CN113123208B - Automatic machine people that marks a line that spouts on road surface - Google Patents
Automatic machine people that marks a line that spouts on road surface Download PDFInfo
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- CN113123208B CN113123208B CN202110446715.XA CN202110446715A CN113123208B CN 113123208 B CN113123208 B CN 113123208B CN 202110446715 A CN202110446715 A CN 202110446715A CN 113123208 B CN113123208 B CN 113123208B
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/16—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings
- E01C23/20—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ
- E01C23/22—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/16—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings
- E01C23/20—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ
- E01C23/203—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ the marking material being applied to the surface by contact with an application tool, e.g. paint roller
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Abstract
The invention belongs to the technical field of road marking machinery, in particular to a road surface automatic character spraying and line marking robot which comprises mechanical legs, wherein the lower surfaces of the mechanical legs are fixedly provided with material boxes, and the lower surfaces of the material boxes are provided with walking devices for driving the whole robot to walk; the top of the mechanical leg is controlled by a stooping mechanism to be hinged with a machine body, the top of the machine body is provided with a machine head with a monitoring camera, and the back of the machine body is also provided with a touch screen; the improved sprayer is characterized in that mechanical arms are fixedly connected to two sides of the top of the machine body, each mechanical arm is composed of an arm cylinder capable of stretching linearly, and a sprayer mechanism is fixedly connected to the inner side surface of each mechanical arm. This automatic word line robot that spouts in road surface through setting up shower nozzle mechanism, can realize the effect to drawing the effect that the word template realized the spraying, can realize the spraying to line or word, and the nozzle still has the effect that turns to, can realize the spraying of different widths according to specific ground.
Description
Technical Field
The invention relates to the technical field of road marking machinery, in particular to an automatic road surface character spraying and line drawing robot.
Background
A road marking machine is a road surface construction machine which is widely applied to roads, parking lots, squares and runways and marks with different restriction, guidance, warning and other rule limits on the level ground.
In prior art, the marking or slogan on the road adopts the manual work to hold the template and carry out the spraying or directly adopts the vehicular to drive the shower nozzle and remove and spout the word, and these two kinds of can have following shortcoming:
1. the manual spraying is not only low in efficiency and greatly harmful to the health of human bodies, but also difficult to control in accuracy.
2. Its degree of accuracy of vehicular relies on driver's driving technique completely, and uncontrollable factor is too big, secondly uses the marking off of vehicular can, nevertheless to the slogan, hardly accomplishes, and slogan or marking off all can make it have certain thickness for increasing the live time in addition, and the vehicular hardly does the route of making a round trip to drive the car among the marking off process and is exactly the same.
Disclosure of Invention
The invention provides an automatic road character spraying and line drawing robot based on the technical problems of low efficiency and difficulty in control of existing manual road line drawing or vehicle-mounted line drawing.
The invention provides an automatic pavement character spraying and line marking robot which comprises mechanical legs, wherein a material box is fixedly arranged on the lower surfaces of the mechanical legs, and a walking device for driving the whole robot to walk is arranged on the lower surface of the material box;
the top of the mechanical leg is controlled by a stooping mechanism to be hinged with a machine body, the top of the machine body is provided with a machine head with a monitoring camera, and the back of the machine body is also provided with a touch screen;
mechanical arms are fixedly connected to two sides of the top of the machine body, each mechanical arm is composed of a linearly telescopic arm cylinder, and a spray head mechanism is fixedly connected to the inner side surface of each mechanical arm;
the bottom of the mechanical arm is fixedly connected with a mechanical arm towards the inner side;
an abdomen storage mechanism is fixedly arranged on the inner surface of the inner side of the mechanical leg, which is positioned at the bottom of the machine body;
the manipulator takes out the marking template in the belly storage mechanism in a straight line mode, the machine body is controlled to rotate through the bowing mechanism, and when the machine body rotates to the position where the mechanical arm is perpendicular to the road surface, the marking template is finally flatly attached to the ground and then the spray head mechanism starts spraying.
