Intelligent scribing and spraying robot

Abstract

The utility model provides an intelligent scribing and spraying robot which can be in butt joint with a laser tracker which is independent of an automatic scribing and spraying robot and is arranged at a fixed point. Comprising a walking chassis, a frame body installed on the walking chassis, an outer shell wrapping the frame body and a spraying and scribing assembly arranged on the front side of the walking chassis, the frame body is provided with a laser receiving and reflecting assembly, the laser receiving and reflecting assembly comprises a reflecting prism, a mounting base and a holder motor, and the mounting base is rotatably installed on the holder motor; the reflecting prism is detachably mounted on the mounting seat, and the reflecting prism is provided with a plurality of reflecting surfaces; the reflecting prism is used for receiving and reflecting laser emitted by the laser tracker. According to the utility model, the holder motor is configured to drive the reflecting prism exposed out of the outer shell to rotate, so that the reflecting prism can always receive and reflect laser signals emitted by the laser tracker in the advancing process of the automatic scribing spraying robot, and the laser tracker can position the automatic scribing spraying robot in real time.

Description

Technical Field

[0001] The utility model belongs to the technical field of line marking and spraying robots, and in particular relates to an intelligent line marking and spraying robot. Background Art

[0002] In the fields of construction, municipal road construction, etc., for operations that require line marking and spraying, in order to improve work efficiency and quality, automatic line marking and spraying systems are usually used to replace manual line marking and spraying.

[0003] The automatic marking and spraying system is generally composed of a laser tracker and an automatic marking and spraying robot. The automatic marking and spraying robot is equipped with a laser receiving and reflecting component. The laser tracker is set at a fixed point and fixed, providing laser guidance to the laser receiving and reflecting component and receiving feedback to position the automatic marking and spraying robot, so as to realize real-time control of the automatic marking and spraying robot to perform marking operations according to a preset path.

[0004] However, when the automatic marking and spraying robot is moving, the laser receiving and reflecting device can easily lose connection with the laser tracker due to angle problems, resulting in the laser tracker being unable to guide the movement of the automatic marking and spraying robot and receive feedback. Utility Model Content

[0005] In view of the problems raised by the background technology, the utility model proposes an intelligent marking and spraying robot to solve the problem that the laser receiving and reflecting device is easily disconnected from the laser tracker due to the angle.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] An intelligent marking and spraying robot can be docked with a laser tracker that is independent of the automatic marking and spraying robot and is set at a fixed point;

[0008] It includes a walking chassis, a frame mounted on the walking chassis, an outer shell that wraps the frame, and a spray marking assembly configured on the front side of the walking chassis, the frame is equipped with a laser receiving and reflecting assembly, the laser receiving and reflecting assembly includes a reflecting prism, a mounting seat and a pan-tilt motor, the mounting seat can be rotatably mounted on the pan-tilt motor, the reflecting prism can be detachably mounted on the mounting seat, and the reflecting prism is provided with a plurality of reflecting surfaces;

[0009] The reflection prism is used to receive and reflect the laser emitted by the laser tracker.

[0010] Preferably, the mounting seat is installed at the output end of the pan / tilt motor;

[0011] A through hole is formed on the central axis of the reflective prism, and the through hole passes through the reflective prism;

[0012] The mounting seat is provided with a locking disk, the locking disk is fixed with a support rod, and the support rod is inserted into and fixed in the through hole;

[0013] The pan / tilt motor can drive the mounting seat to drive the reflective prism to rotate 360° around the central axis of the output end.

[0014] Preferably, the reflective prism comprises an upper clamping plate, a lower clamping plate and a plurality of reflective mirror surfaces, the edges of each reflective mirror surface are spliced ​​together to form a reflective mirror body, and the reflective mirror body is clamped and locked between the upper clamping plate and the lower clamping plate.

[0015] Preferably, each of the reflective mirror surfaces is arranged to be inclined relative to the central axis of the reflective prism, and the inclination directions of two adjacent reflective mirror surfaces are opposite.

[0016] Preferably, the inclination angle of the reflective mirror surface is 30°-60°.

[0017] Preferably, the reflective prism can be raised and lowered to be exposed outside the outer shell or hidden under the outer shell.

[0018] Preferably, the spray marking assembly includes a transverse movement mechanism and a spray head installed on the transverse movement mechanism, the transverse movement mechanism is transmission-mounted on the front side of the walking chassis, and the transverse movement mechanism can drive the spray head to move horizontally left and right.

[0019] Preferably, the automatic marking and spraying robot is provided with an antenna for communicating with a laser tracker and an external terminal, and the antenna is installed on the top of the outer shell.

[0020] Preferably, driving wheels are arranged on both sides of the front side of the walking chassis, and walking wheels are arranged in the middle of the rear side of the walking chassis;

[0021] The two driving wheels are driven by respective motors, and the motors are installed on the walking chassis.

