Three-wheel type intelligent paying-off robot

Abstract

The invention belongs to the technical field of house building construction, and discloses a three-wheel type intelligent paying-off robot which comprises a shell, a supporting assembly, a movable chassis, a lifting device, a transverse moving device and an ink jet device.The shell covers the top, in the first direction, of the movable chassis, and a horizontal line casting instrument and a prism target ball are arranged on the top, in the first direction, of the shell; the prism target ball is used for being matched with a total station for use, the bottom of the supporting assembly is connected to the movable chassis, the top of the supporting assembly is supported on the shell, the movable chassis is connected with a walking device of a three-wheel structure, and the lifting device and the transverse moving device are both arranged on the movable chassis. A part of the ink jetting device is connected to the lifting device and can move towards or away from the movable chassis in the first direction, the lifting device is arranged on the transverse moving device in a sliding mode in the second direction, and an included angle is formed between the first direction and the second direction. Lightweight design can be achieved, multiple pay-off functions are achieved, and meanwhile operation stability is high.

Description

Technical Field

[0001] This invention relates to the field of building construction technology, and in particular to a three-wheeled intelligent line-laying robot. Background Technology

[0002] Currently, in construction engineering, positioning and layout rely heavily on manual operations, which is not only inefficient but also prone to problems such as accumulated errors exceeding ±5mm / 10mm and breakage of curved markings. Existing robotic technologies also face various challenges in complex construction scenarios, such as:

[0003] 1. The positioning and layout accuracy error is large, making it difficult to achieve within ±2mm;

[0004] 2. To ensure obstacle crossing and slope climbing performance, the structure is too complex, resulting in excessive weight, which is not conducive to high-rise cable laying and has poor stability;

[0005] 3. Application scenarios are limited, only ground-based cable laying is considered.

[0006] Therefore, based on the actual needs of the construction scenario, and for special working conditions such as laying out lines at a 1m structural depth on the wall, laying out lines for unit acceptance, and laying out lines at the edge, how to design a lightweight robot to achieve multiple laying out functions and high operational stability is a problem that needs to be solved by people in this field. Summary of the Invention

[0007] The purpose of this invention is to provide a three-wheeled intelligent wire-laying robot, which features a lightweight design, multiple wire-laying functions, and high operational stability.

[0008] To achieve this objective, the present invention adopts the following technical solution:

[0009] A three-wheeled intelligent wire-laying robot, including:

[0010] The device comprises an outer shell, a support assembly, and a mobile chassis. The outer shell covers the top of the mobile chassis along a first direction. A horizontal line projector and a prism target ball are provided on the top of the outer shell along the first direction. The prism target ball is used in conjunction with a total station. The bottom of the support assembly is connected to the mobile chassis, and the top is supported by the outer shell. The mobile chassis is connected to a three-wheeled walking device.

[0011] The device includes a lifting device, a traversing device, and an inkjet device. The lifting device and the traversing device are both mounted on the mobile chassis. Part of the inkjet device is connected to the lifting device and can move toward or away from the mobile chassis along the first direction. The lifting device is slidably mounted on the traversing device along the second direction. The first direction and the second direction are set at an angle.

[0012] Optionally, the three-wheeled intelligent wire-laying robot also includes a lateral movement device. The inkjet device includes a first inkjet assembly and a second inkjet assembly. The first inkjet assembly is connected to the lifting device and located on the front side of the mobile chassis along the movement direction. The second inkjet assembly is connected to the lateral movement device and located on at least one side of the mobile chassis along the movement direction. The lateral movement device is used to drive the second inkjet assembly to move toward or away from the mobile chassis in a direction that is at an angle to the first direction.

[0013] Optionally, the support assembly includes a first support frame, a second support frame, and an extension plate. The first support frame and the second support frame are parallel and spaced apart between the housing and the mobile chassis. The extension plate is connected to the side of the first support frame facing the second support frame, and a long rod is provided on the extension plate. One end of the long rod is fixed to the extension plate, and the other end passes through the housing and extends out of the housing along the first direction for mounting the horizontal line projector.

[0014] Optionally, the mobile chassis has a first space and a second space inside, the second space is located on the front side of the mobile chassis along the moving direction, the first space is located on the rear side of the mobile chassis along the moving direction, and the lifting device and the traversing device are both placed in the second space, while the first space is used to house the control system.

[0015] Alternatively, the walking device includes two side wheels and a top wheel. The side wheels are equipped with a drive device that can drive the side wheels to move, thereby causing the top wheel to move synchronously.