Preferably, the running gear is formed by driving running wheels to run by a motor with double output shafts.
Through the technical scheme, the driving effect can be achieved by using the double-output-shaft motor, the structure and cost of a steering mechanism required by a popular robot when the robot walks can be saved, and the four double-output-shaft motors can be integrally or independently controlled.
Preferably, the mechanism of bowing sets up the articulated department of fuselage, the mechanism of bowing includes fixed mounting the motor of bowing of fuselage bottom both sides and fix the gear of bowing on the motor output shaft of bowing, the tooth's socket of bowing has still been seted up on the top circular arc section surface of machinery leg, the motor of bowing drives the gear of bowing with drive behind the tooth's socket meshing rotation of bowing the action of bowing is realized to the fuselage.
Through the technical scheme, the bending action of the waist of a human can be simulated by using a simple gear, the operation is real and effective, and the angle accuracy of bending can be ensured through gear transmission.
Preferably, the mechanical legs are located the both ends surface of the tooth's socket of bowing still fixed mounting have a limit switch of bowing, bow limit switch with control behind the motor electric connection of bowing the extreme position of action of bowing of the fuselage.
Through the technical scheme, the position of the bowing limit switch can be adjusted according to the actual bowing action amplitude, the bowing action efficiency is improved, and the working efficiency of the robot is increased.
Preferably, the robot head comprises an arc-shaped hydraulic cylinder, and the arc-shaped hydraulic cylinder drives the monitoring camera to stretch in an arc shape so as to remotely monitor the whole robot.
Through above-mentioned technical scheme, use the flexible action of arc pneumatic cylinder can simulate people's neck, the control of the different angles of being convenient for.
Preferably, the nozzle mechanism comprises a transverse moving cylinder and a directional rectangular rod which are fixed on the inner side surface of the mechanical arm, and a rectangular groove formed in the axis of a piston rod on the transverse moving cylinder is in sliding connection with the directional rectangular rod;
the tail end of a piston rod on the transverse moving cylinder is vertically fixedly sleeved with a longitudinal moving cylinder, the bottom of the piston rod of the longitudinal moving cylinder is fixedly connected with a spraying motor, and an output shaft of the spraying motor is fixedly connected with a nozzle;
the surface of the nozzle is fixedly connected with a U-shaped rod, the surface of a shell of the spraying motor is fixedly connected with a nozzle limit switch, and the nozzle limit switch is electrically connected with the spraying motor and then controls the limit steering angle of the nozzle.
Through the technical scheme, the spraying position, angle and depth of the nozzle can be adjusted and controlled.
Preferably, the manipulator comprises a supporting plate, a guide groove is formed in the inner side surface of the supporting plate along the length direction, a stroke plate is inserted into the inner wall of the guide groove in a sliding mode, a rack is fixedly mounted on the upper surface, close to the outer side, of the stroke plate, a driving motor is fixedly mounted on the upper surface of the middle of the supporting plate, a driving gear is fixedly sleeved on an output shaft of the driving motor, and the driving gear extends into the guide groove and then is meshed with the rack to drive the stroke plate.
Through the technical scheme, after the driving gear is meshed with the rack, the drawing action of the marking template is accurately realized.
Preferably, a lifting cylinder is fixedly mounted on the upper surface of the inner side of the stroke plate, a suction nozzle is transversely and fixedly connected to the bottom end of the lifting cylinder, the suction nozzle is made to contact with the marking template to suck the marking template after the lifting cylinder is lifted up and down, and the marking template is taken out of or put back into the belly storage mechanism through the driving motor.
Through above-mentioned technical scheme, after realizing the pull action, rely on the suction nozzle to adsorb and draw behind the word template and paste on the road surface and carry out the spraying, because draw the word template and need whole lower surface and road surface laminating, can only adopt absorbent mode to adsorb at its upper surface, the top of its suction nozzle uses a plurality of trachea to connect, also can adopt the electro-magnet to adsorb it simultaneously.
