Actual measurement marking robot

Abstract

The utility model provides an actual measurement scribing robot. The actual measurement scribing robot comprises a chassis, a plurality of scribing assemblies, two distance measuring assemblies and a controller. The chassis is arranged below the cable, and two supports are arranged on the upper side face of the chassis side by side. Each support is provided with two driving wheel sets. A plurality of moving seats are slidably connected to the chassis, and each moving seat is in transmission connection with a driving motor; a coating container is further arranged on the chassis; the plurality of marking assemblies are correspondingly arranged on the plurality of moving seats, and each marking assembly is connected with the paint container through a manifold; the two distance measuring assemblies are used for being connected with a cable so as to measure the relative movement distance between the distance measuring assemblies and the cable. The controller is arranged on the chassis and can preset a distance value; and when the relative movement distance measured by the distance measuring assembly is equal to a preset distance value, the controller is suitable for controlling each scribing assembly to scribe on the corresponding cable. According to the actual measurement scribing robot provided by the invention, the scribing efficiency is improved, and the mounting distance of the spacer is more accurate.

Description

Technical Field

[0001] The utility model belongs to the technical field of scribing equipment, and more specifically, it relates to a real measurement and real marking robot. Background Art

[0002] During the construction of transmission lines, spacer dampers are required for interval setting when multiple high-voltage cables are erected; the spacer dampers are generally installed between two adjacent cables to fix the distance between the two adjacent cables and prevent the two adjacent cables from whipping each other in strong wind weather, resulting in cable damage.

[0003] At present, there are strict requirements for the installation spacing of spacer dampers along the cable route. Before installing the spacer dampers, it is often necessary for two construction workers to conduct on-site measurement at high altitude using a measuring rope, scribe lines at the positions where the spacer dampers need to be installed, and finally the construction workers install multiple spacer dampers at the corresponding scribed positions.

[0004] The inventor found that the work efficiency of manual measurement and scribing is low, and due to the self-weight of the measurement personnel, errors occur in the cable length during measurement, as well as errors during measurement using a measuring rope, resulting in a large cumulative error in the installation spacing of the spacer dampers, making it difficult to suppress the oscillation between two adjacent cables and failing to achieve an ideal effect. Summary of the Utility Model

[0005] The purpose of this application is to provide a real measurement and real marking robot to solve the technical problems of low measurement and scribing efficiency and large errors in the prior art before installing spacer dampers.

[0006] To achieve the above purpose, the technical solution adopted in this application is: to provide a real measurement and real marking robot, including:

[0007] A chassis for being arranged under the cable, and two brackets arranged side by side in the left-right direction are provided on the upper side thereof; two groups of driving wheel sets arranged side by side in the front-back direction are provided on each of the brackets, and the driving wheel sets are used to contact with the cable so that the chassis moves in the front-back direction; a plurality of moving seats are arranged at intervals in the left-right direction on the chassis, and each moving seat is slidably connected to the chassis in the left-right direction, and each moving seat is drivingly connected with a driving motor; a paint container for storing paint is provided on the chassis;

[0008] A plurality of scribing components are respectively arranged on the plurality of moving seats one by one, and each scribing component is connected to the paint container through a manifold;

[0009] Two distance measuring assemblies, respectively disposed on the two brackets; each distance measuring assembly is movable in an up-and-down direction, and each distance measuring assembly is connected to a linear driving member; the distance measuring assembly is used to connect to the cable to measure the distance between the distance measuring assembly and the cable in a forward-and-backward direction; and

[0010] A controller is provided on the chassis, and the controller is capable of presetting a distance value;

[0011] When the relative movement distance measured by the distance measuring assembly is equal to a preset distance value, the controller is adapted to control each of the marking assemblies to mark the corresponding cable.

[0012] Preferably, the driving wheel set includes:

[0013] Two driving wheels are arranged on the bracket in parallel along the front-back direction and are both connected to the bracket for rotation along the left-right direction; and

[0014] The rotating motor is arranged on the bracket, and the output shaft of the rotating motor is coaxially connected with one of the driving wheels.

