. The pulley is driven by a motor. In addition, since the robotic arm 2 is provided with a plurality of joints, a cleaning track 146 is provided in each joint. When all the joints are in a vertical state, the cleaning tracks 146 are connected and communicated with each other. At this time, the fourth slider 147 can slide between the tracks.

[0066] Specifically, since asphalt will coagulate after the temperature drops, a heating tube is provided in the cleaning liquid to heat the cleaning liquid to keep it in a hot state, so as to facilitate cleaning the asphalt on the cleaning block 137. Of course, the cleaning liquid can be replaced after being used for a period of time to better clean the asphalt.

[0067] In some embodiments, the dragging component 148 includes a telescopic air cylinder 1481 disposed on the fourth slider 147, a clamping block 1482 connected to the telescopic air cylinder 1481 and sliding along the length direction of the fourth slider 147, and an annular clamping ring 1483 rotatably connected to the clamping block 1482. The annular clamping ring 1483 is formed by relatively buckling two semi-circular clamping rings, with one end clamped and the other end connected through a rotating shaft 1484, and the rotating shaft 1484 is connected to a dragging motor 1485.

[0068] In this embodiment, when replacing the cleaning block 137, the fourth slider 147 moves to a predetermined position, and then the telescopic air cylinder 1481 is started. The elongation of the telescopic air cylinder 1481 drives the clamping block 1482 to move towards the cleaning block 137. The dragging motor 1485 is started, and its rotation drives the rotating shaft to rotate, opening the two clamping rings, clamping the two cleaning blocks, then reversing the rotating shaft to tightly fix the cleaning block, and driving the cleaning block to move upward, so that the cleaning block can be pulled off, thereby realizing the replacement of the cleaning block 137.

[0069] In some embodiments, weight sensors 149 are provided at the top end faces of each fourth slider 147 and at positions opposite to the clamping block 1482, and first electromagnets 150 are provided on one side of each fourth slider 147 close to the cleaning track 146. A second electromagnet 151 is provided at a position on the top of the cleaning box 14 opposite to the stirring rod 145. The polarities of the opposite sides of the first electromagnet 150 and the second electromagnet 151 are opposite.

[0070] In this embodiment, the weight sensors 149 and the electromagnets are provided to determine whether the cleaning block 137 has been replaced and whether the cleaning block 137 to be cleaned has reached the cleaning position. During use, after a dirty cleaning block 137 is replaced on a fourth slider 147, the weight of this fourth slider 147 increases. At this time, it moves up or down, moving another fourth slider 147 to this position, and installing a new cleaning block 137 on the second cleaning pipe 134. At this time, the weight of this fourth slider 147 decreases. When the controller detects this change, each fourth slider 147 moves back into the cleaning box 14 in the reverse direction. At the same time, the first electromagnet 150 and the second electromagnet 151 on the fourth slider 147 with increased weight are energized. When the two are attracted, the fourth slider 147 stops moving. At this time, the control motor 143 is started to start cleaning.

[0071] Specifically, a position for replacing the cleaning block 137 is set on the cleaning track 146, and an electromagnet is installed at this position. Before replacement, the electromagnet of the relatively light fourth slider 147 is energized and attracted to this position. Then, the corresponding telescopic cylinder 1481 is activated. After the weight increases, the electromagnet is de-energized, and another electromagnet is energized and attracted to this position. After the weight decreases, the electromagnet is de-energized. After the controller detects these two changes, the first electromagnet 150 and the second electromagnet 151 of the fourth slider 147 with increased weight are energized.