[0022] Compared with the prior art, one of the above technical solutions has the following beneficial effects:

[0023] This technical solution configures a pan-tilt motor to drive the reflective prism exposed from the outer shell to rotate, so as to ensure that the reflective prism can always receive and reflect the laser signal emitted by the laser tracker during the movement of the automatic marking and spraying robot, so that the laser tracker can locate the automatic marking and spraying robot in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the structure of the intelligent marking and spraying robot (with an outer shell) of the utility model;

[0025] Figure 2 This is a schematic diagram of the structure of the intelligent marking and spraying robot (without outer shell) of the utility model;

[0026] Figure 3 This is a schematic diagram of the structure of the intelligent marking and spraying robot of the utility model;

[0027] Figure 4 It is a structural schematic diagram of the laser receiving and reflecting component of the utility model.

[0028] Walking chassis 1, frame body 2, outer shell 3, reflecting prism 4, reflecting mirror body 41, reflecting mirror surface 42, upper clamping plate 43, lower clamping plate 44, locking plate 45, supporting rod 46, mounting seat 5, pan / tilt motor 6, transverse movement mechanism 7, spray head 8, driving wheel 9, motor 10, power supply 11, controller 12, antenna 13. DETAILED DESCRIPTION

[0029] The technical solution of the utility model is further explained below with reference to the accompanying drawings and through specific implementation methods.

[0030] In order to enable those skilled in the art to better understand the solution of the utility model, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is only a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0031] The terms "first", "second", etc. in the specification and claims of the utility model and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, device, product or end that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or ends.

[0032] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0033] An intelligent marking and spraying robot can be docked with a laser tracker that is independent of the automatic marking and spraying robot and is set at a fixed point;

[0034] In the present application, the intelligent marking and spraying robot is configured to be able to dock and interact with a laser tracker, and the laser tracker is independent of the intelligent marking and spraying robot, and is set at a fixed point and does not move; the laser tracker is not shown in the figure. In the actual operation scenario, when the laser tracker is fixed, it sends a laser to the automatic marking and spraying robot and receives the reflected signal of the laser to determine the real-time position of the automatic marking and spraying robot. After knowing the real-time position of the automatic marking and spraying robot, the automatic marking and spraying robot can perform real-time spraying and marking operations according to the set program through communication.

[0035] like Figures 1 to 3 As shown, the automatic marking and spraying robot comprises a walking chassis 1, a frame 2 installed on the walking chassis 1, an outer shell 3 wrapping the frame 2, and a spraying and marking assembly arranged on the front side of the walking chassis 1, and the frame 2 is installed with a laser receiving and reflecting assembly;

[0036] Preferably, the driving wheels 9 are arranged on both sides of the front side of the traveling chassis 1, and the traveling wheels are arranged in the middle of the rear side of the traveling chassis 1;

[0037] The two driving wheels 9 are driven by respective motors 10 , and the motors 10 are mounted on the walking chassis 1 .

[0038] The automatic marking and spraying robot is designed as a vehicle structure in this embodiment, including a walking chassis 1, and the walking chassis 1 is equipped with a driving wheel 9 and a running wheel (not shown in the figure). The driving wheels 9 are arranged on both sides of the front of the walking chassis 1 and are independently controlled by two motors 10. The running wheel is arranged in the middle position of the rear of the walking chassis 1. In this application, only one running wheel is provided. The running wheel can be understood as a universal wheel without power drive, that is, the automatic marking and spraying robot moves by driving the driving wheel 9 on the front side to rotate by two motors 10, thereby driving the running wheel to realize walking;

[0039] Furthermore, by utilizing the differential speed of the two motors 10, the two driving wheels 9 generate different rotation speeds to achieve the turning of the automatic marking and spraying robot.

[0040] Furthermore, the traveling chassis 1 is equipped with a frame 2, which is used to be installed on the laser receiving and reflecting component. At the same time, the frame 2 is wrapped by the outer shell 3, so that a compartment space is formed between the traveling chassis 1 and the outer shell 3. In the compartment space, conventional components such as the controller 12 and the power supply 11 can be fixedly installed by the frame 2 to play a protective role.

[0041] like Figure 4As shown, the laser receiving and reflecting assembly includes a reflecting prism 4, a mounting seat 5 and a pan-tilt motor 6, the mounting seat 5 can be rotatably mounted on the pan-tilt motor 6, the reflecting prism 4 can be detachably mounted on the mounting seat 5, and the reflecting prism 4 is provided with a plurality of reflecting surfaces;

[0042] The reflecting prism 4 is used to receive and reflect the laser emitted by the laser tracker.