[0016] Optionally, the lifting device includes a base, a drive structure, and a fixed frame. The base is slidably disposed on the transverse device along the second direction. The drive structure is mounted on the base, and the output end of the drive structure is connected to the fixed frame to drive the fixed frame to move along the first direction. Part of the inkjet device is mounted on the fixed frame.

[0017] Optionally, the traversing device includes a fixed plate, a drive assembly and a slide rail fixed to the fixed plate, the fixed plate being mounted on the mobile chassis, the base being slidably disposed on the slide rail, and the drive assembly being used to drive the base to slide along the slide rail in the second direction.

[0018] Optionally, the base has a slider and a rack on the side facing the slide rail. The slider is slidably mounted on the slide rail, and the rack is located on the side of the slider away from the part of the inkjet device connected to the lifting device. The drive assembly includes a drive wheel, a driven wheel, and a toothed belt. The outer sides of the drive wheel and the driven wheel are engaged with the toothed belt, and the toothed belt passes between the slider and the rack, and engages with the inner side of the rack to drive the slider to move along the second direction.

[0019] Optionally, the lateral movement device includes a drive unit, a connector, and a slide bar. The connector is slidably disposed on the slide bar, and both ends of the connector are respectively connected to the drive unit and the second inkjet assembly. The drive unit is used to drive the connector to slide on the slide bar along the extension direction of the slide bar.

[0020] Alternatively, the inkjet device includes a mounting bracket and an inkjet cartridge, the inkjet cartridge being mounted on the mounting bracket, and an inkjet head being disposed on the side of the inkjet cartridge facing away from the mounting bracket along the first direction.

[0021] The beneficial effects of this invention are:

[0022] In this invention, the support components effectively ensure a stable connection between the outer shell and the mobile chassis. The three-wheeled walking device guarantees the stability of the entire structure. A horizontal projection device enables line laying on a 1m wall structure under special working conditions. Simultaneously, the use of a prism target ball and a total station provides guidance and positioning, automatically and efficiently printing the required straight lines, curves, symbols, text, graphics, and QR codes accurately onto the ground in multiple colors. Furthermore, a lifting device allows the inkjet unit to move in the first direction for obstacle avoidance, and a lateral movement device allows it to move in the second direction. Combined with the walking device, this enables various printing methods, expanding the scope of application. Attached Figure Description

[0023] Figure 1 This is a structural schematic diagram of the three-wheeled intelligent wire-laying robot described in an embodiment of the present invention;

[0024] Figure 2 This is a rear view schematic diagram of the three-wheeled intelligent wire-laying robot according to an embodiment of the present invention;

[0025] Figure 3 This is a bottom view schematic diagram of the three-wheeled intelligent wire-laying robot according to an embodiment of the present invention;

[0026] Figure 4 This is a top view of the interior of the three-wheeled intelligent wire-laying robot described in an embodiment of the present invention;

[0027] Figure 5 This is a first isometric view of the outer shell of the three-wheeled intelligent wire-laying robot described in an embodiment of the present invention;

[0028] Figure 6 This is a second isometric schematic diagram of the outer shell of the three-wheeled intelligent wire-laying robot described in an embodiment of the present invention;

[0029] Figure 7 This is a schematic diagram of the support component in the three-wheeled intelligent wire-laying robot described in an embodiment of the present invention;

[0030] Figure 8 This is a schematic diagram of the structure of the three-wheeled intelligent wire-laying robot described in an embodiment of the present invention, after concealing the outer shell and support components;

[0031] Figure 9 This is a first isometric schematic diagram of a portion of the structure of the three-wheeled intelligent wire-laying robot described in an embodiment of the present invention;

[0032] Figure 10 This is a second isometric schematic diagram of a portion of the structure of the three-wheeled intelligent wire-laying robot described in an embodiment of the present invention;

[0033] Figure 11 This is a schematic diagram of the mobile chassis and walking device in the three-wheeled intelligent wire-laying robot described in this embodiment of the invention;

[0034] Figure 12 This is a schematic diagram of the lifting device, the lateral movement device, and the first inkjet assembly in the three-wheeled intelligent wire-laying robot described in this embodiment of the invention.

[0035] Figure 13 This is a bottom view of the lifting device, the lateral movement device, and the first inkjet assembly in the three-wheeled intelligent wire-laying robot described in this embodiment of the invention.