[0015] Preferably, the scribing assembly comprises:

[0016] A first telescopic cylinder is provided on the movable seat; and

[0017] a spray head fixedly connected to the upper end of the first telescopic cylinder and in communication with the manifold for receiving and discharging the paint in the paint container;

[0018] The first telescopic cylinder is suitable for driving the spray head to move upward, and the plurality of nozzles are suitable for spraying the coating onto the cable.

[0019] Preferably, the upper side of the nozzle has a sunken groove running through in the front-to-back direction for embedding the cable, and the discharge portion of the nozzle is located on the inner wall of the sunken groove;

[0020] Among them, there are two guide wheels arranged in parallel along the left and right directions in the sinking trough; each of the guide wheels is connected to the nozzle for rotation along the up and down directions, and the two guide wheels respectively abut the left and right sides of the embedded cable.

[0021] Preferably, a solenoid valve is provided on the manifold, and a signal input end of the solenoid valve is electrically connected to the controller.

[0022] Preferably, the ranging component includes:

[0023] A mounting seat is slidably connected to the bracket in an up-down direction and is transmission-connected to the linear drive member;

[0024] Two driven wheels, which are used to connect with the cable, are arranged side by side in the front - rear direction on the mounting seat, and each driven wheel is rotationally connected with the mounting seat in the left - right direction; and

[0025] Two encoders are both arranged on the mounting seat, and the two encoders are respectively connected to the two driven wheels through a transmission mechanism; the signal output ends of the two encoders are both electrically connected to the controller.

[0026] Preferably, the transmission mechanism includes:

[0027] Two synchronous wheels are coaxially connected to the output shaft of the driven wheel and the input shaft of the encoder respectively;

[0028] A synchronous belt is sleeved on the two synchronous wheels to synchronize the rotation of the two synchronous wheels.

[0029] Preferably, the outer peripheral wall of the driven wheel has a plurality of anti - slip grooves.

[0030] Preferably, the linear driving member is a second telescopic cylinder; the two ends of the second telescopic cylinder are respectively connected to the mounting seat and the chassis, and the second telescopic cylinder can drive the mounting seat to move towards or away from the chassis.

[0031] Preferably, the chassis is provided with a guide rail extending in the left - right direction, and each moving seat is slidably connected to the guide rail.

[0032] In the embodiment of the present application, by installing two sets of driving wheel groups on two cables, the two sets of driving wheel groups can drive the chassis to move back and forth along the cable; a plurality of moving seats are arranged at intervals on the base, and each moving seat can move in the left - right direction driven by a driving motor; a plurality of marking assemblies are arranged in one - to - one correspondence on the plurality of moving seats, and each marking assembly is connected to a paint container through a manifold; the plurality of marking assemblies can move in the left - right direction driven by the corresponding moving seats until each marking assembly moves to directly below a cable; by controlling the linear driving member, the two distance - measuring assemblies are connected to the cable, and the distance - measuring assemblies can measure the distance of the relative movement of the distance - measuring assemblies and the cable in the front - rear direction; when the measured relative movement distance is equal to the distance value preset by the controller, the controller can control each marking assembly to mark on the corresponding cable.

[0033] Compared with the prior art, the actual measurement and marking robot provided by the embodiment of the present application can realize the automatic operation of marking before installing spacer dampers, greatly improving the marking efficiency, and the distance error between two markings is small, making the installation spacing of spacer dampers more accurate. Description of the Drawings

[0034] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0035] Figure 1 Schematic diagram of the three-dimensional structure of the actual measurement and marking robot provided by the embodiment of the present application Figure 1 ;

[0036] Figure 2 Schematic diagram of the three-dimensional structure of the actual measurement and marking robot provided by the embodiment of the present application Figure 2 ;

[0037] Figure 3 Schematic diagram of the top view structure of the actual measurement and marking robot provided by the embodiment of the present application;

[0038] Figure 4 Schematic diagram of the side view structure of the actual measurement and marking robot provided by the embodiment of the present application;

[0039] Figure 5 Schematic diagram of the three-dimensional structure of the nozzle adopted by the embodiment of the present application;

[0040] Among them, the reference numerals in the figure:

[0041] 1, chassis; 11, bracket; 12, guide rail; 13, moving seat; 14, driving motor; 2, driving wheel set; 21, driving wheel; 22, rotating motor; 3, marking assembly; 31, first telescopic cylinder; 32, nozzle; 321, sinking groove; 322, discharging part; 323, guide wheel; 4, distance measuring assembly; 41, mounting seat; 42, driven wheel; 421, anti-slip groove; 43, encoder; 44, transmission mechanism; 441, synchronous pulley; 442, synchronous belt; 5, second telescopic cylinder; 6, controller; 7, manifold; 71, solenoid valve; 8, paint container; 9, cable. Specific embodiments

[0042] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the following further details the present application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0043] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0044] It should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0045] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality of" means two or more, unless otherwise specifically defined.