Preferably, machine abdomen receiving mechanism includes the roller, the fixed pivot that has cup jointed in axle center department of roller, the both ends of pivot all are provided with gear box after-fixing on the workbin upper surface, the motor is accomodate to last surface still fixedly connected with of workbin, the output shaft of accomodating the motor with drive after the input of gear box is connected the roller rotates.
Through above-mentioned technical scheme, accomodate the servo motor that the motor adopted programmable control, the turned angle of the control roller of being convenient for, annular array's the template of drawing the word can realize installing or carry the template piece of a plurality of different words or line, for the ease of the pull adsorbs, can adopt the absorbent material preparation of metal magnetic force to draw the template of the word.
Preferably, the outer surface of the roller is fixedly communicated with slots in an annular array manner, and the outer surface of each slot is provided with a suction groove convenient for the suction nozzle to adsorb along the radial direction of the roller;
the surface that the pivot is located roller inside is annular array fixed mounting with the electromagnetic lock, draw the word template and be in the inner wall sliding connection of slot is inserted in the roller after by the electromagnetic lock pins.
Through the technical scheme, the simple and reliable electromagnetic lock is adopted, the manufacturing is convenient, the cost is reduced, and the magnetic locking technology is reliable.
The beneficial effects of the invention are as follows:
1. through setting up the workbin, can enough provide the cavity that can contain for the material of spraying, reduce the focus of whole robot when can make full use of space again, keep the stability of robot.
2. By arranging the stooping mechanism, the stooping action during manual labor can be fully simulated, and the effect that the robot replaces manual labor is reflected.
3. Through setting up the surveillance camera head, can have the control to whole robot working process or establish the effect of basis or collection data for the remote control in later stage.
4. The robot is composed of the arm cylinder capable of linearly stretching, and can realize stretching action of the mechanical arm and simulate stretching labor action of the human arm.
5. Through setting up the manipulator, can realize taking out or putting back the effect of drawing the style of calligraphy template from the robot belly, have the action effect that the simulation people's arm was taken.
6. Through setting up the ventral storage mechanism, can reduce the whole focus of robot when realizing accomodating the pinning to a plurality of template of drawing characters.
7. Through setting up shower nozzle mechanism, can realize realizing the effect of spraying to marking the word template, can realize the spraying to line or word, the nozzle still has the effect that turns to, can realize the spraying of different widths according to specific ground.
Drawings
Fig. 1 is a back perspective view of a robot of an automatic pavement character-spraying and line-marking robot provided by the invention;
FIG. 2 is a front perspective view of a robot of the automatic road character spraying and line drawing robot provided by the invention;
FIG. 3 is a perspective view of a manipulator of the automatic road character spraying and line drawing robot provided by the invention;
FIG. 4 is a perspective view of a nozzle mechanism of the automatic pavement character-spraying and line-marking robot provided by the invention;
FIG. 5 is a perspective view of a robot half-section of the automatic pavement character-spraying and line-marking robot provided by the invention;
fig. 6 is an enlarged view of a portion a in fig. 5 of the automatic road surface character spraying and line drawing robot provided by the invention.
In the figure: 1. a mechanical leg; 2. a material box; 3. a traveling device; 31. a motor with double output shafts; 32. a running wheel; 4. a body; 41. a touch screen; 42. a stoop motor; 43. a stoop gear; 44. bending the gullet; 45. a stoop limit switch; 46. an indicator light; 5. a machine head; 51. a surveillance camera; 52. an arc-shaped hydraulic cylinder; 6. a mechanical arm; 61. an arm cylinder; 7. a manipulator; 71. a support plate; 72. a guide groove; 73. a stroke plate; 74. a rack; 75. a drive motor; 76. a drive gear; 77. a lifting cylinder; 78. a suction nozzle; 79. a pneumatic tube; 8. a belly storage mechanism; 81. a character-marking template; 82. a roller; 83. a rotating shaft; 84. a gear case; 85. a motor is stored; 86. a slot; 87. a suction groove; 88. an electromagnetic lock; 89. a power connection ring; 9. a nozzle mechanism; 91. a lateral movement cylinder; 92. orienting a rectangular bar; 93. a longitudinal moving cylinder; 94. spraying a motor; 95. a nozzle; 96. a nozzle limit switch; 97. a U-shaped rod; 98. an air pump.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-6, the robot for automatically spraying characters and marking lines on a road surface comprises a mechanical leg 1, wherein a material box 2 is fixedly arranged on the lower surface of the mechanical leg 1;
through setting up the workbin, can enough provide the cavity that can hold for the material of spraying, reduce the focus of whole robot when can make full use of space again, keep the stability of robot.