[0036] Figure 14 This is a schematic diagram of the structure of the second inkjet component and the lateral movement device in the three-wheeled intelligent wire-laying robot described in an embodiment of the present invention.

[0037] In the picture:

[0038] 10-Outer shell; 11-Top plate; 12-Front baffle; 13-Wheel side plate; 131-First clearance opening; 14-Connecting side plate; 15-Rear side plate; 151-Second clearance opening; 101-Accommodation slot;

[0039] 21-First support frame; 211-First horizontal plate; 212-First vertical plate; 22-Second support frame; 221-Second horizontal plate; 222-Second vertical plate; 23-Extension plate; 24-Third support frame; 25-Connecting frame; 26-Long rod; 27-Horizontal projector; 28-Prism target ball; 29-Handle;

[0040] 30-Mobile chassis; 31-Base plate; 32-First enclosure plate; 33-Second enclosure plate; 34-Inner side plate; 35-Sealing plate; 36-Third enclosure plate; 37-First reinforcing plate; 38-Second reinforcing plate; 301-First space; 302-Second space; 303-Avoidance groove;

[0041] 40 - Walking device; 41 - Side wheel; 411 - Drive device; 42 - Top wheel;

[0042] 50-Lifting device; 51-Base; 511-Slider; 512-Rack; 52-Drive structure; 53-Moving plate; 54-Connecting plate; 55-Fixing frame; 56-Hook;

[0043] 60 - Lateral movement device; 61 - Fixed plate; 62 - Drive assembly; 621 - Drive wheel; 622 - Driven wheel; 623 - Toothed belt; 63 - Slide rail;

[0044] 70 - First inkjet assembly; 71 - First mounting bracket; 72 - Connecting rod; 73 - First inkjet cartridge; 731 - First inkjet head;

[0045] 80 - Second inkjet assembly; 81 - Second mounting bracket; 82 - Second inkjet cartridge; 821 - Second inkjet head;

[0046] 90 - Lateral shifting device; 91 - First wheel; 92 - Second wheel; 93 - Third wheel; 931 - Transmission block; 94 - Connecting piece; 941 - Transmission part; 942 - Sliding part; 943 - Connecting part; 95 - Slide rod; 96 - Mounting plate;

[0047] 100 - Power supply components. Detailed Implementation

[0048] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0049] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0050] In the description of this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0051] The technical solution of this embodiment will be further described below with reference to the accompanying drawings and specific implementation methods.

[0052] like Figures 1 to 4 As shown, this embodiment provides a three-wheeled intelligent wire-laying robot, including a shell 10, a support assembly, a mobile chassis 30, a walking device 40, a lifting device 50, a lateral movement device 60, a side-moving device 90, and an inkjet device. Optionally, the shell 10 covers the top of the mobile chassis 30 along a first direction, and the bottom of the support assembly is connected to the mobile chassis 30, while the top supports the shell 10, thereby ensuring that the shell 10 and the mobile chassis 30 can be formed as a whole to protect the internal components. Further, the mobile chassis 30 is connected to the three-wheeled walking device 40 to achieve smooth movement of the mobile chassis 30 through the walking device 40. Specifically, the lifting device 50, the lateral movement device 60, and the side-moving device 90 are all mounted on the mobile chassis 30. Part of the inkjet printer is connected to the lifting device 50 and can move towards or away from the mobile chassis 30 along a first direction. Part of the inkjet printer is connected to the side-moving device 90 and can move towards or away from the mobile chassis 30 along a direction at an angle to the first direction, thereby adjusting the inkjet height and spray angle of the inkjet printer. Further, the lifting device 50 is slidably mounted on the lateral movement device 60 along a second direction, with the first and second directions at an angle. This, combined with the walking device 40, enables inkjet printing of different shaped patterns by the inkjet printer, and also allows for timely obstacle avoidance in conjunction with the lifting device 50. For example, in this embodiment, the weight of the three-wheeled intelligent wire-laying robot can be controlled to 30kg when not in use, achieving a lightweight design.