[0046] Please refer to Figures 1 to 5 together, and a real measurement and marking robot provided by the present application will be described below. The real measurement and marking robot includes a chassis 1, a plurality of marking assemblies 3, two ranging assemblies 4, and a controller 6.

[0047] The chassis 1 is used to be disposed below the cable 9, and the upper side surface of the chassis 1 has two brackets 11 arranged side by side in the left - right direction; each bracket 11 has two sets of drive wheel groups 2 arranged side by side in the front - rear direction, and the drive wheel groups 2 are used to contact the cable 9 so that the chassis 1 moves in the front - rear direction; the chassis 1 has a plurality of moving seats 13 arranged at intervals in the left - right direction, and each moving seat 13 is slidably connected to the chassis 1 in the left - right direction, and each moving seat 13 is drivingly connected to a drive motor 14; a paint container 8 for storing paint is provided on the chassis 1.

[0048] It should be additionally noted that the paint container 8 has a pressurizing function and can release the paint stored inside to the outside under the remote control of the staff.

[0049] A plurality of marking assemblies 3 are respectively and correspondingly arranged on a plurality of moving seats 13, and each marking assembly 3 is connected to the paint container 8 through a manifold 7; the number of the plurality of marking assemblies 3 is adapted to and corresponds one - to - one with the number of cables 9 installed.

[0050] Two ranging components 4 are respectively arranged on two brackets 11; each ranging component 4 can move in the up and down direction, and each ranging component 4 is connected to a linear driving member; the ranging component 4 is used to be connected to the cable 9 to measure the relative moving distance between the ranging component 4 and the cable 9 in the front and back directions.

[0051] The controller 6 is arranged on the chassis 1, and the controller 6 can preset a distance value, and the distance value is an integral multiple of the installation spacing of two spacer dampers; the controller 6 can be a computer, by pre-installing a control program on the computer and pre-setting the distance value.

[0052] When the relative moving distance measured by the ranging component 4 is equal to the preset distance value, the controller 6 is adapted to control each scribing component 3 to scribe on the corresponding cable 9; it should be added that when scribing, the controller 6 can be adapted to control the two sets of driving wheel sets 2 to stop driving, so that the robot stops moving, so as to make the scribing more accurate; after the scribing is completed, the controller 6 controls the two sets of driving wheel sets 2 to continue driving.

[0053] In the embodiment of the present application, by installing two sets of driving wheel sets 2 on two cables 9, the two sets of driving wheel sets 2 can drive the chassis 1 to move back and forth along the direction of the cable 9; a plurality of moving seats 13 are arranged at intervals on the base, and each moving seat 13 can move in the left and right direction driven by a driving motor 14; a plurality of scribing components 3 are arranged in one-to-one correspondence on a plurality of moving seats 13, and each scribing component 3 is connected to a paint container 8 through a manifold 7; a plurality of scribing components 3 can move in the left and right direction driven by the corresponding moving seat 13 until each scribing component 3 moves directly below a cable 9; by controlling the linear driving member, the two ranging components 4 are connected to the cable 9, and the ranging component 4 can measure the relative moving distance between the ranging component 4 and the cable 9 in the front and back directions; when the measured relative moving distance is equal to the distance value preset by the controller 6, the controller 6 can control each scribing component 3 to scribe on the corresponding cable 9.

[0054] Compared with the prior art, the actual measurement and marking robot provided by the embodiment of the present application can realize the automatic operation of marking before installing the spacer dampers, greatly improving the marking efficiency, and the distance error between two markings is small, making the installation spacing of the spacer dampers more accurate.