The lower surface of the material box 2 is provided with a walking device 3 for driving the whole robot to walk;
furthermore, the traveling device 3 is composed of a dual output shaft motor 31 driving a traveling wheel 32 to travel.
The double-output-shaft motor 31 can achieve the driving effect, the structure and the manufacturing cost of a steering mechanism required by the popular robot when the robot walks can be saved, and the four double-output-shaft motors 31 can be integrally or independently controlled.
The top of the mechanical leg 1 is controlled by a stooping mechanism to be hinged with a machine body 4;
further, the mechanism of bowing sets up 4 articulated departments of fuselage, the mechanism of bowing includes fixed mounting and is in the motor 42 of bowing of 4 bottom both sides of fuselage with fix the gear 43 of bowing on the motor 42 output shaft of bowing, the tooth's socket 44 of bowing has still been seted up on the top circular arc section surface of mechanical leg 1, the motor 42 of bowing drives gear 43 of bowing with the tooth's socket 44 of bowing meshes the back drive the action of bowing is realized to fuselage 4.
The bending action of the waist of a human can be simulated by using a simple gear, the operation is real and effective, and the angle accuracy of bending can be ensured by gear transmission.
Further, the mechanical legs 1 are located the surfaces of the two ends of the bending tooth slot 44 are also fixedly provided with a bending limit switch 45, and the bending limit switch 45 is electrically connected with the bending motor 42 and then controls the limiting position of the bending action of the machine body 4.
The position of the bowing limit switch 45 can be adjusted according to the actual bowing action amplitude, so that the bowing action efficiency is improved, and the working efficiency of the robot is increased;
by arranging the stooping mechanism, the stooping action during manual labor can be fully simulated, and the effect that the robot replaces manual labor is reflected.
The top of the body 4 is provided with a head 5 with a monitoring camera 51,
through setting up the surveillance camera head, can have the control in the whole robot working process or establish the effect of basis or collection data for the remote control in later stage.
Meanwhile, indicator lights 46 with construction indication can be arranged at the front and back positions of the fuselage 4 to prevent traffic accidents caused by collision.
The back of the machine body 4 is also provided with a touch screen 41, so that the operation of the whole robot can be displayed on the touch screen 41, and the operation is convenient;
further, the machine head 5 is composed of an arc-shaped hydraulic cylinder 52, and the arc-shaped hydraulic cylinder 52 drives the monitoring camera 51 to do arc-shaped extension and retraction so as to remotely monitor the whole robot.
The arc-shaped hydraulic cylinder 52 can simulate the stretching action of the neck of a human, and is convenient for monitoring at different angles.
The top both sides fixedly connected with arm 6 of fuselage 4, arm 6 comprises the arm cylinder 61 that can sharply stretch out and draw back, but constitutes by the arm cylinder 61 that can sharply stretch out and draw back through setting up arm 6, can realize the flexible action of arm 6, the flexible work action of emulation people's arm.
The inner side surface of the mechanical arm 6 is fixedly connected with a spray head mechanism 9;
further, the spray head mechanism 9 comprises a transverse moving cylinder 91 and an oriented rectangular rod 92 which are fixed on the inner side surface of the mechanical arm 6, and a rectangular groove formed in the axial center of a piston rod on the transverse moving cylinder 91 is connected with the oriented rectangular rod 92 in a sliding manner;
the tail end of a piston rod on the transverse moving cylinder 91 is vertically fixedly sleeved with a longitudinal moving cylinder 93, the bottom of the piston rod of the longitudinal moving cylinder 93 is fixedly connected with a spraying motor 94, and an output shaft of the spraying motor 94 is fixedly connected with a nozzle 95;
the surface of the nozzle 95 is fixedly connected with a U-shaped rod 97, the surface of the shell of the spraying motor 94 is fixedly connected with a nozzle limit switch 96, and the nozzle limit switch 96 is electrically connected with the spraying motor 94 to control the limit steering angle of the nozzle 95.