[0053] Specifically, in this embodiment, the inkjet device includes a first inkjet assembly 70 and a second inkjet assembly 80. The first inkjet assembly 70 is connected to the lifting device 50 and located on the front side of the movable chassis 30 along the moving direction, for front-end cable laying. Further, the second inkjet assembly 80 is connected to the lateral movement device 90 and located on at least one side of the movable chassis 30 along the moving direction. The lateral movement device 90 drives the second inkjet assembly 80 to move towards or away from the movable chassis 30 in a direction forming an angle with the first direction, for side cable laying. Thus, with the arrangement of the first inkjet assembly 70 and the second inkjet assembly 80, normal cable laying and cable laying requirements at edges, corners, etc., can be achieved. For example, in this embodiment, the moving direction of the movable chassis 30 is set to a third direction, and the first direction, the second direction, and the third direction are mutually perpendicular. In other embodiments, the angle between the three directions can be adjusted as needed.

[0054] like Figure 5 and Figure 6 As shown, in this embodiment, the outer shell 10 has a front baffle 12 on the front side along the third direction, a rear side plate 15 on the rear side, and wheel side plates 13 and connecting side plates 14 on both sides along the third direction, respectively. An upper top plate 11 is provided at the top along the first direction. The front baffle 12, wheel side plates 13, connecting side plates 14, rear side plates 15, and upper top plate 11 form a shell structure with an open bottom, covering the mobile chassis 30. Exemplarily, the wheel side plate 13 has a first clearance opening 131 at the bottom along the first direction, and the rear side plate 15 has a second clearance opening 151 at the bottom along the first direction, thereby allowing the walking device 40 to pass through the first clearance opening 131 and the second clearance opening 151. Furthermore, a receiving groove 101 is provided inwardly on the rear side of the outer shell 10 along a third direction, that is, on the side near the rear side plate 15, for placing the power supply component 100 to ensure a continuous power supply for the three-wheeled intelligent wire-laying robot. In other embodiments, the position of the power supply component 100 can also be set as needed, which will not be described in detail here.

[0055] Combination Figure 7As shown, in this embodiment, the support assembly includes a first support frame 21, a second support frame 22, an extension plate 23, a third support frame 24, and a connecting frame 25. Optionally, the first support frame 21 and the second support frame 22 are arranged parallel to each other and spaced apart between the outer shell 10 and the movable chassis 30 to support the outer shell 10 and ensure stable installation between the outer shell 10 and the movable chassis 30. Specifically, the first support frame 21 includes a first horizontal plate 211 and two first vertical plates 212, with the two first vertical plates 212 respectively vertically arranged at both ends of the first horizontal plate 211, and the first horizontal plate 211 extends along a second direction, located on the side of the inner cavity of the outer shell 10 near the receiving groove 101. Correspondingly, the second support frame 22 includes a second horizontal plate 221 and two second vertical plates 222, with the two second vertical plates 222 respectively vertically arranged at both ends of the second horizontal plate 221, and the second horizontal plate 221 extends along a second direction, located on the side of the inner cavity of the outer shell 10 near the lifting device 50 and the lateral moving device 60.

[0056] Furthermore, the extension plate 23 is connected to the side of the first horizontal plate 211 of the first support frame 21 facing the second support member 22. Specifically, the third support frame 24 is disposed between the first support frame 21 and the second support frame 22 along a first direction, and the connecting frame 25 extends along a third direction, and the connecting frame 25 is connected to the second horizontal plate 221 of the extension plate 23 and the second support frame 22 respectively, and extends outward along a third direction away from the second horizontal plate 221. Furthermore, the third support frame 24 is supported on one end of the connecting frame 25 connected to the extension plate 23, thereby ensuring the mechanical strength of the extension plate 23 through the connecting frame 25, and improving the stability of the connecting frame 25 through the third support frame 24.

[0057] Optionally, in this embodiment, a long rod 26 is provided on the extension plate 23, and one end of the long rod 26 is fixed to the extension plate 23, while the other end passes through the outer casing 10 and extends out of the outer casing 10 along the first direction. Specifically, a horizontal line projector 27 is provided on the top of the outer side of the outer casing 10 along the first direction for marking lines. In this embodiment, the long rod 26 is used to install the horizontal line projector 27, thereby ensuring that the horizontal line projector 27 is higher than the top of the outer casing 10 to meet the corresponding marking height. For example, the height difference between the top of the long rod 26 and the upper surface of the outer casing 10 is 1m. Further, a prism target ball 28 is also provided on the top of the outer casing 10, and the bottom of the prism target ball 28 is installed on one end of the connecting frame 25 that extends out of the second horizontal plate 221 to ensure the stable placement of the prism target ball 28. In this embodiment, the prism target ball 28 is used in conjunction with a total station to improve the line laying efficiency. Optionally, in this embodiment, a handle 29 is also installed on the top outer side of the outer casing 10, which enables the three-wheeled intelligent wire-laying robot to be quickly transported as a whole, improving convenience. Exemplarily, in this embodiment, the long rod 26 and the extension plate 23 can be detachably connected, allowing the long rod 26 to be installed according to different usage requirements, thus expanding the scope of application.