[0072] The working principle of an automatic asphalt pavement crack treatment machine in this application is as follows: By setting a tool and equipment area 3 on the mobile treatment vehicle 1, tools such as grooving drills, high-pressure blowers, and nozzles 31 are set in this area, and quick-change tool disks 5 are set at the ends of these tools. The quick-change main disk 4 on the robotic arm 2 is correspondingly connected to the corresponding quick-change tool disk 5, so that the robotic arm 2 can pick up the corresponding tool and perform corresponding treatment on the pavement crack; in addition, multiple material boxes 6 are set inside the mobile treatment vehicle 1 for containing different crack filling materials, and a filling pipeline 7 is installed on the material box 6. The filling pipeline 7 extends into the robotic arm 2, and when corresponding materials need to be filled, the corresponding filling pipeline 7 moves to the quick-change main disk 4 under the drive of the switching component 8 and is correspondingly connected to the nozzle 31 here; when the filling pipeline 7 is connected to the nozzle 31, the drive motor 85 rotates, and its rotation drives the first screw 83 to rotate, thereby driving the first slider 84 screwed to it to rise, and then driving the guide pipe 86 to rise. At the same time, since the first gear 875 meshes with the second gear 876, the rotation of the first screw 83 drives the telescopic rod 872 to rotate. Since the first slider 84 will move up and down, an telescopic rod 872 needs to be set on the first slider 84 to follow its movement. And since the first gear 875 meshes with the third gear 877, the rotation of the telescopic rod 872 will drive the second screw 873 to rotate, thereby driving the second slider 874 to move in the left-right direction, and then realizing the pushing of the guide pipe 86, that is, the filling pipeline 7, to align its axis with the axis of the nozzle 31 for connection; after the nozzle 31 sprays asphalt, the first slider 84 drives the guide pipe 86 back to its original position. Then, the third slider 132 moves upward on the linear slide rail 131. When it moves to a predetermined position, the cleaning block 137 enters the nozzle 31, and the gear groove 138 on the cleaning block 137 is correspondingly meshed and fixed with the teeth 34 on the connecting block 33. Then, continue to move the third slider 132. The movement of the third slider 132 drives the first cleaning pipe 133 to move. The first cleaning pipe 133 slides along its height direction through the bearing 135 slidably connected to the inner wall. At this time, the upward movement of the first cleaning pipe 133 drives the third screw 136 to rise in the second cleaning pipe 134. Since the second cleaning pipe 134 is screwed to the third screw 136, the second cleaning pipe 134 starts to rotate, and its rotation drives the cleaning block 137 to rotate, so that the bristles 139 on its outer wall start to clean the inner wall of the nozzle 31 while rotating.

[0073] The above are all the preferred embodiments of this application, and the protection scope of this application is not limited accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of this application should be covered within the protection scope of this application.

Claims

1. An automatic asphalt pavement crack treatment machine, characterized in that: It includes a mobile processing vehicle (1), on which a robotic arm (2) is rotatably connected and a tool equipment area (3) cooperating with the robotic arm (2). A quick-change main disk (4) is provided at the end of the robotic arm (2). The tool equipment area (3) stores at least two nozzles (31) with different diameters. A quick-change tool disk (5) corresponding to the quick-change main disk (4) is provided on each tool joint. Inside the mobile processing vehicle (1), there are two material boxes (6) for filling cracks. Different caulking materials are respectively stored in each material box (6), and a filling pipeline (7) is respectively provided on each material box (6). The filling pipeline (7) extends into the robotic arm (2) and reaches one end of the robotic arm (2) where the quick-change main disk (4) is provided and is connected to the corresponding nozzle (31) when spraying materials. A switching component (8) for switching different filling pipelines (7) is provided inside the robotic arm (2).

2. The automatic asphalt pavement crack treatment machine according to claim 1, characterized in that: The switching component (8) includes a switching space (81) provided inside the robotic arm (2), two relatively arranged sliding grooves (82) provided on the inner wall of the switching space (81), a first screw rod (83) rotatably connected to the sliding grooves (82), a first slider (84) screwed to the first screw rod (83), a driving motor (85) for driving the first screw rod (83) to rotate, a pushing member (87) provided on the side of the first slider (84) away from the slide rail, and two guiding pipes (86) respectively connected to each pushing member (87). The two filling pipelines (7) are respectively sleeved inside the guiding pipes (86), and the pushing member (87) pushes the axis of the filling pipeline (7) to align with the axis of the corresponding nozzle (31).

3. The automatic asphalt pavement crack treatment machine according to claim 2, characterized in that: The pushing member (87) includes a groove (871) opened at the top of the first slider (84) and perpendicular to the height direction of the sliding groove (82), a telescopic rod (872) rotatably connected to the bottom of the first slider (84), a second screw rod (873) rotatably connected to the inner wall of the groove (871), a second slider (874) screwed to the second screw rod (873), a first gear (875) respectively sleeved on the top and bottom of the telescopic rod (872), a second gear (876) sleeved on the first screw rod (83), and a third gear (877) sleeved on the second screw rod (873). The first gear (875) is parallel and meshed with the second gear (876), the first gear (875) is perpendicular and meshed with the third gear (877), and the guiding pipe (86) is connected to the second slider (874).

4. The automatic asphalt pavement crack treatment machine according to claim 3, characterized in that: The heights and diameters of the two nozzles (31) are different. The tops of the nozzles (31) all pass through the quick-change tool plate (5), and a through hole (9) for the nozzles (31) to pass through and communicate with the switching space (81) is provided in the middle part of the quick-change main plate (4). Two first travel switches (10) are arranged on the inner wall of the through hole (9) at intervals along its height direction, and a second travel switch (11) is arranged on the inner wall of the robotic arm (2) near the quick-change main plate (4).