The spraying position, angle and depth of the nozzle 95 can be adjusted and controlled;
in addition, in order to facilitate painting, an air pump 98 for pressurizing painting is fixedly installed on the upper surface of the hopper 2, and is connected to the nozzle 95 using a pipe.
Through setting up shower nozzle mechanism 9, can realize realizing the effect of spraying to marking template 81, can realize the spraying to line or word, nozzle 95 still has the effect that turns to, can realize the spraying of different widths according to specific ground.
The bottom of the mechanical arm 6 is fixedly connected with a mechanical arm 7 towards the inner side;
further, the manipulator 7 includes a supporting plate 71, a guide groove 72 is formed in the inner side surface of the supporting plate 71 along the length direction, a stroke plate 73 is inserted into the inner wall of the guide groove 72 in a sliding manner, a rack 74 is fixedly mounted on the upper surface, close to the outer side, of the stroke plate 73, a driving motor 75 is fixedly mounted on the upper surface of the middle portion of the supporting plate 71, a driving gear 76 is fixedly sleeved on an output shaft of the driving motor 75, and the driving gear 76 is meshed with the rack 74 to drive the stroke plate 73 after extending to the inside of the guide groove 72.
After the driving gear 76 is meshed with the rack 74, the drawing action of the typewriting template 81 is accurately realized;
by providing the manipulator, the marking template 81 can be drawn out or put back from the abdomen of the robot, and the action effect of taking the dummy arm can be achieved.
An abdomen storage mechanism 8 is fixedly arranged on the inner surface of the inner side of the mechanical leg 1 at the bottom of the machine body 4;
the manipulator 7 will draw the straight line of word template 81 in the mechanism 8 and take out, rethread bow mechanism control fuselage 4 rotates, works as fuselage 4 rotates to when arm 6 is perpendicular with the road surface, at last draw word template 81 and paste behind the ground shower nozzle mechanism 9 begins the spraying, and the thickness of spraying is decided according to particular case by the thickness of drawing word template 81.
Furthermore, a lifting cylinder 77 is fixedly installed on the upper surface of the inner side of the stroke plate 73, a suction nozzle 78 is transversely and fixedly connected to the bottom end of the lifting cylinder 77, the lifting cylinder 77 is lifted up and down to enable the suction nozzle 78 to be in contact with the character marking template 81 for sucking, and then the character marking template 81 is taken out of or put back into the abdomen storage mechanism 8 through the driving motor 75.
After the drawing action is realized, the suction nozzle 78 is used for adsorbing the marking template 81 and then is attached to the road surface for spraying, the marking template 81 needs to be attached to the road surface on the whole lower surface, the whole lower surface can only be adsorbed on the upper surface in an adsorption mode, the top of the suction nozzle 78 is connected through a plurality of air pipes, meanwhile, the air pipes can also be adsorbed by the electromagnet, and an air pump of the suction nozzle 78 can be fixedly arranged on the upper surface of the material box 2 and is communicated and controlled through the air pressure pipe 79.
Further, belly receiving mechanism 8 includes roller 82, the fixed cover of axle center department of roller 82 has connect pivot 83, the both ends of pivot 83 all are provided with gear box 84 after-fixing on the 2 upper surfaces of workbin, motor 85 is accomodate to the last surface of workbin 2 still fixedly connected with, accomodate motor 85 the output shaft with drive after the input of gear box 84 is connected roller 82 rotates.
Accomodate motor 85 and adopt programmable control's servo motor, be convenient for control roller 82's turned angle, annular array's drawing word template 81 can realize the template piece of installation or carrying a plurality of different characters or line, and for the ease of the pull absorption, can adopt the adsorbable material preparation of metal magnetic force with drawing word template 81.