[0055] In some embodiments, please refer to Figures 1 to 4 , as a specific implementation manner of the actual measurement and marking robot provided by the present application, the driving wheel set 2 includes two driving wheels 21 and a rotating motor 22.

[0056] Two driving wheels 21 are arranged side by side in the front - rear direction on the bracket 11 and are both rotatably connected to the bracket 11 in the left - right direction; when the two driving wheels 21 are in contact with the cable 9, they can have a larger contact area and good support stability, making the chassis 1 more stable during the movement; the surface of the driving wheel 21 has an anti - slip coating, which can improve the friction between the driving wheel 21 and the cable 9.

[0057] The rotating motor 22 is arranged on the bracket 11 and can rotate forward and backward. The output shaft of the rotating motor 22 is coaxially connected to one of the driving wheels 21; the rotating motor 22 can be a stepping motor, and the staff can remotely control the rotation speed of the motor to accurately control the moving speed of the robot.

[0058] In some embodiments, please refer to Figures 1 to 5 ..., as a specific implementation manner of the actual measurement and marking robot provided by the present application, the marking assembly 3 includes a first telescopic cylinder 31 and a nozzle 32.

[0059] The first telescopic cylinder 31 is arranged on the moving seat 13. By introducing compressed air into the first telescopic cylinder 31, the output end of the first telescopic cylinder 31 can be extended or retracted; it should be added that the first telescopic cylinder 31 is connected to the compressed air tank through a pipeline, and the compressed air tank is arranged on the chassis 1.

[0060] The nozzle 32 has a hollow structure inside. The nozzle 32 is fixedly connected to the upper end of the first telescopic cylinder 31. The first telescopic cylinder 31 can drive the nozzle 32 to move towards or away from the chassis 1; and the nozzle 32 is communicated with the manifold 7 to receive and discharge the paint in the paint container 8.

[0061] Among them, when the marking assembly 3 moves to directly below the cable 9 driven by the moving seat 13, the first telescopic cylinder 31 is adapted to drive the nozzle 32 to move upward, so that the cable 9 enters the sinking groove 321, and at the same time the nozzle 32 is adapted to spray the paint onto the cable 9.

[0062] By adopting the above - mentioned technical solution, when marking is required, the first telescopic cylinder 31 can drive the nozzle 32 to move upward for marking; when marking is not required, the first telescopic cylinder 31 can drive the nozzle 32 back to the initial position, avoiding the marking assembly 3 from colliding with the cable 9 when the two driving wheel sets 2 drive the chassis 1 to move, thus affecting the movement of the chassis 1.

[0063] In some embodiments, please refer to Figures 1 to 5As a specific embodiment of the actual measurement and actual quantity marking robot provided in this application, the upper side of the nozzle 32 has a sinking groove 321 that runs through in the front-to-back direction for the cable 9 to be embedded, and the discharge part 322 of the nozzle 32 is on the inner wall of the sinking groove 321; the discharge part 322 can adopt a fan-shaped nozzle, which can make the paint spraying more uniform.

[0064] Among them, there are two guide wheels 323 arranged in parallel along the left and right directions in the sinking trough 321; each guide wheel 323 is connected to the nozzle 32 in the up and down directions, and the two guide wheels 323 respectively abut the left and right sides of the embedded cable 9; the front and rear ends of the sinking trough 321 each have two guide wheels 323.

[0065] By adopting the above technical solution, when the robot moves forward or backward, the guide wheel 323 can prevent the cable 9 from directly contacting the nozzle 32, thereby preventing the cable 9 from scratching the nozzle 32.

[0066] In some embodiments, please refer to Figures 1 to 4 As a specific embodiment of the actual measurement and actual quantity marking robot provided in this application, a solenoid valve 71 is provided on the manifold 7, and the signal input end of the solenoid valve 71 is electrically connected to the controller 6.

[0067] By adopting the above technical solution, the staff can remotely control the opening or closing of the solenoid valve 71, or set a program in the controller 6 in advance. When the relative displacement distance measured by the distance measuring component 4 is equal to the distance value preset by the controller 6, the controller 6 can automatically control the solenoid valve 71 to open, so as to transport the paint in the paint container 8 to the nozzle 32.