5. The automatic asphalt pavement crack treatment machine according to claim 4, characterized in that: On the side wall of the switching space (81) and on one side of each of the chutes (82), a sorting assembly (12) for sorting the filling pipeline (7) is respectively provided. The sorting assembly (12) includes a sorting block (121), a sorting groove (122) opened at the top of the sorting block (121), a sorting frame (123) slidably connected in the sorting groove (122), a tension spring (124) connecting the sorting frame (123) and the side wall of the sorting groove (122), a sorting shaft (125) rotatably connected to the sorting frame (123), a telescopic spring (126) wound around the end of the sorting shaft (125), a rotary motor (127) provided on the sorting block (121), and a cam (128) connected to the output shaft of the rotary motor (127). The cam (128) and the tension spring (124) are on the same side, and its convex (32) part pushes the sorting frame (123) to reciprocate along the length direction of the sorting block (121). One end of the telescopic spring (126) is connected to the sorting shaft (125), and the other end is connected to the sorting frame (123). The part of the filling pipeline (7) provided at the bottom of the switching space (81) is wound around the sorting shaft (125).

6. The automatic asphalt pavement crack treatment machine according to claim 5, characterized in that: One end of the sorting shaft (125) passes through the sorting frame (123), and a detection part (129) is formed by protruding the side wall of the end of the sorting shaft (125) passing through the sorting frame (123) in a direction away from the axial direction. Two proximity switches (130) are arranged on the sorting frame (123) at intervals along its height direction, and the detection part (129) contacts the corresponding proximity switch (130) when rotating.

7. The automatic asphalt pavement crack treatment machine according to claim 2, characterized in that: A cleaning assembly (13) for cleaning the nozzle (31) is further provided in the switching space (81). A downward protrusion (32) is provided in the nozzle (31). The bottom end of the protrusion (32) is rotatably connected to a connecting block (33). Gear teeth (34) are formed on the outer wall of the connecting block (33). The cleaning assembly (13) includes a linear slide rail (131) provided on the inner wall of the switching space (81) and adjacent to the chute (82), a third slider (132) slidably connected to the linear slide rail (131), a first cleaning pipe (133) connected to the third slider (132), a second cleaning pipe (134) sleeved in the first cleaning pipe (133) and connected to the first cleaning pipe (133) through a bearing (135), a third screw rod (136) provided in the first cleaning pipe (133), a cleaning block (137) connected to the top of the second cleaning pipe (134), a gear slot (138) provided on the top end face of the cleaning block (137), and bristles (139) provided on the outer wall of the cleaning block (137). The bearing (135) is slidably connected to the first cleaning pipe (133). When the first cleaning tank (133) moves upward, the third screw rod (136) extends into the second cleaning pipe (134) and is screwed to the second cleaning pipe (134). The gear slot (138) is correspondingly engaged with the gear teeth (34).

8. The automatic asphalt pavement crack treatment machine according to claim 7, characterized in that: A cleaning box (14) is further provided inside the mobile processing vehicle (1). The interior of the cleaning box (14) is divided into a cleaning space (141) at the upper end and a control space (142) at the lower end. A control motor (143) is provided in the control space (142). A cleaning liquid is provided in the cleaning space (141). The bottom of the cleaning space (141) is connected to a stirring shaft (144). The bottom of the rotating shaft extends into the control space (142) and is connected to the control motor (143). A plurality of stirring rods (145) are provided on the stirring shaft (144). A cleaning track (146) is fixedly provided at the top of the cleaning space (141). The cleaning track (146) penetrates out of the cleaning space (141) and extends to the side wall of the switching space (81) opposite to the linear slide rail. At least two fourth sliders (147) are slidably connected to the cleaning track (146). A dragging assembly (148) for dragging and fixing the cleaning block (137) is provided on the fourth slider (147).

9. The automatic asphalt pavement crack treatment machine according to claim 7, characterized in that: The dragging assembly (148) includes a telescopic cylinder (1481) provided on the fourth slider (147), a clamping block (1482) connected to the telescopic cylinder (1481) and sliding along the length direction of the fourth slider (147), and an annular clamping ring (1483) rotatably connected to the clamping block (1482). The annular clamping ring (1483) is formed by buckling two semi-circular clamping rings relatively, and one end is clamped, and the other end is connected through a rotating shaft (1484). The rotating shaft (1484) is connected to a dragging motor (1485).

10. The automatic asphalt pavement crack treatment machine according to claim 9, characterized in that: A weight sensor (149) is provided at the top end face of each of the fourth sliders (147) and at a position opposite to the clamping block (1482). A first electromagnet (150) is provided on one side of each of the fourth sliders (147) close to the cleaning track (146). A second electromagnet (151) is provided at a position on the top of the cleaning box (14) opposite to the stirring rod (145). The polarities of the opposite sides of the first electromagnet (150) and the second electromagnet (151) are opposite.

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