Further, an inserting groove 86 is fixedly communicated with the outer surface of the roller 82 in an annular array manner, and a suction groove 87 convenient for the suction nozzle 78 to suck is formed in the outer surface of the inserting groove 86 along the radial direction of the roller 82;
the surface of the rotating shaft 83 inside the roller 82 is fixedly provided with electromagnetic locks 88 in an annular array, and the character-marking template 81 is locked by the electromagnetic locks 88 after being inserted into the roller 82 through the sliding connection of the inner walls of the slots 86.
The simple and reliable electromagnetic lock 88 is adopted, the manufacturing is convenient, the cost is reduced, and the magnetic locking technology is reliable;
meanwhile, in order to facilitate power connection, two power connection rings 89 are rotatably sleeved at one end of the rotating shaft 83, the two power connection rings 89 are respectively connected with a zero line and a live line, and the electromagnetic locks 88 are electrically connected in parallel through spring pieces and sliding contact interfaces of the power connection rings 89;
through setting up abdomen receiving mechanism 8, can reduce the whole focus of robot when realizing accomodating the pinning to a plurality of word template 81 of drawing, all motors above can all adopt servo motor to the connection realization of programmable controller is controlled.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. The utility model provides an automatic machine people of drawing a line that spouts words in road surface which characterized in that: the robot walking device comprises mechanical legs (1), wherein a material box (2) is fixedly arranged on the lower surfaces of the mechanical legs (1), and a walking device (3) for driving the whole robot to walk is arranged on the lower surface of the material box (2);
the top of the mechanical leg (1) is controlled by a stooping mechanism to be hinged with a machine body (4), the top of the machine body (4) is provided with a machine head (5) with a monitoring camera (51), and the back of the machine body (4) is also provided with a touch screen (41);
mechanical arms (6) are fixedly connected to two sides of the top of the machine body (4), each mechanical arm (6) is composed of an arm cylinder (61) capable of stretching linearly, and a spray head mechanism (9) is fixedly connected to the inner side surface of each mechanical arm (6);
the bottom of the mechanical arm (6) is fixedly connected with a mechanical hand (7) towards the inner side;
an abdomen storage mechanism (8) is fixedly arranged on the inner surface of the inner side of the mechanical leg (1) at the bottom of the machine body (4);
the mechanical arm (7) takes out the marking template (81) in the belly storage mechanism (8) in a straight line, the machine body (4) is controlled to rotate through the stooping mechanism, and when the machine body (4) rotates until the mechanical arm (6) is perpendicular to the road surface, the spraying head mechanism (9) starts spraying after the marking template (81) is flatly attached to the ground;
the traveling device (3) is formed by driving a traveling wheel (32) to travel by a motor (31) with double output shafts;
the mechanism of bowing sets up fuselage (4) articulated department, the mechanism of bowing includes fixed mounting and is in fuselage (4) bottom both sides bow motor (42) and fix bowing gear (43) at bowing motor (42) output shaft, bowing tooth's socket (44) have still been seted up on the top circular arc section surface of mechanical leg (1), bowing motor (42) drive bow gear (43) with bowing tooth's socket (44) meshing rotates the back drive fuselage (4) are realized the action of bowing.
2. The automatic road surface character spraying and line drawing robot of claim 1, characterized in that: mechanical leg (1) is located the both ends surface of bowing tooth's socket (44) is still fixed mounting has bowing limit switch (45), bow limit switch (45) with control behind motor (42) electric connection bow extreme position of action is stood in fuselage (4).
3. The automatic road surface character-spraying and line-marking robot of claim 1, characterized in that: the robot head is characterized in that the machine head (5) is composed of an arc-shaped hydraulic cylinder (52), and the arc-shaped hydraulic cylinder (52) drives a monitoring camera (51) to stretch in an arc shape so as to remotely monitor the whole robot.