[0058] Optionally, in this embodiment, the total station can be placed anywhere in the room and can always respond to the signal of the prism target sphere 28. By tracking and measuring the coordinates of the prism target sphere 28, the positioning coordinates of the three-wheeled intelligent wire-laying robot can be obtained, guiding the robot's movement path to always stay on the planned path and maintaining its initial positioning accuracy at ±20mm. Furthermore, an IMU (Inertial Navigation Unit) is set in the control system to respond to the total station, allowing for local corrections based on the initial positioning of ±20mm, so that the wire-laying positioning accuracy reaches ±2mm.

[0059] like Figures 8-11 As shown, in this embodiment, the mobile chassis 30 is provided with a first space 301 and a second space 302. The second space 302 is located on the front side of the mobile chassis 30 along the moving direction, i.e., the third direction, while the first space 301 is located on the rear side of the mobile chassis 30 along the moving direction, i.e., the third direction. The lifting device 50 and the lateral movement device 60 are both placed in the second space 302. The first space 301 is used to place the control system. Correspondingly, the receiving slot 101 in the outer shell 10 is correspondingly set in the first space 301, thereby dividing the interior of the three-wheeled intelligent wire-laying robot.

[0060] Specifically, the bottom of the mobile chassis 30 is provided with a base plate 31 to support the various devices and improve their stability. Optionally, the mobile chassis 30 is provided with a first enclosure plate 32 and a third enclosure plate 36 on both sides along a third direction, and a second reinforcing plate 38 is provided on the front side, a first reinforcing plate 37 is provided in the middle, and a second enclosure plate 33 is provided on the rear side along the third direction. Specifically, the first reinforcing plate 37 is located between the first space 301 and the second space 302, and the first reinforcing plate 37, the two third enclosure plates 36, and the second reinforcing plate 38 together form the second space 302.

[0061] Furthermore, the mobile chassis 30 is also provided with multiple inner side plates 34 and sealing plates 35 within the first space 301. In this embodiment, the multiple inner side plates 34, two second enclosure plates 33, two first enclosure plates 32, and a first reinforcing plate 37 enclose the first space 301. Figure 10 As shown, multiple inner side plates 34 and sealing plates 35 are also arranged to form a clearance groove 303 for avoiding the walking device 40. Furthermore, in this embodiment, the receiving groove 101 is provided on the sealing plate 35 to ensure the stable installation of the power supply assembly 100.

[0062] Optionally, in this embodiment, the walking device 40 includes two side wheels 41 and one top wheel 42, forming a triangle to achieve stable operation of the three-wheeled intelligent wire-laying robot. Specifically, a drive device 411 is provided on the side wheels 41, which drives the side wheels 41 to move, thereby driving the top wheel 42 to move synchronously, realizing the movement of the mobile chassis 30. The specific direction of movement can be adjusted as needed so that the side wheels 41 can move in any direction, without limitation. Specifically, the first clearance opening 131 is used to avoid the side wheels 41, and the second clearance opening 151 is used to avoid the top wheel 42, with the top wheel 42 located within the clearance groove 303.

[0063] like Figure 12 and Figure 13 As shown, in this embodiment, the lifting device 50 includes a base 51, a drive structure 52, a moving plate 53, a connecting plate 54, a fixing frame 55, and a hook 56. Optionally, the base 51 is slidably disposed on the transverse moving device 60 along the second direction, the drive structure 52 is mounted on the base 51, and the output end of the drive structure 52 is connected to the moving plate 53. The moving plate 53 is vertically connected to the side facing the inkjet device with the connecting plate 54, and the fixing frame 55 is mounted on the connecting plate 54. Thus, the drive mechanism 52 can drive the moving plate 53 to move up and down along the first direction, and then, under the action of the connecting plate 54, drive the fixing frame 55 to move synchronously along the first direction. Further, the hook 56 is mounted on the fixing frame 55 and is used to hook and connect part of the inkjet device, thereby realizing the stable installation of part of the inkjet device on the fixing frame 55, so that when the fixing frame 55 moves, part of the inkjet device can move synchronously along the first direction to achieve obstacle avoidance function. For example, the lifting device 50 can achieve obstacle crossing operations such as ground protrusions of more than 10cm and high steps. Specifically, in this embodiment, the first inkjet component 70 in the inkjet device is connected to the hook 56, and at least two first inkjet components 70 are provided in this embodiment. The two first inkjet components 70 are symmetrically arranged with the hook 56 as the center and are both installed on the hook 56. Thus, the first inkjet component 70 can achieve obstacle avoidance operation under the drive of the lifting device 50, increasing the passability of the entire device, and can move to a low working height. When not in use, it can be promptly retracted into the outer casing 10 to avoid damage to the inkjet head. Moreover, the moving height can be precisely controlled, improving accuracy.