[0043] Furthermore, in the present embodiment, the reflective prism 4 is configured to receive the laser emitted by the laser tracker and reflect the laser back to the laser tracker. During the operation of the automatic marking and spraying robot, the laser receiving and reflecting component is often unable to receive the laser emitted by the laser tracker due to angle problems, resulting in the loss of docking between the two, and thus making it impossible for the laser tracker to locate the position of the automatic marking and spraying robot in real time. In order to solve this problem, the present application designs a rotatable reflective prism 4, specifically, including a pan-tilt motor 6 installed on the frame 2, a mounting seat 5 rotatably installed on the pan-tilt motor 6, and then the reflective prism 4 is installed on the mounting seat 5, the pan-tilt motor 6 provides power and drives the mounting seat 5 to rotate, thereby driving the reflective prism 4 to rotate, and the rotation is used to ensure that the reflective prism 4 can always dock with the laser tracker during the movement of the automatic marking and spraying robot;

[0044] Preferably, the mounting seat 5 is installed at the output end of the pan / tilt motor 6;

[0045] A through hole is formed on the central axis of the reflective prism 4, and the through hole penetrates the reflective prism 4;

[0046] The mounting seat 5 is installed with a locking plate 45, and the locking plate 45 is fixed with a support rod 46, and the support rod 46 is inserted and fixed in the through hole;

[0047] The pan / tilt motor 6 can drive the mounting seat 5 to drive the reflective prism 4 to rotate 360° around the central axis of the output end.

[0048] In this embodiment, the mounting base 5 is fixed to the output end of the pan / tilt motor 6, so that the mounting base 5 can rotate 360° around the central axis of the output end, and then the support rod 46 is fixed to the mounting base 5 through the locking disk 45, and the support rod 46 is inserted and fixed to the reflective prism 4, thereby indirectly driving the reflective prism 4 to rotate 360°. During the continuous rotation process, there is always an angle that can receive the laser emitted by the laser tracker and reflect it back, so that the automatic marking and spraying robot can dock with the laser tracker no matter where it is, ensuring that the laser tracker can locate the position of the automatic marking and spraying robot in real time.

[0049] Preferably, the reflecting prism 4 comprises an upper clamping plate 43 , a lower clamping plate 44 and a plurality of reflecting mirrors 42 , the edges of each reflecting mirror 42 are spliced ​​together to form a reflecting mirror body 41 , and the reflecting mirror body 41 is clamped and locked between the upper clamping plate 43 and the lower clamping plate 44 .

[0050] In this embodiment, the reflecting prism 4 is configured to have five reflecting mirror surfaces 42. In other embodiments, the number of reflecting mirror surfaces 42 may not be limited to five, and the number of reflecting mirror surfaces 42 is determined according to actual applications. The edges of the reflecting mirror surfaces 42 are spliced ​​together to form a reflecting mirror body 41, that is, the reflecting mirror body 41 is provided with reflecting mirror surfaces 42 in all directions of 360° in the vertical direction. The upper end of the reflecting mirror body 41 is locked by an upper clamping plate 43, and the lower end is locked by a lower clamping plate 44.

[0051] Preferably, each of the reflective mirror surfaces 42 is tilted relative to the central axis of the reflective prism 4 , and the tilt directions of two adjacent reflective mirror surfaces 42 are opposite.

[0052] Preferably, the inclination angle of the reflective mirror surface 42 is 30°-60°.

[0053] In this embodiment, since the height of the laser tracker is higher than the reflective prism 4, the laser emitted by the laser tracker is emitted from the top to the bottom, and considering that the reflective mirror 42 can reflect the laser back to the laser tracker under the condition of rotation, each reflective mirror 42 is tilted in this application, and the tilt angle is 30° to 60°, preferably 45°;

[0054] Furthermore, because the reflecting prism 4 is constantly rotating, if each reflecting mirror surface 42 is tilted in the same direction, the laser may still not be reflected to the laser tracker. Therefore, the present application sets the tilt directions of two adjacent reflecting mirror surfaces 42 to be opposite to each other, that is, if the inclined surface of one reflecting mirror surface 42 faces upward, the inclined surface of the adjacent reflecting mirror surface 42 faces downward.

[0055] Preferably, the reflective prism 4 can be lifted and lowered to be exposed outside the outer shell 3 or hidden under the outer shell 3 .

[0056] In the present application, in order to ensure that the reflecting prism 4 can receive the laser emitted by the laser tracker, the reflecting prism 4 needs to be exposed outside the outer shell 3. At the same time, in order to ensure that the reflecting prism 4 is not damaged, after the construction is completed, the reflecting prism 4 can be hidden under the outer shell 3. This operation can be achieved through a lifting component. The lifting component is not shown in the accompanying drawings. The specific lifting component can be a lifting cylinder. The output shaft of the lifting cylinder is connected to the pan-tilt motor 6, and the lifting and lowering of the reflecting prism 4 is achieved by extending and retracting the output shaft.