4. The automatic road surface character spraying and line drawing robot of claim 1, characterized in that: the spray head mechanism (9) comprises a transverse moving cylinder (91) and a directional rectangular rod (92), wherein the transverse moving cylinder (91) and the directional rectangular rod (92) are fixed on the inner side surface of the mechanical arm (6), and a rectangular groove formed in the axis of a piston rod on the transverse moving cylinder (91) is connected with the directional rectangular rod (92) in a sliding mode;
the tail end of a piston rod on the transverse moving cylinder (91) is vertically fixedly sleeved with a longitudinal moving cylinder (93), the bottom of the piston rod of the longitudinal moving cylinder (93) is fixedly connected with a spraying motor (94), and an output shaft of the spraying motor (94) is fixedly connected with a nozzle (95);
the surface fixed connection of nozzle (95) has U type pole (97), the casing surface fixed connection of spraying motor (94) has nozzle limit switch (96), nozzle limit switch (96) with spraying motor (94) electric connection back control the limit of nozzle (95) turns to the angle.
5. The automatic road surface character spraying and line drawing robot of claim 1, characterized in that: the manipulator (7) comprises a supporting plate (71), a guide groove (72) is formed in the inner side surface of the supporting plate (71) along the length direction, a stroke plate (73) is inserted into the inner wall of the guide groove (72) in a sliding mode, a rack (74) is fixedly mounted on the upper surface, close to the outer side, of the stroke plate (73), a driving motor (75) is fixedly mounted on the upper surface of the middle of the supporting plate (71), a driving gear (76) is fixedly sleeved on an output shaft of the driving motor (75), and the driving gear (76) extends to the rear portion of the inner portion of the guide groove (72) and is meshed with the rack (74) to drive the stroke plate (73).
6. The automatic road surface character spraying and line drawing robot of claim 5, characterized in that: the inboard upper surface fixed mounting of stroke board (73) has lift cylinder (77), the horizontal fixedly connected with suction nozzle (78) in bottom of lift cylinder (77), make suction nozzle (78) contact after lift cylinder (77) oscilaltion draw type template (81) to hold, the rethread driving motor (75) will draw type template (81) to follow take out or put back in abdomen receiving mechanism (8).
7. The automatic road surface character spraying and line drawing robot of claim 6, wherein: belly receiving mechanism (8) are including roller (82), the fixed cover of axle center department of roller (82) has connect pivot (83), the both ends of pivot (83) all are provided with gear box (84) after-fixing on workbin (2) upper surface, motor (85) are accomodate to last surface still fixedly connected with of workbin (2), the output shaft of accomodating motor (85) with the input of gear box (84) is connected the back and is driven roller (82) rotate.
8. The automatic road surface character spraying and line drawing robot of claim 7, wherein: the outer surface of the roller (82) is fixedly communicated with slots (86) in an annular array, and the outer surface of each slot (86) is provided with a suction groove (87) convenient for the suction nozzle (78) to suck along the radial direction of the roller (82);
the utility model discloses a roller, including roller (82), pivot (83) and line drawing template, the inside surface of roller (82) is the annular array fixed mounting has electromagnetic lock (88), line drawing template (81) is in the inner wall sliding connection of slot (86) inserts back is in roller (82) locked electromagnetic lock (88).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110446715.XA CN113123208B (en) | 2021-04-25 | 2021-04-25 | Automatic machine people that marks a line that spouts on road surface |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110446715.XA CN113123208B (en) | 2021-04-25 | 2021-04-25 | Automatic machine people that marks a line that spouts on road surface |
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| CN113123208A CN113123208A (en) | 2021-07-16 |
| CN113123208B true CN113123208B (en) | 2022-12-30 |
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| CN114059434A (en) * | 2021-10-21 | 2022-02-18 | 重庆特铺路面工程技术有限公司 | Intelligent equipment for automatic tracing and spraying of steel bridge deck |
| CN114351562A (en) * | 2021-12-30 | 2022-04-15 | 重庆沥智路桥工程有限公司 | Intelligent automatic spraying device and method for steel bridge deck |
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