[0064] Combination Figure 9 and Figure 12 , Figure 13As shown, the traverse device 60 includes a fixed plate 61, a drive assembly 62, and a slide rail 63. Both the drive assembly 62 and the slide rail 63 are fixed to the fixed plate 61, which is mounted on the base plate 31 of the movable chassis 30. Specifically, the base 51 is slidably disposed on the slide rail 63, and the drive assembly 62 is used to drive the base 51 to slide along the slide rail 63 in a second direction, so that the first inkjet assembly 70 can move along the second direction for ground layout and inkjet layout operations at edges such as walls and columns with a thickness of 150mm-300mm.

[0065] like Figure 13 As shown, in this embodiment, a slider 511 and a rack 512 are provided on the side of the base 51 facing the slide rail 63. The slider 511 is slidably disposed on the slide rail 63, and the rack 512 is disposed on the side of the slider 511 away from the first inkjet assembly 70 connected to the lifting device 50, so as to cooperate with the drive assembly 62 to realize the movement of the base 51 on the slide rail 63. Specifically, the drive assembly 62 includes a drive wheel 621, a driven wheel 622, and a toothed belt 623. The outer sides of the drive wheel 621 and the driven wheel 622 are meshed with the toothed belt 623, which passes between the slider 511 and the rack 512 and meshes with the inner side of the rack 512. Thus, the drive wheel 621 is connected to a motor. When the drive wheel 621 rotates, the driven wheel 622 rotates synchronously with it under the drive of the toothed belt 623, causing the rack 512, which meshes with the toothed belt 623, to move synchronously. This, in turn, drives the slider 511 to move along the second direction, realizing the movement of the base 51 on the slide rail 63. Exemplarily, in this embodiment, the slider 511, rack 512, and slide rail 63 are correspondingly arranged, and each is provided in two sets to improve the stability of the movement. Therefore, the transverse movement device 60 can achieve millimeter-level control precision fine-tuning, ensuring that the line laying accuracy at the ground and edge is always within ±2mm.

[0066] like Figure 12 and Figure 13 As shown, in this embodiment, the inkjet device includes a mounting bracket and an inkjet cartridge. The inkjet cartridge is mounted on the mounting bracket, and an inkjet head is arranged along a first direction on the side of the inkjet cartridge facing away from the mounting bracket, thereby achieving the effect of bottom inkjet printing. Specifically, the first inkjet assembly 70 includes a first mounting bracket 71, a connecting rod 72, and a first inkjet cartridge 73, and a first inkjet head 731 extends from the bottom of the first inkjet cartridge 73 along the first direction. Specifically, the two connecting rods 72 of the two sets of first inkjet assemblies 70 are joined together and hooked to hooks 56. The other end of the connecting rod 72 is connected to the mounting bracket 71. The first inkjet cartridge 73 is mounted on the side of the first mounting bracket 71 facing away from the connecting rod 72 for easy placement and removal. Figure 14As shown, the second inkjet assembly 80 includes a second mounting bracket 81 and a second inkjet cartridge 82. The second mounting bracket 81 is connected to the lateral movement device 90. A second inkjet head 821 extends from the bottom of the second inkjet cartridge 82 along a first direction, and the second inkjet cartridge 82 is mounted on the outside of the second mounting bracket 81 for easy placement and removal. This allows for inkjet printing and line laying operations at ground and edge locations using the first inkjet assembly 70 and the second inkjet assembly 80. Exemplarily, the inkjet device also includes an ink reservoir and a delivery pump, the specific configuration of which can be determined as needed.