[0068] In some embodiments, please refer to Figures 1 to 4 As a specific embodiment of the actual measurement and actual quantity marking robot provided in this application, the distance measuring component 4 includes a mounting seat 41, two driven wheels 42 and two encoders 43.

[0069] The mounting seat 41 is slidably connected to the bracket 11 along the up-down direction and is transmission-connected to the linear drive member. The linear drive member can drive the mounting seat 41 to move toward or away from the chassis 1 .

[0070] The two driven wheels 42 are used to connect with the cable 9 and are arranged side by side on the mounting seat 41 along the front-to-back direction, and each driven wheel 42 is rotatably connected to the mounting seat 41 along the left-right direction;

[0071] Both encoders 43 are arranged on the mounting base 41, and the two encoders 43 are respectively connected to the two driven wheels 42 through a transmission mechanism 44; the signal output ends of the two encoders 43 are both electrically connected to the controller 6; by obtaining the average value obtained by the two encoders 43, the measured distance can be made more accurate and the error smaller, and it can also not affect the normal operation of the distance measuring component 4 when one of the encoders 43 fails.

[0072] Distance measuring principle: The two driven wheels 42 move upward under the drive of the linear drive member, and the two driven wheels 42 are adapted to be in contact with the cable 9; when the two sets of drive wheel sets 2 drive the base to move, the two driven wheels 42 are adapted to rotate under the action of the friction force between them and the cable 9, and the rotation of the driven wheel 42 is converted into the rotation of the encoder 43 through the transmission mechanism 44, and then the rotation of the encoder 43 is converted into an electrical signal and transmitted to the controller 6, and finally the program in the controller 6 converts the electrical signal into a distance value.

[0073] In some embodiments, please refer to Figures 1 to 4 , as a specific implementation manner of the actual measurement and marking robot provided by the present application, the transmission mechanism 44 includes two synchronous wheels 441 and a synchronous belt 442.

[0074] The two synchronous wheels 441 are respectively coaxially connected to the output shaft of the driven wheel 42 and the input shaft of the encoder 43.

[0075] The synchronous belt 442 is sleeved on the two synchronous wheels 441 to synchronize the rotation of the two synchronous wheels 441.

[0076] The synchronous belt mechanism transmits motion through the engagement of the transverse teeth equally distributed on the inner surface of the synchronous belt 442 and the corresponding tooth grooves on the synchronous wheel 441; compared with the traditional friction type belt drive, there is no relative slip between the synchronous wheel 441 and the synchronous belt 442 of the synchronous belt mechanism, which can ensure a strict transmission ratio; it can ensure that the rotation of the driven wheel 42 can be converted into the rotation of the encoder 43 without error, improving the accuracy of distance measurement.

[0077] In some embodiments, please refer to Figures 1 to 4 , as a specific implementation manner of the actual measurement and marking robot provided by the present application, the outer peripheral wall of the driven wheel 42 has a plurality of anti-slip grooves 421; the anti-slip grooves 421 can improve the friction force between the driven wheel 42 and the cable 9, and prevent slipping between the driven wheel 42 and the cable 9.

[0078] In some embodiments, please refer to Figures 1 to 4, as a specific implementation of the actual measurement and marking robot provided by the present application, the linear drive member is the second telescopic cylinder 5; both ends of the second telescopic cylinder 5 are respectively connected to the mounting seat 41 and the chassis 1, and the second telescopic cylinder 5 can drive the mounting seat 41 to move towards or away from the chassis 1.

[0079] By introducing compressed air into the second telescopic cylinder 5, the output end of the first telescopic cylinder 31 can be extended or retracted; it should be added that the second telescopic cylinder 5 is connected to the compressed air tank through a pipeline, and the compressed air tank is arranged on the chassis 1.

[0080] In some embodiments, please refer to Figures 1 to 4 , as a specific implementation of the actual measurement and marking robot provided by the present application, the chassis 1 is provided with a guide rail 12 extending in the left-right direction, each moving seat 13 is slidably connected to the guide rail 12, and each moving seat 13 is located on the upper side of the guide rail 12; the guide rail 12 is arranged at one end of the chassis 1 through an extension frame, and the manifold 7 and the solenoid valve 71 are both fixed on the extension frame.