[0057] Preferably, the spray marking assembly includes a transverse movement mechanism 7 and a spray head 8 installed on the transverse movement mechanism 7. The transverse movement mechanism 7 is transmission-mounted on the front side of the walking chassis 1. The transverse movement mechanism 7 can drive the spray head 8 to move horizontally left and right.

[0058] In this embodiment, the spray marking assembly consists of a transverse movement mechanism 7 and a spray head 8 installed on the transverse movement mechanism 7. The transverse movement mechanism 7 is installed on the front side of the walking chassis 1, that is, the front position of the vehicle. Through transmission, the lateral movement of the spray head 8 can be achieved. Combined with the forward movement of the automatic marking spray robot itself, the spray marking in the x-axis and y-axis directions can be achieved, and the left and right lateral movement of the spray head 8 can also expand the spraying range. Specifically, the transverse movement mechanism 7 can achieve the lateral movement of the spray head 8 by the design of sliders and guide rails or conventional methods such as screw rods, which will not be elaborated here.

[0059] Preferably, the automatic marking and spraying robot is provided with an antenna 13 for communicating with a laser tracker and an external terminal, and the antenna 13 is installed on the top of the outer shell 3 .

[0060] In this embodiment, the automatic marking and spraying robot is also equipped with an antenna 13, which is used to receive communication signals from the laser tracker and the external terminal, so as to control the movement of the automatic marking and spraying robot. The external terminal can be understood as a control terminal such as a remote control and a tablet.

[0061] The technical principle of the present invention is described above in combination with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the protection scope of the present invention in any way. Based on the explanations here, technicians in this field can think of other specific implementation methods of the present invention without creative work, and these methods will fall within the protection scope of the present invention.

Claims

1. An intelligent marking and spraying robot that can be docked with a laser tracker that is independent of the automatic marking and spraying robot and is set at a fixed point; The invention comprises a traveling chassis, a frame mounted on the traveling chassis, an outer shell wrapping the frame, and a spray marking assembly arranged on the front side of the traveling chassis, and is characterized in that: The frame is equipped with a laser receiving and reflecting assembly, which includes a reflecting prism, a mounting seat and a pan-tilt motor. The mounting seat can be rotatably mounted on the pan-tilt motor, and the reflecting prism can be detachably mounted on the mounting seat. The reflecting prism is provided with a plurality of reflecting surfaces. The reflection prism is used to receive and reflect the laser emitted by the laser tracker.

2. The intelligent marking and spraying robot according to claim 1, characterized in that: The output end of the pan / tilt motor is equipped with the mounting seat; A through hole is formed on the central axis of the reflective prism, and the through hole passes through the reflective prism; The mounting seat is provided with a locking disk, the locking disk is fixed with a support rod, and the support rod is inserted into and fixed in the through hole; The pan / tilt motor can drive the mounting seat to drive the reflective prism to rotate 360° around the central axis of the output end.

3. The intelligent marking and spraying robot according to claim 1, characterized in that: The reflective prism comprises an upper clamping plate, a lower clamping plate and a plurality of reflective mirror surfaces. The edges of each reflective mirror surface are spliced ​​together to form a reflective mirror body. The reflective mirror body is clamped and locked between the upper clamping plate and the lower clamping plate.

4. The intelligent marking and spraying robot according to claim 3, characterized in that: Each of the reflective mirror surfaces is tilted relative to the central axis of the reflective prism, and the tilt directions of two adjacent reflective mirror surfaces are opposite.

5. The intelligent marking and spraying robot according to claim 4, characterized in that: The inclination angle of the reflecting mirror surface is 30°-60°.

6. The intelligent marking and spraying robot according to claim 1, characterized in that: The reflecting prism can be lifted and exposed outside the outer shell or hidden under the outer shell.

7. The intelligent marking and spraying robot according to claim 1, characterized in that: The spray marking assembly comprises a transverse movement mechanism and a spray head installed on the transverse movement mechanism. The transverse movement mechanism is transmission-installed on the front side of the walking chassis, and the transverse movement mechanism can drive the spray head to move horizontally left and right.

8. The intelligent marking and spraying robot according to claim 1, characterized in that: The automatic marking and spraying robot is provided with an antenna for communicating with a laser tracker and an external terminal, and the antenna is installed on the top of the outer shell.

9. The intelligent marking and spraying robot according to claim 1, characterized in that: The front sides of the traveling chassis are provided with driving wheels, and the middle part of the rear side of the traveling chassis is provided with traveling wheels; The two driving wheels are driven by respective motors, and the motors are installed on the walking chassis.

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