[0067] like Figure 14 As shown, in this embodiment, the lateral movement device 90 includes a driving unit, a connecting member 94, a sliding rod 95, and a mounting plate 96. Optionally, the connecting member 94 is slidably disposed on the sliding rod 96, and both ends of the connecting member 94 are respectively connected to the driving unit and the second inkjet assembly 80. The driving unit is used to drive the connecting member 94 to slide along the extension direction of the sliding rod 95, thereby enabling the second inkjet assembly 80 to move in a direction that forms an angle with the first direction. Specifically, the driving unit is mounted on the base plate 31, and the sliding rod 95 is fixed to the base plate 31 by a fixing seat, and the sliding rod 95 is set at an angle with the base plate 31. Further, one end of the connecting member 94 away from the driving unit is connected to the mounting plate 96, and the second mounting bracket 81 is mounted on the mounting plate 96, thereby achieving a stable connection between the connecting member 94 and the second inkjet assembly 80, so that when the driving unit drives the connecting member 94 to move along the extension direction of the sliding rod 95, the second inkjet assembly 80 can move synchronously.

[0068] Optionally, in this embodiment, the driving unit includes a first wheel 91, a second wheel 92, and a third wheel 93. The first wheel 91 is connected to a motor, and the first wheel 91, the second wheel 92, and the third wheel 93 are connected by a belt. Thus, when the first wheel 91 rotates under the drive of the motor, the second wheel 92 and the third wheel 93 rotate synchronously under the connection of the belt. Exemplarily, the first wheel 91, the second wheel 92, and the third wheel 93, together with the belt, form a right-angled triangle, and both the first wheel 91 and the third wheel 93 are fixed to the base plate 31. Further, a transmission block 931 is sleeved on the belt. Specifically, the connector 94 includes a transmission part 941, a sliding part 942, and a connecting part 943. The sliding part 942 is sleeved on the outside of the slide rod 95 and slidably connected to the slide rod 95. The transmission part 941 and the connecting part 943 are located at the two ends of the sliding part 942, and the transmission part 941 is engaged with or fixedly connected to the transmission block 931. The connecting part 943 is fixedly connected to the mounting plate 96. Thus, when the transmission block 931 on the belt drives the transmission part 941 to move, it can synchronously drive the sliding part 942 to move on the slide rod 95 and the second inkjet assembly 90 connected to the mounting plate 96 to move. The slide rod 95 plays a guiding role.

[0069] For example, the implementation process for the 1m line of the pluggable building structure is as follows: control the three-wheeled intelligent line laying robot to drive to the designated line laying area, and find the 1m line reference point marked on the facade wall. Then, install each mechanism on the three-wheeled intelligent line laying robot in sequence. After coarsely adjusting the height of the lifting device 50, finely adjust the height of the horizontal line projector 27 set on the long pole 26 and the gimbal, so that the laser of the horizontal line projector 27 is completely aligned with the reference point of the facade. Hold it still for a few seconds until the laser line projection is completely still and without jumping.

[0070] For example, for the location and layout of individual unit acceptance inspections, LiDAR (LiDAR), also known as real-time positioning and mapping technology, is mainly used. Combined with algorithms developed based on the known rules for marking the inspection lines, a three-wheeled intelligent inspection robot can automatically scan and map, automatically locate itself in real time, autonomously plan its path, and automatically complete the marking and labeling of the inspection lines (i.e., printing text). The implementation process is as follows: A LiDAR is mounted on the three-wheeled intelligent inspection robot, and inkjet printers are installed at the front and middle sides of the robot. The inkjet printers on the middle sides are used to mark the six lines in the inspection line, while the inkjet printers at the front sides are used to print the labeling of five points (H1, H2, H3, H4, H5) for the net height measurement. Specifically, the inkjet printers on the middle sides mainly address the problem of insufficient space at the corners of the room due to robot posture adjustments, ensuring that the two side lines at the corners can intersect to form measurement points.

[0071] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A three-wheeled intelligent wire-laying robot, characterized in that, include: The device comprises an outer shell (10), a support assembly, and a mobile chassis (30). The outer shell (10) covers the top of the mobile chassis (30) along a first direction. A horizontal line projector (27) and a prism target ball (28) are provided on the top of the outer shell (10) along the first direction. The prism target ball (28) is used in conjunction with a total station. The bottom of the support assembly is connected to the mobile chassis (30), and the top is supported by the outer shell (10). The mobile chassis (30) is connected to a three-wheeled walking device (40). The device includes a lifting device (50), a traversing device (60), and an inkjet device. The lifting device (50) and the traversing device (60) are both mounted on the mobile chassis (30). Part of the inkjet device is connected to the lifting device (50) and can move toward or away from the mobile chassis (30) along the first direction. The lifting device (50) is slidably mounted on the traversing device (60) along the second direction. The first direction and the second direction are set at an angle.