[0081] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. The actual measurement and marking robot is used to connect with a cable, and the direction of the cable is defined as the front-back direction; it is characterized in that, Including: A chassis, which is used to be arranged under the cable, and two brackets arranged side by side in the left - right direction are provided on its upper side; two sets of driving wheel groups arranged side by side in the front - back direction are provided on each of the brackets, and the driving wheel groups are used to contact the cable so that the chassis moves in the front - back direction; a plurality of moving seats are arranged at intervals in the left - right direction on the chassis, and each moving seat is slidably connected to the chassis in the left - right direction, and each moving seat is drivingly connected to a driving motor; a paint container for storing paint is provided on the chassis; A plurality of scribing components, which are respectively arranged on the plurality of moving seats one by one, and each scribing component is connected to the paint container through a manifold; Two ranging components, which are respectively arranged on the two brackets; each ranging component can move in the up - down direction, and each ranging component is connected to a linear driving member; the ranging component is used to contact the cable to measure the relative moving distance between the ranging component and the cable in the front - back direction; And A controller, which is arranged on the chassis, and the controller can preset a distance value; When the relative moving distance measured by the ranging component is equal to the preset distance value, the controller is adapted to control each scribing component to scribe on the corresponding cable.

2. The actual measurement and marking robot according to claim 1, characterized in that, The driving wheel group includes: Two driving wheels, which are arranged side by side in the front - back direction on the bracket and are rotatably connected to the bracket in the left - right direction; and A rotating motor, which is arranged on the bracket, and its output shaft is coaxially connected to one of the driving wheels.

3. The actual measurement and marking robot according to claim 1, characterized in that, The scribing component includes: A first telescopic cylinder, which is arranged on the moving seat; and A nozzle, which is fixedly connected to the upper end of the first telescopic cylinder and is communicated with the manifold to receive and discharge the paint in the paint container; Wherein, the first telescopic cylinder is adapted to drive the nozzle to move upward, and at the same time the nozzle is adapted to spray the paint onto the cable.

4. The actual measurement and marking robot according to claim 3, characterized in that, A sinking groove penetrating in the front - back direction is provided on the upper side of the nozzle for the cable to be embedded, and the discharging part of the nozzle is on the inner wall of the sinking groove; Wherein, two guiding wheels are arranged side by side in the left - right direction in the sinking groove; each guiding wheel is rotatably connected to the nozzle in the up - down direction, and the two guiding wheels respectively abut against the left and right sides of the embedded cable.

5. The measured and actual quantity marking robot according to claim 1 or 3, characterized in that, An electromagnetic valve is provided on the manifold, and the signal input end of the electromagnetic valve is electrically connected to the controller.

6. The actual measurement and marking robot according to claim 1, wherein The ranging component includes: A mounting seat, which is slidably connected to the bracket in the up - down direction and is drivingly connected to the linear driving member; Two driven wheels, which are used to contact the cable, are arranged side by side in the front - back direction on the mounting seat, and each driven wheel is rotatably connected to the mounting seat in the left - right direction; and Two encoders, which are both arranged on the mounting seat, and the two encoders are respectively connected to the two driven wheels through a transmission mechanism; the signal output ends of the two encoders are both electrically connected to the controller.

7. The actual measurement and marking robot according to claim 6, characterized in that, The transmission mechanism includes: Two synchronous wheels, which are respectively coaxially connected to the output shaft of the driven wheel and the input shaft of the encoder; The synchronous belt is sleeved on the two synchronous pulleys to synchronize the rotation of the two synchronous pulleys.

8. The actual measurement and marking robot according to claim 6, characterized in that, The outer peripheral wall of the driven pulley is provided with a plurality of anti-slip grooves.

9. The actual measurement and marking robot according to claim 6, wherein, The linear driving member is a second telescopic cylinder; both ends of the second telescopic cylinder are respectively connected to the mounting seat and the chassis, and the second telescopic cylinder can drive the mounting seat to move towards or away from the chassis.

10. The actual measurement and marking robot according to claim 1, characterized in that The chassis is provided with a guide rail extending in the left-right direction, and each moving seat is slidably connected to the guide rail.

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