2. The three-wheeled intelligent wire-laying robot according to claim 1, characterized in that, The three-wheeled intelligent wire-laying robot also includes a lateral movement device (90). The inkjet device includes a first inkjet assembly (70) and a second inkjet assembly (80). The first inkjet assembly (70) is connected to the lifting device (50) and located on the front side of the mobile chassis (30) along the moving direction. The second inkjet assembly (80) is connected to the lateral movement device (90) and located on at least one side of the mobile chassis (30) along the moving direction. The lateral movement device (90) is used to drive the second inkjet assembly (80) to move toward or away from the mobile chassis (30) in a direction that is at an angle to the first direction.

3. The three-wheeled intelligent wire-laying robot according to claim 1, characterized in that, The support assembly includes a first support frame (21), a second support frame (22), and an extension plate (23). The first support frame (21) and the second support frame (22) are arranged parallel to each other and spaced apart between the outer shell (10) and the mobile chassis (30). The extension plate (23) is connected to the side of the first support frame (21) facing the second support frame (22), and a long rod (26) is provided on the extension plate (23). One end of the long rod (26) is fixed to the extension plate (23), and the other end passes through the outer shell (10) and extends out of the outer shell (10) along the first direction for mounting the horizontal projection device (27).

4. The three-wheeled intelligent wire-laying robot according to claim 1, characterized in that, The mobile chassis (30) is provided with a first space (301) and a second space (302) inside. The second space (302) is located on the front side of the mobile chassis (30) along the moving direction, and the first space (301) is located on the rear side of the mobile chassis (30) along the moving direction. The lifting device (50) and the traversing device (60) are both placed in the second space (302). The first space (301) is used to place the control system.

5. The three-wheeled intelligent wire-laying robot according to claim 1, characterized in that, The walking device (40) includes two side wheels (41) and a top wheel (42). The side wheels (41) are equipped with a drive device (411). The drive device (411) can drive the side wheels (41) to move, thereby driving the top wheel (42) to move synchronously.

6. The three-wheeled intelligent wire-laying robot according to claim 1, characterized in that, The lifting device (50) includes a base (51), a drive structure (52), and a fixed frame (55). The base (51) is slidably disposed on the transverse device (60) along the second direction. The drive structure (52) is mounted on the base (51), and the output end of the drive structure (52) is connected to the fixed frame (55) to drive the fixed frame (55) to move along the first direction. Part of the inkjet device is mounted on the fixed frame (55).

7. The three-wheeled intelligent wire-laying robot according to claim 6, characterized in that, The lateral movement device (60) includes a fixed plate (61), a drive assembly (62) and a slide rail (63) fixed on the fixed plate (61). The fixed plate (61) is mounted on the mobile chassis (30). The base (51) is slidably disposed on the slide rail (63). The drive assembly (62) is used to drive the base (51) to slide along the second direction on the slide rail (63).

8. The three-wheeled intelligent wire-laying robot according to claim 7, characterized in that, The base (51) is provided with a slider (511) and a rack (512) on the side facing the slide rail (63). The slider (511) is slidably disposed on the slide rail (63). The rack (512) is disposed on the side of the slider (511) away from the part of the inkjet device connected to the lifting device (50). The drive assembly (62) includes a drive wheel (621), a driven wheel (622) and a toothed belt (623). The outer sides of the drive wheel (621) and the driven wheel (622) are both meshed with the toothed belt (623). The toothed belt (623) passes between the slider (511) and the rack (512) and meshes with the inner side of the rack (512) to drive the slider (511) to move along the second direction.

9. The three-wheeled intelligent wire-laying robot according to claim 2, characterized in that, The lateral movement device (90) includes a drive unit, a connector (94) and a slide bar (95). The connector (94) is slidably disposed on the slide bar (95), and both ends of the connector (94) are respectively connected to the drive unit and the second inkjet assembly (80). The drive unit is used to drive the connector (94) to slide on the slide bar (95) along the extension direction of the slide bar (95).

10. The three-wheeled intelligent wire-laying robot according to claim 1, characterized in that, The inkjet device includes a mounting bracket and an inkjet cartridge. The inkjet cartridge is mounted on the mounting bracket, and an inkjet head is arranged along the first direction on the side of the inkjet cartridge facing away from the mounting bracket.

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